WORST_CASE(Omega(0),?) Initial ITS Start location: l93 0: l0 -> l2 : temp0_15^0'=temp0_15^post0, a_241^0'=a_241^post0, head_27^0'=head_27^post0, head_129^0'=head_129^post0, r_124^0'=r_124^post0, len_183^0'=len_183^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, a_147^0'=a_147^post0, rcd_58^0'=rcd_58^post0, head_175^0'=head_175^post0, y_19^0'=y_19^post0, ct_17^0'=ct_17^post0, temp_35^0'=temp_35^post0, i_30^0'=i_30^post0, head_SLAM_f_26^0'=head_SLAM_f_26^post0, r_218^0'=r_218^post0, len_276^0'=len_276^post0, a_308^0'=a_308^post0, t_23^0'=t_23^post0, a_210^0'=a_210^post0, result_11^0'=result_11^post0, head_268^0'=head_268^post0, f_263^0'=f_263^post0, x_16^0'=x_16^post0, len_132^0'=len_132^post0, i_167^0'=i_167^post0, a_116^0'=a_116^post0, r_39^0'=r_39^post0, nondet_12^0'=nondet_12^post0, x_SLAM_f_18^0'=x_SLAM_f_18^post0, a_353^0'=a_353^post0, temp0_31^0'=temp0_31^post0, a_277^0'=a_277^post0, head_32^0'=head_32^post0, head_14^0'=head_14^post0, r_163^0'=r_163^post0, len_226^0'=len_226^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, a_184^0'=a_184^post0, rcd_88^0'=rcd_88^post0, head_223^0'=head_223^post0, f_170^0'=f_170^post0, tmp_34^0'=tmp_34^post0, i_94^0'=i_94^post0, i_108^0'=i_108^post0, r_260^0'=r_260^post0, length_29^0'=length_29^post0, x_20^0'=x_20^post0, a_330^0'=a_330^post0, (0 == 0 /\ -x_16^post0+head_14^0 <= 0 /\ -a_277^post0+a_277^0 == 0 /\ -head_268^post0+head_268^0 == 0 /\ ct_17^post0 <= 0 /\ ct_17^post0 == 0 /\ -a_210^0 <= 0 /\ head_27^0 <= 0 /\ x_SLAM_f_18^post0-x_20^post0 <= 0 /\ len_183^0-len_183^post0 == 0 /\ -len_132^post0+len_132^0 == 0 /\ a_241^0-a_241^post0 == 0 /\ r_163^0-r_163^post0 == 0 /\ a_210^0-a_210^post0 == 0 /\ ct_17^post0-y_19^post0 <= 0 /\ -head_32^post0+head_32^0 == 0 /\ -tmp_34^post0+tmp_34^0 == 0 /\ i_167^0-i_167^post0 == 0 /\ -y_19^post0 <= 0 /\ x_16^post0-head_14^0 <= 0 /\ x_16^post0-head_14^0 == 0 /\ temp_35^0-temp_35^post0 == 0 /\ a_147^0-a_147^post0 == 0 /\ i_30^0-i_30^post0 == 0 /\ r_124^0-r_124^post0 == 0 /\ y_19^post0 <= 0 /\ -r_260^post0+r_260^0 == 0 /\ -x_SLAM_f_18^post0+x_20^post0 <= 0 /\ -x_SLAM_f_18^post0+x_20^post0 == 0 /\ -i_108^post0+i_108^0 == 0 /\ len_276^0-len_276^post0 == 0 /\ rcd_88^0-rcd_88^post0 == 0 /\ -a_184^post0+a_184^0 == 0 /\ -length_29^post0+length_29^0 == 0 /\ -ct_17^post0+y_19^post0 <= 0 /\ -ct_17^post0+y_19^post0 == 0 /\ -temp0_31^post0+temp0_31^0 == 0 /\ -r_39^post0+r_39^0 == 0 /\ -head_223^post0+head_223^0 == 0 /\ rcd_58^0-rcd_58^post0 == 0 /\ head_14^0-x_20^post0 <= 0 /\ 1-len_226^0 <= 0 /\ -1+len_226^0 <= 0 /\ x_SLAM_f_18^post0-x_16^post0 <= 0 /\ x_SLAM_f_18^post0-x_16^post0 == 0 /\ result_11^0-result_11^post0 == 0 /\ r_218^0-r_218^post0 == 0 /\ -head_175^post0+head_175^0 == 0 /\ x_SLAM_f_18^post0-head_14^0 <= 0 /\ -a_330^post0+a_330^0 == 0 /\ -a_116^post0+a_116^0 == 0 /\ head_129^0-head_129^post0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -ct_17^post0 <= 0 /\ -head_14^0+x_20^post0 <= 0 /\ -f_170^post0+f_170^0 == 0 /\ head_14^0-head_14^post0 == 0 /\ -x_SLAM_f_18^post0+x_16^post0 <= 0 /\ a_308^0-a_308^post0 == 0 /\ -a_353^post0+a_353^0 == 0 /\ -len_226^post0+len_226^0 == 0 /\ t_23^0-t_23^post0 == 0 /\ nondet_12^0-nondet_12^post0 == 0 /\ -x_SLAM_f_18^post0+head_14^0 <= 0 /\ i_94^0-i_94^post0 == 0 /\ -f_263^post0+f_263^0 == 0 /\ temp0_15^0-temp0_15^post0 == 0 /\ -head_27^0 <= 0), cost: 1 4: l0 -> l5 : temp0_15^0'=temp0_15^post4, a_241^0'=a_241^post4, head_27^0'=head_27^post4, head_129^0'=head_129^post4, r_124^0'=r_124^post4, len_183^0'=len_183^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4, a_147^0'=a_147^post4, rcd_58^0'=rcd_58^post4, head_175^0'=head_175^post4, y_19^0'=y_19^post4, ct_17^0'=ct_17^post4, temp_35^0'=temp_35^post4, i_30^0'=i_30^post4, head_SLAM_f_26^0'=head_SLAM_f_26^post4, r_218^0'=r_218^post4, len_276^0'=len_276^post4, a_308^0'=a_308^post4, t_23^0'=t_23^post4, a_210^0'=a_210^post4, result_11^0'=result_11^post4, head_268^0'=head_268^post4, f_263^0'=f_263^post4, x_16^0'=x_16^post4, len_132^0'=len_132^post4, i_167^0'=i_167^post4, a_116^0'=a_116^post4, r_39^0'=r_39^post4, nondet_12^0'=nondet_12^post4, x_SLAM_f_18^0'=x_SLAM_f_18^post4, a_353^0'=a_353^post4, temp0_31^0'=temp0_31^post4, a_277^0'=a_277^post4, head_32^0'=head_32^post4, head_14^0'=head_14^post4, r_163^0'=r_163^post4, len_226^0'=len_226^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, a_184^0'=a_184^post4, rcd_88^0'=rcd_88^post4, head_223^0'=head_223^post4, f_170^0'=f_170^post4, tmp_34^0'=tmp_34^post4, i_94^0'=i_94^post4, i_108^0'=i_108^post4, r_260^0'=r_260^post4, length_29^0'=length_29^post4, x_20^0'=x_20^post4, a_330^0'=a_330^post4, (0 == 0 /\ -i_94^post4+i_94^0 == 0 /\ -a_210^0 <= 0 /\ t_23^0-t_23^post4 == 0 /\ a_241^0-a_241^post4 == 0 /\ len_132^0-len_132^post4 == 0 /\ -r_260^post4+r_260^0 == 0 /\ temp0_15^0-temp0_15^post4 == 0 /\ r_124^0-r_124^post4 == 0 /\ len_276^0-len_276^post4 == 0 /\ tmp_34^0-tmp_34^post4 == 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ -rcd_88^post4+rcd_88^0 == 0 /\ -a_210^post4+a_210^0 == 0 /\ i_30^0-i_30^post4 == 0 /\ a_147^0-a_147^post4 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4 == 0 /\ ct_17^0-ct_17^post4 == 0 /\ -a_277^post4+a_277^0 == 0 /\ head_129^0-head_129^post4 == 0 /\ f_170^0-f_170^post4 == 0 /\ r_39^0-r_39^post4 == 0 /\ a_184^0-a_184^post4 == 0 /\ head_175^0-head_175^post4 == 0 /\ -result_11^post4+result_11^0 == 0 /\ -r_163^post4+r_163^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post4 == 0 /\ -a_353^post4+a_353^0 == 0 /\ -length_29^post4+length_29^0 == 0 /\ -i_167^post4+i_167^0 == 0 /\ rcd_58^0-rcd_58^post4 == 0 /\ len_226^0-len_226^post4 == 0 /\ -f_263^post4+f_263^0 == 0 /\ -temp0_31^post4+temp0_31^0 == 0 /\ head_32^0-head_32^post4 == 0 /\ -x_16^post4+x_16^0 == 0 /\ -x_20^post4+x_20^0 == 0 /\ -a_330^post4+a_330^0 == 0 /\ a_116^0-a_116^post4 == 0 /\ -i_108^post4+i_108^0 == 0 /\ y_19^0-y_19^post4 == 0 /\ -len_183^post4+len_183^0 == 0 /\ a_308^0-a_308^post4 == 0 /\ -temp_35^post4+temp_35^0 == 0 /\ head_27^0-head_27^post4 == 0 /\ head_268^0-head_268^post4 == 0), cost: 1 1: l2 -> l3 : temp0_15^0'=temp0_15^post1, a_241^0'=a_241^post1, head_27^0'=head_27^post1, head_129^0'=head_129^post1, r_124^0'=r_124^post1, len_183^0'=len_183^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1, a_147^0'=a_147^post1, rcd_58^0'=rcd_58^post1, head_175^0'=head_175^post1, y_19^0'=y_19^post1, ct_17^0'=ct_17^post1, temp_35^0'=temp_35^post1, i_30^0'=i_30^post1, head_SLAM_f_26^0'=head_SLAM_f_26^post1, r_218^0'=r_218^post1, len_276^0'=len_276^post1, a_308^0'=a_308^post1, t_23^0'=t_23^post1, a_210^0'=a_210^post1, result_11^0'=result_11^post1, head_268^0'=head_268^post1, f_263^0'=f_263^post1, x_16^0'=x_16^post1, len_132^0'=len_132^post1, i_167^0'=i_167^post1, a_116^0'=a_116^post1, r_39^0'=r_39^post1, nondet_12^0'=nondet_12^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, a_353^0'=a_353^post1, temp0_31^0'=temp0_31^post1, a_277^0'=a_277^post1, head_32^0'=head_32^post1, head_14^0'=head_14^post1, r_163^0'=r_163^post1, len_226^0'=len_226^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_184^0'=a_184^post1, rcd_88^0'=rcd_88^post1, head_223^0'=head_223^post1, f_170^0'=f_170^post1, tmp_34^0'=tmp_34^post1, i_94^0'=i_94^post1, i_108^0'=i_108^post1, r_260^0'=r_260^post1, length_29^0'=length_29^post1, x_20^0'=x_20^post1, a_330^0'=a_330^post1, (head_268^0-head_268^post1 == 0 /\ -r_218^post1+r_218^0 == 0 /\ -i_30^post1+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 == 0 /\ -x_20^post1+x_20^0 == 0 /\ r_124^0-r_124^post1 == 0 /\ -x_16^post1+x_16^0 == 0 /\ -a_308^post1+a_308^0 == 0 /\ -a_330^post1+a_330^0 == 0 /\ -a_116^post1+a_116^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post1 == 0 /\ -head_175^post1+head_175^0 == 0 /\ -tmp_34^post1+tmp_34^0 == 0 /\ nondet_12^0-nondet_12^post1 == 0 /\ temp0_15^0-temp0_15^post1 == 0 /\ -rcd_88^post1+rcd_88^0 == 0 /\ i_167^0-i_167^post1 == 0 /\ temp0_31^0-temp0_31^post1 == 0 /\ -a_353^post1+a_353^0 == 0 /\ rcd_58^0-rcd_58^post1 == 0 /\ -len_226^post1+len_226^0 == 0 /\ -t_23^post1+t_23^0 == 0 /\ -a_184^post1+a_184^0 == 0 /\ -i_108^post1+i_108^0 == 0 /\ a_241^0-a_241^post1 == 0 /\ head_129^0-head_129^post1 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1 == 0 /\ -head_223^post1+head_223^0 == 0 /\ y_19^0-y_19^post1 == 0 /\ head_27^0-head_27^post1 == 0 /\ 1-head_14^0 <= 0 /\ len_276^0-len_276^post1 == 0 /\ len_132^0-len_132^post1 == 0 /\ -head_32^post1+head_32^0 == 0 /\ -r_260^post1+r_260^0 == 0 /\ -x_SLAM_f_18^post1+x_SLAM_f_18^0 == 0 /\ ct_17^0-ct_17^post1 == 0 /\ -length_29^post1+length_29^0 == 0 /\ f_263^0-f_263^post1 == 0 /\ a_147^0-a_147^post1 == 0 /\ len_183^0-len_183^post1 == 0 /\ -i_94^post1+i_94^0 == 0 /\ -f_170^post1+f_170^0 == 0 /\ -head_14^post1+head_14^0 == 0 /\ -result_11^post1+result_11^0 == 0 /\ a_277^0-a_277^post1 == 0 /\ r_163^0-r_163^post1 == 0 /\ -r_39^post1+r_39^0 == 0 /\ a_210^0-a_210^post1 == 0 /\ temp_35^0-temp_35^post1 == 0), cost: 1 2: l2 -> l3 : temp0_15^0'=temp0_15^post2, a_241^0'=a_241^post2, head_27^0'=head_27^post2, head_129^0'=head_129^post2, r_124^0'=r_124^post2, len_183^0'=len_183^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2, a_147^0'=a_147^post2, rcd_58^0'=rcd_58^post2, head_175^0'=head_175^post2, y_19^0'=y_19^post2, ct_17^0'=ct_17^post2, temp_35^0'=temp_35^post2, i_30^0'=i_30^post2, head_SLAM_f_26^0'=head_SLAM_f_26^post2, r_218^0'=r_218^post2, len_276^0'=len_276^post2, a_308^0'=a_308^post2, t_23^0'=t_23^post2, a_210^0'=a_210^post2, result_11^0'=result_11^post2, head_268^0'=head_268^post2, f_263^0'=f_263^post2, x_16^0'=x_16^post2, len_132^0'=len_132^post2, i_167^0'=i_167^post2, a_116^0'=a_116^post2, r_39^0'=r_39^post2, nondet_12^0'=nondet_12^post2, x_SLAM_f_18^0'=x_SLAM_f_18^post2, a_353^0'=a_353^post2, temp0_31^0'=temp0_31^post2, a_277^0'=a_277^post2, head_32^0'=head_32^post2, head_14^0'=head_14^post2, r_163^0'=r_163^post2, len_226^0'=len_226^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, a_184^0'=a_184^post2, rcd_88^0'=rcd_88^post2, head_223^0'=head_223^post2, f_170^0'=f_170^post2, tmp_34^0'=tmp_34^post2, i_94^0'=i_94^post2, i_108^0'=i_108^post2, r_260^0'=r_260^post2, length_29^0'=length_29^post2, x_20^0'=x_20^post2, a_330^0'=a_330^post2, (y_19^0-y_19^post2 == 0 /\ -x_20^post2+x_20^0 == 0 /\ head_27^0-head_27^post2 == 0 /\ head_268^0-head_268^post2 == 0 /\ -i_167^post2+i_167^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post2 == 0 /\ -a_330^post2+a_330^0 == 0 /\ nondet_12^0-nondet_12^post2 == 0 /\ -rcd_88^post2+rcd_88^0 == 0 /\ -a_308^post2+a_308^0 == 0 /\ a_147^0-a_147^post2 == 0 /\ len_183^0-len_183^post2 == 0 /\ -a_353^post2+a_353^0 == 0 /\ -len_226^post2+len_226^0 == 0 /\ 1+head_14^0 <= 0 /\ -i_94^post2+i_94^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_276^0-len_276^post2 == 0 /\ -t_23^post2+t_23^0 == 0 /\ -x_16^post2+x_16^0 == 0 /\ ct_17^0-ct_17^post2 == 0 /\ -a_277^post2+a_277^0 == 0 /\ head_175^0-head_175^post2 == 0 /\ r_124^0-r_124^post2 == 0 /\ -i_30^post2+i_30^0 == 0 /\ -tmp_34^post2+tmp_34^0 == 0 /\ length_29^0-length_29^post2 == 0 /\ -head_14^post2+head_14^0 == 0 /\ head_32^0-head_32^post2 == 0 /\ -r_260^post2+r_260^0 == 0 /\ len_132^0-len_132^post2 == 0 /\ -temp_35^post2+temp_35^0 == 0 /\ temp0_15^0-temp0_15^post2 == 0 /\ -x_SLAM_f_18^post2+x_SLAM_f_18^0 == 0 /\ -head_129^post2+head_129^0 == 0 /\ i_108^0-i_108^post2 == 0 /\ -r_39^post2+r_39^0 == 0 /\ temp0_31^0-temp0_31^post2 == 0 /\ -a_184^post2+a_184^0 == 0 /\ -head_223^post2+head_223^0 == 0 /\ -f_170^post2+f_170^0 == 0 /\ rcd_58^0-rcd_58^post2 == 0 /\ -r_163^post2+r_163^0 == 0 /\ f_263^0-f_263^post2 == 0 /\ -a_116^post2+a_116^0 == 0 /\ -r_218^post2+r_218^0 == 0 /\ a_241^0-a_241^post2 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2 == 0 /\ a_210^0-a_210^post2 == 0 /\ -result_11^post2+result_11^0 == 0), cost: 1 3: l3 -> l1 : temp0_15^0'=temp0_15^post3, a_241^0'=a_241^post3, head_27^0'=head_27^post3, head_129^0'=head_129^post3, r_124^0'=r_124^post3, len_183^0'=len_183^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3, a_147^0'=a_147^post3, rcd_58^0'=rcd_58^post3, head_175^0'=head_175^post3, y_19^0'=y_19^post3, ct_17^0'=ct_17^post3, temp_35^0'=temp_35^post3, i_30^0'=i_30^post3, head_SLAM_f_26^0'=head_SLAM_f_26^post3, r_218^0'=r_218^post3, len_276^0'=len_276^post3, a_308^0'=a_308^post3, t_23^0'=t_23^post3, a_210^0'=a_210^post3, result_11^0'=result_11^post3, head_268^0'=head_268^post3, f_263^0'=f_263^post3, x_16^0'=x_16^post3, len_132^0'=len_132^post3, i_167^0'=i_167^post3, a_116^0'=a_116^post3, r_39^0'=r_39^post3, nondet_12^0'=nondet_12^post3, x_SLAM_f_18^0'=x_SLAM_f_18^post3, a_353^0'=a_353^post3, temp0_31^0'=temp0_31^post3, a_277^0'=a_277^post3, head_32^0'=head_32^post3, head_14^0'=head_14^post3, r_163^0'=r_163^post3, len_226^0'=len_226^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, a_184^0'=a_184^post3, rcd_88^0'=rcd_88^post3, head_223^0'=head_223^post3, f_170^0'=f_170^post3, tmp_34^0'=tmp_34^post3, i_94^0'=i_94^post3, i_108^0'=i_108^post3, r_260^0'=r_260^post3, length_29^0'=length_29^post3, x_20^0'=x_20^post3, a_330^0'=a_330^post3, (2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ tmp_34^0-tmp_34^post3 == 0 /\ -x_SLAM_f_18^post3+x_SLAM_f_18^0 == 0 /\ ct_17^0-ct_17^post3 == 0 /\ -head_SLAM_f_26^post3+head_SLAM_f_26^0 == 0 /\ -head_14^post3+head_14^0 == 0 /\ -nondet_12^post3+nondet_12^0 == 0 /\ y_19^0-y_19^post3 == 0 /\ r_218^0-r_218^post3 == 0 /\ -len_226^post3+len_226^0 == 0 /\ a_308^0-a_308^post3 == 0 /\ head_27^0-head_27^post3 == 0 /\ -temp_35^post3+temp_35^0 == 0 /\ t_23^0-t_23^post3 == 0 /\ -length_29^post3+length_29^0 == 0 /\ len_183^0-len_183^post3 == 0 /\ len_132^0-len_132^post3 == 0 /\ -rcd_88^post3+rcd_88^0 == 0 /\ head_32^0-head_32^post3 == 0 /\ -i_94^post3+i_94^0 == 0 /\ r_39^0-r_39^post3 == 0 /\ a_184^0-a_184^post3 == 0 /\ r_124^0-r_124^post3 == 0 /\ -a_116^post3+a_116^0 == 0 /\ -x_20^post3+x_20^0 == 0 /\ -i_108^post3+i_108^0 == 0 /\ -x_16^post3+x_16^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post3 == 0 /\ -len_276^post3+len_276^0 == 0 /\ i_30^0-i_30^post3 == 0 /\ -a_330^post3+a_330^0 == 0 /\ -r_163^post3+r_163^0 == 0 /\ head_175^0-head_175^post3 == 0 /\ head_268^0-head_268^post3 == 0 /\ -a_353^post3+a_353^0 == 0 /\ temp0_31^0-temp0_31^post3 == 0 /\ -i_167^post3+i_167^0 == 0 /\ f_263^0-f_263^post3 == 0 /\ -a_277^post3+a_277^0 == 0 /\ -f_170^post3+f_170^0 == 0 /\ -r_260^post3+r_260^0 == 0 /\ -a_210^post3+a_210^0 == 0 /\ a_147^0-a_147^post3 == 0 /\ result_11^0-result_11^post3 == 0 /\ temp0_15^0-temp0_15^post3 == 0 /\ -head_223^post3+head_223^0 == 0 /\ rcd_58^0-rcd_58^post3 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3 == 0 /\ head_129^0-head_129^post3 == 0 /\ a_241^0-a_241^post3 == 0), cost: 1 41: l1 -> l28 : temp0_15^0'=temp0_15^post41, a_241^0'=a_241^post41, head_27^0'=head_27^post41, head_129^0'=head_129^post41, r_124^0'=r_124^post41, len_183^0'=len_183^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, a_147^0'=a_147^post41, rcd_58^0'=rcd_58^post41, head_175^0'=head_175^post41, y_19^0'=y_19^post41, ct_17^0'=ct_17^post41, temp_35^0'=temp_35^post41, i_30^0'=i_30^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post41, r_218^0'=r_218^post41, len_276^0'=len_276^post41, a_308^0'=a_308^post41, t_23^0'=t_23^post41, a_210^0'=a_210^post41, result_11^0'=result_11^post41, head_268^0'=head_268^post41, f_263^0'=f_263^post41, x_16^0'=x_16^post41, len_132^0'=len_132^post41, i_167^0'=i_167^post41, a_116^0'=a_116^post41, r_39^0'=r_39^post41, nondet_12^0'=nondet_12^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, a_353^0'=a_353^post41, temp0_31^0'=temp0_31^post41, a_277^0'=a_277^post41, head_32^0'=head_32^post41, head_14^0'=head_14^post41, r_163^0'=r_163^post41, len_226^0'=len_226^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, a_184^0'=a_184^post41, rcd_88^0'=rcd_88^post41, head_223^0'=head_223^post41, f_170^0'=f_170^post41, tmp_34^0'=tmp_34^post41, i_94^0'=i_94^post41, i_108^0'=i_108^post41, r_260^0'=r_260^post41, length_29^0'=length_29^post41, x_20^0'=x_20^post41, a_330^0'=a_330^post41, (0 == 0 /\ y_19^0-y_19^post41 == 0 /\ -f_263^post41+f_263^0 == 0 /\ -x_20^post41+x_20^0 == 0 /\ a_308^0-a_308^post41 == 0 /\ a_184^0-a_184^post41 == 0 /\ head_27^0-head_27^post41 == 0 /\ -a_330^post41+a_330^0 == 0 /\ len_276^0-len_276^post41 == 0 /\ -a_116^post41+a_116^0 == 0 /\ len_132^0-len_132^post41 == 0 /\ tmp_34^0-tmp_34^post41 == 0 /\ i_30^0-i_30^post41 == 0 /\ -i_94^post41+i_94^0 == 0 /\ t_23^0-t_23^post41 == 0 /\ -rcd_88^post41+rcd_88^0 == 0 /\ -nondet_12^post41+nondet_12^0 == 0 /\ a_147^0-a_147^post41 == 0 /\ r_39^0-r_39^post41 == 0 /\ -a_353^post41+a_353^0 == 0 /\ -len_226^post41+len_226^0 == 0 /\ len_183^0-len_183^post41 == 0 /\ r_218^0-r_218^post41 == 0 /\ -i_167^post41+i_167^0 == 0 /\ -head_SLAM_f_26^post41+head_SLAM_f_26^0 == 0 /\ -a_277^post41+a_277^0 == 0 /\ head_268^0-head_268^post41 == 0 /\ r_124^0-r_124^post41 == 0 /\ length_29^0-length_29^post41 == 0 /\ head_175^0-head_175^post41 == 0 /\ -a_210^post41+a_210^0 == 0 /\ -i_108^post41+i_108^0 == 0 /\ head_32^0-head_32^post41 == 0 /\ -len_226^0 <= 0 /\ -head_129^post41+head_129^0 == 0 /\ temp0_15^0-temp0_15^post41 == 0 /\ -temp_35^post41+temp_35^0 == 0 /\ -f_170^post41+f_170^0 == 0 /\ -r_260^post41+r_260^0 == 0 /\ temp0_31^0-temp0_31^post41 == 0 /\ rcd_58^0-rcd_58^post41 == 0 /\ result_11^0-result_11^post41 == 0 /\ -r_163^post41+r_163^0 == 0 /\ a_241^0-a_241^post41 == 0 /\ -head_223^post41+head_223^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41 == 0), cost: 1 5: l5 -> l6 : temp0_15^0'=temp0_15^post5, a_241^0'=a_241^post5, head_27^0'=head_27^post5, head_129^0'=head_129^post5, r_124^0'=r_124^post5, len_183^0'=len_183^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5, a_147^0'=a_147^post5, rcd_58^0'=rcd_58^post5, head_175^0'=head_175^post5, y_19^0'=y_19^post5, ct_17^0'=ct_17^post5, temp_35^0'=temp_35^post5, i_30^0'=i_30^post5, head_SLAM_f_26^0'=head_SLAM_f_26^post5, r_218^0'=r_218^post5, len_276^0'=len_276^post5, a_308^0'=a_308^post5, t_23^0'=t_23^post5, a_210^0'=a_210^post5, result_11^0'=result_11^post5, head_268^0'=head_268^post5, f_263^0'=f_263^post5, x_16^0'=x_16^post5, len_132^0'=len_132^post5, i_167^0'=i_167^post5, a_116^0'=a_116^post5, r_39^0'=r_39^post5, nondet_12^0'=nondet_12^post5, x_SLAM_f_18^0'=x_SLAM_f_18^post5, a_353^0'=a_353^post5, temp0_31^0'=temp0_31^post5, a_277^0'=a_277^post5, head_32^0'=head_32^post5, head_14^0'=head_14^post5, r_163^0'=r_163^post5, len_226^0'=len_226^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, a_184^0'=a_184^post5, rcd_88^0'=rcd_88^post5, head_223^0'=head_223^post5, f_170^0'=f_170^post5, tmp_34^0'=tmp_34^post5, i_94^0'=i_94^post5, i_108^0'=i_108^post5, r_260^0'=r_260^post5, length_29^0'=length_29^post5, x_20^0'=x_20^post5, a_330^0'=a_330^post5, (-i_108^post5+i_108^0 == 0 /\ a_241^0-a_241^post5 == 0 /\ f_170^0-f_170^post5 == 0 /\ result_11^0-result_11^post5 == 0 /\ temp0_15^0-temp0_15^post5 == 0 /\ -x_20^post5+x_20^0 == 0 /\ head_175^0-head_175^post5 == 0 /\ r_124^0-r_124^post5 == 0 /\ -i_167^post5+i_167^0 == 0 /\ -nondet_12^post5+nondet_12^0 == 0 /\ a_184^0-a_184^post5 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post5+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_129^0-head_129^post5 == 0 /\ -head_14^post5+head_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5 == 0 /\ -head_268^post5+head_268^0 == 0 /\ -a_277^post5+a_277^0 == 0 /\ -head_SLAM_f_26^post5+head_SLAM_f_26^0 == 0 /\ -rcd_88^post5+rcd_88^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post5 == 0 /\ a_308^0-a_308^post5 == 0 /\ -a_210^post5+a_210^0 == 0 /\ head_223^0-head_223^post5 == 0 /\ r_39^0-r_39^post5 == 0 /\ -r_260^post5+r_260^0 == 0 /\ head_27^0-head_27^post5 == 0 /\ t_23^0-t_23^post5 == 0 /\ -f_263^post5+f_263^0 == 0 /\ x_16^0-x_16^post5 == 0 /\ len_226^0-len_226^post5 == 0 /\ -head_32^post5+head_32^0 == 0 /\ -i_94^post5+i_94^0 == 0 /\ -y_19^post5+y_19^0 == 0 /\ rcd_58^0-rcd_58^post5 == 0 /\ a_353^0-a_353^post5 == 0 /\ -a_330^post5+a_330^0 == 0 /\ -len_276^post5+len_276^0 == 0 /\ -len_183^post5+len_183^0 == 0 /\ temp_35^0-temp_35^post5 == 0 /\ a_116^0-a_116^post5 == 0 /\ i_30^0-i_30^post5 == 0 /\ ct_17^0-ct_17^post5 == 0 /\ a_147^0-a_147^post5 == 0 /\ 1-head_27^0 <= 0 /\ -temp0_31^post5+temp0_31^0 == 0 /\ -len_132^post5+len_132^0 == 0 /\ -r_163^post5+r_163^0 == 0 /\ -tmp_34^post5+tmp_34^0 == 0 /\ -length_29^post5+length_29^0 == 0 /\ r_218^0-r_218^post5 == 0), cost: 1 6: l5 -> l6 : temp0_15^0'=temp0_15^post6, a_241^0'=a_241^post6, head_27^0'=head_27^post6, head_129^0'=head_129^post6, r_124^0'=r_124^post6, len_183^0'=len_183^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6, a_147^0'=a_147^post6, rcd_58^0'=rcd_58^post6, head_175^0'=head_175^post6, y_19^0'=y_19^post6, ct_17^0'=ct_17^post6, temp_35^0'=temp_35^post6, i_30^0'=i_30^post6, head_SLAM_f_26^0'=head_SLAM_f_26^post6, r_218^0'=r_218^post6, len_276^0'=len_276^post6, a_308^0'=a_308^post6, t_23^0'=t_23^post6, a_210^0'=a_210^post6, result_11^0'=result_11^post6, head_268^0'=head_268^post6, f_263^0'=f_263^post6, x_16^0'=x_16^post6, len_132^0'=len_132^post6, i_167^0'=i_167^post6, a_116^0'=a_116^post6, r_39^0'=r_39^post6, nondet_12^0'=nondet_12^post6, x_SLAM_f_18^0'=x_SLAM_f_18^post6, a_353^0'=a_353^post6, temp0_31^0'=temp0_31^post6, a_277^0'=a_277^post6, head_32^0'=head_32^post6, head_14^0'=head_14^post6, r_163^0'=r_163^post6, len_226^0'=len_226^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_184^0'=a_184^post6, rcd_88^0'=rcd_88^post6, head_223^0'=head_223^post6, f_170^0'=f_170^post6, tmp_34^0'=tmp_34^post6, i_94^0'=i_94^post6, i_108^0'=i_108^post6, r_260^0'=r_260^post6, length_29^0'=length_29^post6, x_20^0'=x_20^post6, a_330^0'=a_330^post6, (head_27^0-head_27^post6 == 0 /\ -i_108^post6+i_108^0 == 0 /\ a_353^0-a_353^post6 == 0 /\ a_210^0-a_210^post6 == 0 /\ -r_163^post6+r_163^0 == 0 /\ -y_19^post6+y_19^0 == 0 /\ i_30^0-i_30^post6 == 0 /\ -head_32^post6+head_32^0 == 0 /\ 1+head_27^0 <= 0 /\ i_167^0-i_167^post6 == 0 /\ x_16^0-x_16^post6 == 0 /\ rcd_58^0-rcd_58^post6 == 0 /\ -x_20^post6+x_20^0 == 0 /\ -len_276^post6+len_276^0 == 0 /\ -r_39^post6+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post6+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp0_31^post6+temp0_31^0 == 0 /\ -x_SLAM_f_18^post6+x_SLAM_f_18^0 == 0 /\ len_183^0-len_183^post6 == 0 /\ head_223^0-head_223^post6 == 0 /\ rcd_88^0-rcd_88^post6 == 0 /\ f_263^0-f_263^post6 == 0 /\ -len_132^post6+len_132^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post6 == 0 /\ -r_260^post6+r_260^0 == 0 /\ r_124^0-r_124^post6 == 0 /\ a_330^0-a_330^post6 == 0 /\ -len_226^post6+len_226^0 == 0 /\ -a_184^post6+a_184^0 == 0 /\ temp_35^0-temp_35^post6 == 0 /\ -a_116^post6+a_116^0 == 0 /\ a_241^0-a_241^post6 == 0 /\ temp0_15^0-temp0_15^post6 == 0 /\ r_218^0-r_218^post6 == 0 /\ a_308^0-a_308^post6 == 0 /\ -ct_17^post6+ct_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6 == 0 /\ -tmp_34^post6+tmp_34^0 == 0 /\ -a_147^post6+a_147^0 == 0 /\ head_129^0-head_129^post6 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ -head_268^post6+head_268^0 == 0 /\ i_94^0-i_94^post6 == 0 /\ -f_170^post6+f_170^0 == 0 /\ -a_277^post6+a_277^0 == 0 /\ head_175^0-head_175^post6 == 0 /\ t_23^0-t_23^post6 == 0 /\ -length_29^post6+length_29^0 == 0 /\ result_11^0-result_11^post6 == 0 /\ head_14^0-head_14^post6 == 0), cost: 1 7: l6 -> l7 : temp0_15^0'=temp0_15^post7, a_241^0'=a_241^post7, head_27^0'=head_27^post7, head_129^0'=head_129^post7, r_124^0'=r_124^post7, len_183^0'=len_183^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7, a_147^0'=a_147^post7, rcd_58^0'=rcd_58^post7, head_175^0'=head_175^post7, y_19^0'=y_19^post7, ct_17^0'=ct_17^post7, temp_35^0'=temp_35^post7, i_30^0'=i_30^post7, head_SLAM_f_26^0'=head_SLAM_f_26^post7, r_218^0'=r_218^post7, len_276^0'=len_276^post7, a_308^0'=a_308^post7, t_23^0'=t_23^post7, a_210^0'=a_210^post7, result_11^0'=result_11^post7, head_268^0'=head_268^post7, f_263^0'=f_263^post7, x_16^0'=x_16^post7, len_132^0'=len_132^post7, i_167^0'=i_167^post7, a_116^0'=a_116^post7, r_39^0'=r_39^post7, nondet_12^0'=nondet_12^post7, x_SLAM_f_18^0'=x_SLAM_f_18^post7, a_353^0'=a_353^post7, temp0_31^0'=temp0_31^post7, a_277^0'=a_277^post7, head_32^0'=head_32^post7, head_14^0'=head_14^post7, r_163^0'=r_163^post7, len_226^0'=len_226^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, a_184^0'=a_184^post7, rcd_88^0'=rcd_88^post7, head_223^0'=head_223^post7, f_170^0'=f_170^post7, tmp_34^0'=tmp_34^post7, i_94^0'=i_94^post7, i_108^0'=i_108^post7, r_260^0'=r_260^post7, length_29^0'=length_29^post7, x_20^0'=x_20^post7, a_330^0'=a_330^post7, (temp_35^0-temp_35^post7 == 0 /\ -r_39^post7+r_39^0 == 0 /\ len_183^0-len_183^post7 == 0 /\ a_241^0-a_241^post7 == 0 /\ -i_94^post7+i_94^0 == 0 /\ i_167^0-i_167^post7 == 0 /\ r_218^0-r_218^post7 == 0 /\ -a_184^post7+a_184^0 == 0 /\ -head_32^post7+head_32^0 == 0 /\ nondet_12^0-nondet_12^post7 == 0 /\ r_124^0-r_124^post7 == 0 /\ head_129^0-head_129^post7 == 0 /\ head_268^0-head_268^post7 == 0 /\ -i_30^post7+i_30^0 == 0 /\ -f_170^post7+f_170^0 == 0 /\ rcd_88^0-rcd_88^post7 == 0 /\ -x_SLAM_f_18^post7+x_SLAM_f_18^0 == 0 /\ a_210^0-a_210^post7 == 0 /\ a_277^0-a_277^post7 == 0 /\ -length_29^post7+length_29^0 == 0 /\ -temp0_31^post7+temp0_31^0 == 0 /\ -r_163^post7+r_163^0 == 0 /\ -a_308^post7+a_308^0 == 0 /\ f_263^0-f_263^post7 == 0 /\ -head_223^post7+head_223^0 == 0 /\ -len_132^post7+len_132^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ a_147^0-a_147^post7 == 0 /\ -x_20^post7+x_20^0 == 0 /\ r_260^0-r_260^post7 == 0 /\ x_16^0-x_16^post7 == 0 /\ y_19^0-y_19^post7 == 0 /\ -a_330^post7+a_330^0 == 0 /\ rcd_58^0-rcd_58^post7 == 0 /\ -i_108^post7+i_108^0 == 0 /\ -a_116^post7+a_116^0 == 0 /\ -head_175^post7+head_175^0 == 0 /\ -tmp_34^post7+tmp_34^0 == 0 /\ -t_23^post7+t_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ len_276^0-len_276^post7 == 0 /\ head_27^0-head_27^post7 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post7+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp0_15^0-temp0_15^post7 == 0 /\ -a_353^post7+a_353^0 == 0 /\ -len_226^post7+len_226^0 == 0 /\ ct_17^0-ct_17^post7 == 0 /\ result_11^0-result_11^post7 == 0 /\ head_14^0-head_14^post7 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post7 == 0), cost: 1 8: l7 -> l8 : temp0_15^0'=temp0_15^post8, a_241^0'=a_241^post8, head_27^0'=head_27^post8, head_129^0'=head_129^post8, r_124^0'=r_124^post8, len_183^0'=len_183^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8, a_147^0'=a_147^post8, rcd_58^0'=rcd_58^post8, head_175^0'=head_175^post8, y_19^0'=y_19^post8, ct_17^0'=ct_17^post8, temp_35^0'=temp_35^post8, i_30^0'=i_30^post8, head_SLAM_f_26^0'=head_SLAM_f_26^post8, r_218^0'=r_218^post8, len_276^0'=len_276^post8, a_308^0'=a_308^post8, t_23^0'=t_23^post8, a_210^0'=a_210^post8, result_11^0'=result_11^post8, head_268^0'=head_268^post8, f_263^0'=f_263^post8, x_16^0'=x_16^post8, len_132^0'=len_132^post8, i_167^0'=i_167^post8, a_116^0'=a_116^post8, r_39^0'=r_39^post8, nondet_12^0'=nondet_12^post8, x_SLAM_f_18^0'=x_SLAM_f_18^post8, a_353^0'=a_353^post8, temp0_31^0'=temp0_31^post8, a_277^0'=a_277^post8, head_32^0'=head_32^post8, head_14^0'=head_14^post8, r_163^0'=r_163^post8, len_226^0'=len_226^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, a_184^0'=a_184^post8, rcd_88^0'=rcd_88^post8, head_223^0'=head_223^post8, f_170^0'=f_170^post8, tmp_34^0'=tmp_34^post8, i_94^0'=i_94^post8, i_108^0'=i_108^post8, r_260^0'=r_260^post8, length_29^0'=length_29^post8, x_20^0'=x_20^post8, a_330^0'=a_330^post8, (-a_308^post8+a_308^0 == 0 /\ -head_223^post8+head_223^0 == 0 /\ -r_39^post8+r_39^0 == 0 /\ r_218^0-r_218^post8 == 0 /\ -head_175^post8+head_175^0 == 0 /\ -i_94^post8+i_94^0 == 0 /\ -a_184^post8+a_184^0 == 0 /\ -head_32^post8+head_32^0 == 0 /\ -x_SLAM_f_18^post8+x_SLAM_f_18^0 == 0 /\ rcd_58^0-rcd_58^post8 == 0 /\ rcd_88^0-rcd_88^post8 == 0 /\ head_27^0-head_27^post8 == 0 /\ -f_170^post8+f_170^0 == 0 /\ -length_29^post8+length_29^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ head_268^0-head_268^post8 == 0 /\ temp0_15^0-temp0_15^post8 == 0 /\ -i_30^post8+i_30^0 == 0 /\ temp0_31^0-temp0_31^post8 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ head_129^0-head_129^post8 == 0 /\ y_19^0-y_19^post8 == 0 /\ a_147^0-a_147^post8 == 0 /\ 1-head_14^0 <= 0 /\ len_183^0-len_183^post8 == 0 /\ -x_20^post8+x_20^0 == 0 /\ len_132^0-len_132^post8 == 0 /\ -r_124^post8+r_124^0 == 0 /\ r_163^0-r_163^post8 == 0 /\ -a_330^post8+a_330^0 == 0 /\ -i_108^post8+i_108^0 == 0 /\ x_16^0-x_16^post8 == 0 /\ -a_116^post8+a_116^0 == 0 /\ -r_260^post8+r_260^0 == 0 /\ -tmp_34^post8+tmp_34^0 == 0 /\ -head_14^post8+head_14^0 == 0 /\ -a_241^post8+a_241^0 == 0 /\ -result_11^post8+result_11^0 == 0 /\ len_276^0-len_276^post8 == 0 /\ a_210^0-a_210^post8 == 0 /\ -a_353^post8+a_353^0 == 0 /\ a_277^0-a_277^post8 == 0 /\ -len_226^post8+len_226^0 == 0 /\ -t_23^post8+t_23^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post8 == 0 /\ f_263^0-f_263^post8 == 0 /\ temp_35^0-temp_35^post8 == 0 /\ -i_167^post8+i_167^0 == 0 /\ ct_17^0-ct_17^post8 == 0), cost: 1 9: l7 -> l8 : temp0_15^0'=temp0_15^post9, a_241^0'=a_241^post9, head_27^0'=head_27^post9, head_129^0'=head_129^post9, r_124^0'=r_124^post9, len_183^0'=len_183^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9, a_147^0'=a_147^post9, rcd_58^0'=rcd_58^post9, head_175^0'=head_175^post9, y_19^0'=y_19^post9, ct_17^0'=ct_17^post9, temp_35^0'=temp_35^post9, i_30^0'=i_30^post9, head_SLAM_f_26^0'=head_SLAM_f_26^post9, r_218^0'=r_218^post9, len_276^0'=len_276^post9, a_308^0'=a_308^post9, t_23^0'=t_23^post9, a_210^0'=a_210^post9, result_11^0'=result_11^post9, head_268^0'=head_268^post9, f_263^0'=f_263^post9, x_16^0'=x_16^post9, len_132^0'=len_132^post9, i_167^0'=i_167^post9, a_116^0'=a_116^post9, r_39^0'=r_39^post9, nondet_12^0'=nondet_12^post9, x_SLAM_f_18^0'=x_SLAM_f_18^post9, a_353^0'=a_353^post9, temp0_31^0'=temp0_31^post9, a_277^0'=a_277^post9, head_32^0'=head_32^post9, head_14^0'=head_14^post9, r_163^0'=r_163^post9, len_226^0'=len_226^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, a_184^0'=a_184^post9, rcd_88^0'=rcd_88^post9, head_223^0'=head_223^post9, f_170^0'=f_170^post9, tmp_34^0'=tmp_34^post9, i_94^0'=i_94^post9, i_108^0'=i_108^post9, r_260^0'=r_260^post9, length_29^0'=length_29^post9, x_20^0'=x_20^post9, a_330^0'=a_330^post9, (-a_330^post9+a_330^0 == 0 /\ -x_16^post9+x_16^0 == 0 /\ f_263^0-f_263^post9 == 0 /\ head_268^0-head_268^post9 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post9 == 0 /\ -tmp_34^post9+tmp_34^0 == 0 /\ rcd_58^0-rcd_58^post9 == 0 /\ -length_29^post9+length_29^0 == 0 /\ head_129^0-head_129^post9 == 0 /\ -a_353^post9+a_353^0 == 0 /\ a_147^0-a_147^post9 == 0 /\ -len_132^post9+len_132^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post9 == 0 /\ -head_223^post9+head_223^0 == 0 /\ temp0_31^0-temp0_31^post9 == 0 /\ -i_108^post9+i_108^0 == 0 /\ temp0_15^0-temp0_15^post9 == 0 /\ -r_39^post9+r_39^0 == 0 /\ -a_184^post9+a_184^0 == 0 /\ y_19^0-y_19^post9 == 0 /\ i_167^0-i_167^post9 == 0 /\ 1+head_14^0 <= 0 /\ nondet_12^0-nondet_12^post9 == 0 /\ -result_11^post9+result_11^0 == 0 /\ -x_20^post9+x_20^0 == 0 /\ -t_23^post9+t_23^0 == 0 /\ ct_17^0-ct_17^post9 == 0 /\ -head_14^post9+head_14^0 == 0 /\ -x_SLAM_f_18^post9+x_SLAM_f_18^0 == 0 /\ r_163^0-r_163^post9 == 0 /\ len_276^0-len_276^post9 == 0 /\ -i_30^post9+i_30^0 == 0 /\ -f_170^post9+f_170^0 == 0 /\ head_27^0-head_27^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9 == 0 /\ -rcd_88^post9+rcd_88^0 == 0 /\ a_241^0-a_241^post9 == 0 /\ temp_35^0-temp_35^post9 == 0 /\ -r_260^post9+r_260^0 == 0 /\ -len_226^post9+len_226^0 == 0 /\ a_210^0-a_210^post9 == 0 /\ -a_308^post9+a_308^0 == 0 /\ len_183^0-len_183^post9 == 0 /\ -a_116^post9+a_116^0 == 0 /\ -head_32^post9+head_32^0 == 0 /\ a_277^0-a_277^post9 == 0 /\ head_175^0-head_175^post9 == 0 /\ -i_94^post9+i_94^0 == 0 /\ -r_218^post9+r_218^0 == 0 /\ -r_124^post9+r_124^0 == 0), cost: 1 10: l8 -> l9 : temp0_15^0'=temp0_15^post10, a_241^0'=a_241^post10, head_27^0'=head_27^post10, head_129^0'=head_129^post10, r_124^0'=r_124^post10, len_183^0'=len_183^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10, a_147^0'=a_147^post10, rcd_58^0'=rcd_58^post10, head_175^0'=head_175^post10, y_19^0'=y_19^post10, ct_17^0'=ct_17^post10, temp_35^0'=temp_35^post10, i_30^0'=i_30^post10, head_SLAM_f_26^0'=head_SLAM_f_26^post10, r_218^0'=r_218^post10, len_276^0'=len_276^post10, a_308^0'=a_308^post10, t_23^0'=t_23^post10, a_210^0'=a_210^post10, result_11^0'=result_11^post10, head_268^0'=head_268^post10, f_263^0'=f_263^post10, x_16^0'=x_16^post10, len_132^0'=len_132^post10, i_167^0'=i_167^post10, a_116^0'=a_116^post10, r_39^0'=r_39^post10, nondet_12^0'=nondet_12^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, a_353^0'=a_353^post10, temp0_31^0'=temp0_31^post10, a_277^0'=a_277^post10, head_32^0'=head_32^post10, head_14^0'=head_14^post10, r_163^0'=r_163^post10, len_226^0'=len_226^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, a_184^0'=a_184^post10, rcd_88^0'=rcd_88^post10, head_223^0'=head_223^post10, f_170^0'=f_170^post10, tmp_34^0'=tmp_34^post10, i_94^0'=i_94^post10, i_108^0'=i_108^post10, r_260^0'=r_260^post10, length_29^0'=length_29^post10, x_20^0'=x_20^post10, a_330^0'=a_330^post10, (head_SLAM_f_26^0-head_SLAM_f_26^post10 == 0 /\ -i_167^post10+i_167^0 == 0 /\ -tmp_34^post10+tmp_34^0 == 0 /\ -a_210^post10+a_210^0 == 0 /\ -a_277^post10+a_277^0 == 0 /\ head_129^0-head_129^post10 == 0 /\ head_27^0-head_27^post10 == 0 /\ -length_29^post10+length_29^0 == 0 /\ -len_226^post10+len_226^0 == 0 /\ rcd_58^0-rcd_58^post10 == 0 /\ a_147^0-a_147^post10 == 0 /\ -a_353^post10+a_353^0 == 0 /\ -r_163^post10+r_163^0 == 0 /\ -rcd_88^post10+rcd_88^0 == 0 /\ -i_108^post10+i_108^0 == 0 /\ 1-head_223^0 <= 0 /\ y_19^0-y_19^post10 == 0 /\ -head_223^post10+head_223^0 == 0 /\ r_124^0-r_124^post10 == 0 /\ len_276^0-len_276^post10 == 0 /\ -x_16^post10+x_16^0 == 0 /\ -nondet_12^post10+nondet_12^0 == 0 /\ -result_11^post10+result_11^0 == 0 /\ -x_20^post10+x_20^0 == 0 /\ -a_184^post10+a_184^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 == 0 /\ -a_330^post10+a_330^0 == 0 /\ len_183^0-len_183^post10 == 0 /\ a_241^0-a_241^post10 == 0 /\ -head_14^post10+head_14^0 == 0 /\ f_263^0-f_263^post10 == 0 /\ head_32^0-head_32^post10 == 0 /\ -x_SLAM_f_18^post10+x_SLAM_f_18^0 == 0 /\ r_39^0-r_39^post10 == 0 /\ ct_17^0-ct_17^post10 == 0 /\ temp_35^0-temp_35^post10 == 0 /\ -f_170^post10+f_170^0 == 0 /\ -r_260^post10+r_260^0 == 0 /\ -i_30^post10+i_30^0 == 0 /\ -a_116^post10+a_116^0 == 0 /\ head_175^0-head_175^post10 == 0 /\ temp0_15^0-temp0_15^post10 == 0 /\ -r_218^post10+r_218^0 == 0 /\ temp0_31^0-temp0_31^post10 == 0 /\ a_308^0-a_308^post10 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10 == 0 /\ t_23^0-t_23^post10 == 0 /\ -i_94^post10+i_94^0 == 0 /\ head_268^0-head_268^post10 == 0 /\ len_132^0-len_132^post10 == 0), cost: 1 11: l8 -> l9 : temp0_15^0'=temp0_15^post11, a_241^0'=a_241^post11, head_27^0'=head_27^post11, head_129^0'=head_129^post11, r_124^0'=r_124^post11, len_183^0'=len_183^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11, a_147^0'=a_147^post11, rcd_58^0'=rcd_58^post11, head_175^0'=head_175^post11, y_19^0'=y_19^post11, ct_17^0'=ct_17^post11, temp_35^0'=temp_35^post11, i_30^0'=i_30^post11, head_SLAM_f_26^0'=head_SLAM_f_26^post11, r_218^0'=r_218^post11, len_276^0'=len_276^post11, a_308^0'=a_308^post11, t_23^0'=t_23^post11, a_210^0'=a_210^post11, result_11^0'=result_11^post11, head_268^0'=head_268^post11, f_263^0'=f_263^post11, x_16^0'=x_16^post11, len_132^0'=len_132^post11, i_167^0'=i_167^post11, a_116^0'=a_116^post11, r_39^0'=r_39^post11, nondet_12^0'=nondet_12^post11, x_SLAM_f_18^0'=x_SLAM_f_18^post11, a_353^0'=a_353^post11, temp0_31^0'=temp0_31^post11, a_277^0'=a_277^post11, head_32^0'=head_32^post11, head_14^0'=head_14^post11, r_163^0'=r_163^post11, len_226^0'=len_226^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, a_184^0'=a_184^post11, rcd_88^0'=rcd_88^post11, head_223^0'=head_223^post11, f_170^0'=f_170^post11, tmp_34^0'=tmp_34^post11, i_94^0'=i_94^post11, i_108^0'=i_108^post11, r_260^0'=r_260^post11, length_29^0'=length_29^post11, x_20^0'=x_20^post11, a_330^0'=a_330^post11, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_241^0-a_241^post11 == 0 /\ -i_94^post11+i_94^0 == 0 /\ -length_29^post11+length_29^0 == 0 /\ r_218^0-r_218^post11 == 0 /\ a_184^0-a_184^post11 == 0 /\ -temp_35^post11+temp_35^0 == 0 /\ ct_17^0-ct_17^post11 == 0 /\ -head_14^post11+head_14^0 == 0 /\ a_308^0-a_308^post11 == 0 /\ result_11^0-result_11^post11 == 0 /\ -head_SLAM_f_26^post11+head_SLAM_f_26^0 == 0 /\ head_27^0-head_27^post11 == 0 /\ tmp_34^0-tmp_34^post11 == 0 /\ -head_223^post11+head_223^0 == 0 /\ -a_277^post11+a_277^0 == 0 /\ head_175^0-head_175^post11 == 0 /\ len_132^0-len_132^post11 == 0 /\ -x_20^post11+x_20^0 == 0 /\ -f_263^post11+f_263^0 == 0 /\ -len_276^post11+len_276^0 == 0 /\ r_39^0-r_39^post11 == 0 /\ head_129^0-head_129^post11 == 0 /\ t_23^0-t_23^post11 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11 == 0 /\ -i_108^post11+i_108^0 == 0 /\ -x_16^post11+x_16^0 == 0 /\ i_30^0-i_30^post11 == 0 /\ r_124^0-r_124^post11 == 0 /\ -f_170^post11+f_170^0 == 0 /\ -r_163^post11+r_163^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post11 == 0 /\ -r_260^post11+r_260^0 == 0 /\ 1+head_223^0 <= 0 /\ a_353^0-a_353^post11 == 0 /\ rcd_58^0-rcd_58^post11 == 0 /\ head_268^0-head_268^post11 == 0 /\ a_147^0-a_147^post11 == 0 /\ -len_226^post11+len_226^0 == 0 /\ -temp0_31^post11+temp0_31^0 == 0 /\ -i_167^post11+i_167^0 == 0 /\ head_32^0-head_32^post11 == 0 /\ -a_210^post11+a_210^0 == 0 /\ temp0_15^0-temp0_15^post11 == 0 /\ y_19^0-y_19^post11 == 0 /\ -rcd_88^post11+rcd_88^0 == 0 /\ -a_330^post11+a_330^0 == 0 /\ -len_183^post11+len_183^0 == 0 /\ a_116^0-a_116^post11 == 0 /\ -nondet_12^post11+nondet_12^0 == 0), cost: 1 12: l9 -> l4 : temp0_15^0'=temp0_15^post12, a_241^0'=a_241^post12, head_27^0'=head_27^post12, head_129^0'=head_129^post12, r_124^0'=r_124^post12, len_183^0'=len_183^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12, a_147^0'=a_147^post12, rcd_58^0'=rcd_58^post12, head_175^0'=head_175^post12, y_19^0'=y_19^post12, ct_17^0'=ct_17^post12, temp_35^0'=temp_35^post12, i_30^0'=i_30^post12, head_SLAM_f_26^0'=head_SLAM_f_26^post12, r_218^0'=r_218^post12, len_276^0'=len_276^post12, a_308^0'=a_308^post12, t_23^0'=t_23^post12, a_210^0'=a_210^post12, result_11^0'=result_11^post12, head_268^0'=head_268^post12, f_263^0'=f_263^post12, x_16^0'=x_16^post12, len_132^0'=len_132^post12, i_167^0'=i_167^post12, a_116^0'=a_116^post12, r_39^0'=r_39^post12, nondet_12^0'=nondet_12^post12, x_SLAM_f_18^0'=x_SLAM_f_18^post12, a_353^0'=a_353^post12, temp0_31^0'=temp0_31^post12, a_277^0'=a_277^post12, head_32^0'=head_32^post12, head_14^0'=head_14^post12, r_163^0'=r_163^post12, len_226^0'=len_226^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, a_184^0'=a_184^post12, rcd_88^0'=rcd_88^post12, head_223^0'=head_223^post12, f_170^0'=f_170^post12, tmp_34^0'=tmp_34^post12, i_94^0'=i_94^post12, i_108^0'=i_108^post12, r_260^0'=r_260^post12, length_29^0'=length_29^post12, x_20^0'=x_20^post12, a_330^0'=a_330^post12, (2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_260^post12+r_260^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post12 == 0 /\ head_129^0-head_129^post12 == 0 /\ -head_14^post12+head_14^0 == 0 /\ -r_163^post12+r_163^0 == 0 /\ -f_170^post12+f_170^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post12+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_223^0-head_223^post12 == 0 /\ head_175^0-head_175^post12 == 0 /\ x_16^0-x_16^post12 == 0 /\ -len_132^post12+len_132^0 == 0 /\ a_241^0-a_241^post12 == 0 /\ -f_263^post12+f_263^0 == 0 /\ -a_330^post12+a_330^0 == 0 /\ head_27^0-head_27^post12 == 0 /\ a_116^0-a_116^post12 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_32^post12+head_32^0 == 0 /\ -i_94^post12+i_94^0 == 0 /\ -tmp_34^post12+tmp_34^0 == 0 /\ temp0_15^0-temp0_15^post12 == 0 /\ a_353^0-a_353^post12 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12 == 0 /\ -len_226^post12+len_226^0 == 0 /\ -length_29^post12+length_29^0 == 0 /\ i_167^0-i_167^post12 == 0 /\ -r_39^post12+r_39^0 == 0 /\ -head_SLAM_f_26^post12+head_SLAM_f_26^0 == 0 /\ a_308^0-a_308^post12 == 0 /\ result_11^0-result_11^post12 == 0 /\ -a_277^post12+a_277^0 == 0 /\ -temp0_31^post12+temp0_31^0 == 0 /\ len_183^0-len_183^post12 == 0 /\ -y_19^post12+y_19^0 == 0 /\ -len_276^post12+len_276^0 == 0 /\ a_210^0-a_210^post12 == 0 /\ r_218^0-r_218^post12 == 0 /\ ct_17^0-ct_17^post12 == 0 /\ i_30^0-i_30^post12 == 0 /\ t_23^0-t_23^post12 == 0 /\ temp_35^0-temp_35^post12 == 0 /\ -x_20^post12+x_20^0 == 0 /\ -i_108^post12+i_108^0 == 0 /\ -a_184^post12+a_184^0 == 0 /\ a_147^0-a_147^post12 == 0 /\ r_124^0-r_124^post12 == 0 /\ -head_268^post12+head_268^0 == 0 /\ -rcd_58^post12+rcd_58^0 == 0 /\ -nondet_12^post12+nondet_12^0 == 0 /\ -rcd_88^post12+rcd_88^0 == 0), cost: 1 131: l4 -> l85 : temp0_15^0'=temp0_15^post131, a_241^0'=a_241^post131, head_27^0'=head_27^post131, head_129^0'=head_129^post131, r_124^0'=r_124^post131, len_183^0'=len_183^post131, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post131, a_147^0'=a_147^post131, rcd_58^0'=rcd_58^post131, head_175^0'=head_175^post131, y_19^0'=y_19^post131, ct_17^0'=ct_17^post131, temp_35^0'=temp_35^post131, i_30^0'=i_30^post131, head_SLAM_f_26^0'=head_SLAM_f_26^post131, r_218^0'=r_218^post131, len_276^0'=len_276^post131, a_308^0'=a_308^post131, t_23^0'=t_23^post131, a_210^0'=a_210^post131, result_11^0'=result_11^post131, head_268^0'=head_268^post131, f_263^0'=f_263^post131, x_16^0'=x_16^post131, len_132^0'=len_132^post131, i_167^0'=i_167^post131, a_116^0'=a_116^post131, r_39^0'=r_39^post131, nondet_12^0'=nondet_12^post131, x_SLAM_f_18^0'=x_SLAM_f_18^post131, a_353^0'=a_353^post131, temp0_31^0'=temp0_31^post131, a_277^0'=a_277^post131, head_32^0'=head_32^post131, head_14^0'=head_14^post131, r_163^0'=r_163^post131, len_226^0'=len_226^post131, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post131, a_184^0'=a_184^post131, rcd_88^0'=rcd_88^post131, head_223^0'=head_223^post131, f_170^0'=f_170^post131, tmp_34^0'=tmp_34^post131, i_94^0'=i_94^post131, i_108^0'=i_108^post131, r_260^0'=r_260^post131, length_29^0'=length_29^post131, x_20^0'=x_20^post131, a_330^0'=a_330^post131, (0 == 0 /\ x_20^post131-head_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post131 == 0 /\ head_27^0 <= 0 /\ -r_260^post131+r_260^0 == 0 /\ temp0_15^0-temp0_15^post131 == 0 /\ x_16^post131-head_14^0 <= 0 /\ x_16^post131-head_14^0 == 0 /\ -r_218^post131+r_218^0 == 0 /\ len_183^0-len_183^post131 == 0 /\ a_308^0-a_308^post131 == 0 /\ -ct_17^post131+y_19^post131 <= 0 /\ -ct_17^post131+y_19^post131 == 0 /\ r_124^0-r_124^post131 == 0 /\ len_276^0-len_276^post131 == 0 /\ result_11^0-result_11^post131 == 0 /\ -x_20^post131+head_14^0 <= 0 /\ t_23^0-t_23^post131 == 0 /\ len_132^0-len_132^post131 == 0 /\ i_30^0-i_30^post131 == 0 /\ -a_330^post131+a_330^0 == 0 /\ a_147^0-a_147^post131 == 0 /\ -y_19^post131 <= 0 /\ f_170^0-f_170^post131 == 0 /\ -x_16^post131+head_14^0 <= 0 /\ -rcd_88^post131+rcd_88^0 == 0 /\ -head_14^post131+head_14^0 == 0 /\ r_39^0-r_39^post131 == 0 /\ ct_17^post131-y_19^post131 <= 0 /\ a_184^0-a_184^post131 == 0 /\ -a_353^post131+a_353^0 == 0 /\ -tmp_34^post131+tmp_34^0 == 0 /\ -len_226^post131+len_226^0 == 0 /\ -i_94^post131+i_94^0 == 0 /\ -r_163^post131+r_163^0 == 0 /\ head_129^0-head_129^post131 == 0 /\ -head_14^0+x_SLAM_f_18^post131 <= 0 /\ -length_29^post131+length_29^0 == 0 /\ ct_17^post131 <= 0 /\ ct_17^post131 == 0 /\ -head_223^post131+head_223^0 == 0 /\ -len_226^0 <= 0 /\ -i_167^post131+i_167^0 == 0 /\ -x_20^post131+x_SLAM_f_18^post131 <= 0 /\ -x_16^post131+x_SLAM_f_18^post131 <= 0 /\ -x_16^post131+x_SLAM_f_18^post131 == 0 /\ head_175^0-head_175^post131 == 0 /\ -temp0_31^post131+temp0_31^0 == 0 /\ -f_263^post131+f_263^0 == 0 /\ head_268^0-head_268^post131 == 0 /\ head_32^0-head_32^post131 == 0 /\ y_19^post131 <= 0 /\ -a_210^post131+a_210^0 == 0 /\ -a_277^post131+a_277^0 == 0 /\ -a_241^0 <= 0 /\ a_241^0-a_241^post131 == 0 /\ head_14^0-x_SLAM_f_18^post131 <= 0 /\ -ct_17^post131 <= 0 /\ a_116^0-a_116^post131 == 0 /\ -i_108^post131+i_108^0 == 0 /\ rcd_58^0-rcd_58^post131 == 0 /\ x_20^post131-x_SLAM_f_18^post131 <= 0 /\ x_20^post131-x_SLAM_f_18^post131 == 0 /\ x_16^post131-x_SLAM_f_18^post131 <= 0 /\ -temp_35^post131+temp_35^0 == 0 /\ -nondet_12^post131+nondet_12^0 == 0 /\ -head_27^0 <= 0), cost: 1 135: l4 -> l88 : temp0_15^0'=temp0_15^post135, a_241^0'=a_241^post135, head_27^0'=head_27^post135, head_129^0'=head_129^post135, r_124^0'=r_124^post135, len_183^0'=len_183^post135, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post135, a_147^0'=a_147^post135, rcd_58^0'=rcd_58^post135, head_175^0'=head_175^post135, y_19^0'=y_19^post135, ct_17^0'=ct_17^post135, temp_35^0'=temp_35^post135, i_30^0'=i_30^post135, head_SLAM_f_26^0'=head_SLAM_f_26^post135, r_218^0'=r_218^post135, len_276^0'=len_276^post135, a_308^0'=a_308^post135, t_23^0'=t_23^post135, a_210^0'=a_210^post135, result_11^0'=result_11^post135, head_268^0'=head_268^post135, f_263^0'=f_263^post135, x_16^0'=x_16^post135, len_132^0'=len_132^post135, i_167^0'=i_167^post135, a_116^0'=a_116^post135, r_39^0'=r_39^post135, nondet_12^0'=nondet_12^post135, x_SLAM_f_18^0'=x_SLAM_f_18^post135, a_353^0'=a_353^post135, temp0_31^0'=temp0_31^post135, a_277^0'=a_277^post135, head_32^0'=head_32^post135, head_14^0'=head_14^post135, r_163^0'=r_163^post135, len_226^0'=len_226^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, a_184^0'=a_184^post135, rcd_88^0'=rcd_88^post135, head_223^0'=head_223^post135, f_170^0'=f_170^post135, tmp_34^0'=tmp_34^post135, i_94^0'=i_94^post135, i_108^0'=i_108^post135, r_260^0'=r_260^post135, length_29^0'=length_29^post135, x_20^0'=x_20^post135, a_330^0'=a_330^post135, (0 == 0 /\ i_167^0-i_167^post135 == 0 /\ -temp0_31^post135+temp0_31^0 == 0 /\ len_183^0-len_183^post135 == 0 /\ -len_132^post135+len_132^0 == 0 /\ r_218^0-r_218^post135 == 0 /\ -i_108^post135+i_108^0 == 0 /\ a_241^0-a_241^post135 == 0 /\ temp_35^0-temp_35^post135 == 0 /\ -tmp_34^post135+tmp_34^0 == 0 /\ rcd_88^0-rcd_88^post135 == 0 /\ -result_11^post135+result_11^0 == 0 /\ -a_184^post135+a_184^0 == 0 /\ -a_116^post135+a_116^0 == 0 /\ -r_260^post135+r_260^0 == 0 /\ r_124^0-r_124^post135 == 0 /\ -head_32^post135+head_32^0 == 0 /\ nondet_12^0-nondet_12^post135 == 0 /\ -head_223^post135+head_223^0 == 0 /\ i_30^0-i_30^post135 == 0 /\ -x_20^post135+x_20^0 == 0 /\ -a_330^post135+a_330^0 == 0 /\ rcd_58^0-rcd_58^post135 == 0 /\ -a_308^post135+a_308^0 == 0 /\ -len_226^0 <= 0 /\ a_210^0-a_210^post135 == 0 /\ head_129^0-head_129^post135 == 0 /\ -head_175^post135+head_175^0 == 0 /\ a_147^0-a_147^post135 == 0 /\ -x_SLAM_f_18^post135+x_SLAM_f_18^0 == 0 /\ x_16^0-x_16^post135 == 0 /\ -a_353^post135+a_353^0 == 0 /\ -length_29^post135+length_29^0 == 0 /\ -len_226^post135+len_226^0 == 0 /\ -i_94^post135+i_94^0 == 0 /\ y_19^0-y_19^post135 == 0 /\ -a_241^0 <= 0 /\ -f_170^post135+f_170^0 == 0 /\ len_276^0-len_276^post135 == 0 /\ a_277^0-a_277^post135 == 0 /\ r_163^0-r_163^post135 == 0 /\ head_27^0-head_27^post135 == 0 /\ -t_23^post135+t_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post135+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ ct_17^0-ct_17^post135 == 0 /\ temp0_15^0-temp0_15^post135 == 0), cost: 1 13: l10 -> l11 : temp0_15^0'=temp0_15^post13, a_241^0'=a_241^post13, head_27^0'=head_27^post13, head_129^0'=head_129^post13, r_124^0'=r_124^post13, len_183^0'=len_183^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13, a_147^0'=a_147^post13, rcd_58^0'=rcd_58^post13, head_175^0'=head_175^post13, y_19^0'=y_19^post13, ct_17^0'=ct_17^post13, temp_35^0'=temp_35^post13, i_30^0'=i_30^post13, head_SLAM_f_26^0'=head_SLAM_f_26^post13, r_218^0'=r_218^post13, len_276^0'=len_276^post13, a_308^0'=a_308^post13, t_23^0'=t_23^post13, a_210^0'=a_210^post13, result_11^0'=result_11^post13, head_268^0'=head_268^post13, f_263^0'=f_263^post13, x_16^0'=x_16^post13, len_132^0'=len_132^post13, i_167^0'=i_167^post13, a_116^0'=a_116^post13, r_39^0'=r_39^post13, nondet_12^0'=nondet_12^post13, x_SLAM_f_18^0'=x_SLAM_f_18^post13, a_353^0'=a_353^post13, temp0_31^0'=temp0_31^post13, a_277^0'=a_277^post13, head_32^0'=head_32^post13, head_14^0'=head_14^post13, r_163^0'=r_163^post13, len_226^0'=len_226^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, a_184^0'=a_184^post13, rcd_88^0'=rcd_88^post13, head_223^0'=head_223^post13, f_170^0'=f_170^post13, tmp_34^0'=tmp_34^post13, i_94^0'=i_94^post13, i_108^0'=i_108^post13, r_260^0'=r_260^post13, length_29^0'=length_29^post13, x_20^0'=x_20^post13, a_330^0'=a_330^post13, (0 == 0 /\ head_129^0-head_129^post13 == 0 /\ -r_39^post13+r_39^0 == 0 /\ head_27^0-head_27^post13 == 0 /\ -rcd_88^post13+rcd_88^0 == 0 /\ temp0_15^0-temp0_15^post13 == 0 /\ r_218^0-r_218^post13 == 0 /\ a_210^0-a_210^post13 == 0 /\ -temp0_15^0+result_11^post13 == 0 /\ -f_170^post13+f_170^0 == 0 /\ -a_330^0 <= 0 /\ -len_226^post13+len_226^0 == 0 /\ head_175^0-head_175^post13 == 0 /\ -r_260^post13+r_260^0 == 0 /\ -head_SLAM_f_26^post13+head_SLAM_f_26^0 == 0 /\ -head_223^post13+head_223^0 == 0 /\ -temp0_31^post13+temp0_31^0 == 0 /\ -a_116^post13+a_116^0 == 0 /\ -head_268^post13+head_268^0 == 0 /\ head_32^0-head_32^post13 == 0 /\ i_30^0-i_30^post13 == 0 /\ -i_94^post13+i_94^0 == 0 /\ -len_276^post13+len_276^0 == 0 /\ len_183^0-len_183^post13 == 0 /\ f_263^0-f_263^post13 == 0 /\ rcd_58^0-rcd_58^post13 == 0 /\ nondet_12^0-nondet_12^post13 == 0 /\ r_124^0-r_124^post13 == 0 /\ a_277^0-a_277^post13 == 0 /\ -tmp_34^post13+tmp_34^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post13 <= 0 /\ -i_167^post13+i_167^0 == 0 /\ y_19^0-x_20^0 <= 0 /\ -a_353^post13+a_353^0 == 0 /\ a_241^0-a_241^post13 == 0 /\ a_147^0-a_147^post13 == 0 /\ -length_29^post13+length_29^0 == 0 /\ -r_163^post13+r_163^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13 == 0 /\ -a_330^post13+a_330^0 == 0 /\ -i_108^post13+i_108^0 == 0 /\ temp_35^0-temp_35^post13 == 0 /\ -y_19^0+x_20^0 <= 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post13 <= 0 /\ -len_132^post13+len_132^0 == 0 /\ -a_184^post13+a_184^0 == 0 /\ head_14^0-head_14^post13 == 0 /\ a_308^0-a_308^post13 == 0), cost: 1 14: l10 -> l13 : temp0_15^0'=temp0_15^post14, a_241^0'=a_241^post14, head_27^0'=head_27^post14, head_129^0'=head_129^post14, r_124^0'=r_124^post14, len_183^0'=len_183^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14, a_147^0'=a_147^post14, rcd_58^0'=rcd_58^post14, head_175^0'=head_175^post14, y_19^0'=y_19^post14, ct_17^0'=ct_17^post14, temp_35^0'=temp_35^post14, i_30^0'=i_30^post14, head_SLAM_f_26^0'=head_SLAM_f_26^post14, r_218^0'=r_218^post14, len_276^0'=len_276^post14, a_308^0'=a_308^post14, t_23^0'=t_23^post14, a_210^0'=a_210^post14, result_11^0'=result_11^post14, head_268^0'=head_268^post14, f_263^0'=f_263^post14, x_16^0'=x_16^post14, len_132^0'=len_132^post14, i_167^0'=i_167^post14, a_116^0'=a_116^post14, r_39^0'=r_39^post14, nondet_12^0'=nondet_12^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=a_353^post14, temp0_31^0'=temp0_31^post14, a_277^0'=a_277^post14, head_32^0'=head_32^post14, head_14^0'=head_14^post14, r_163^0'=r_163^post14, len_226^0'=len_226^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_184^0'=a_184^post14, rcd_88^0'=rcd_88^post14, head_223^0'=head_223^post14, f_170^0'=f_170^post14, tmp_34^0'=tmp_34^post14, i_94^0'=i_94^post14, i_108^0'=i_108^post14, r_260^0'=r_260^post14, length_29^0'=length_29^post14, x_20^0'=x_20^post14, a_330^0'=a_330^post14, (0 == 0 /\ r_124^0-r_124^post14 == 0 /\ a_308^0-a_308^post14 == 0 /\ -rcd_88^post14+rcd_88^0 == 0 /\ tmp_34^0-tmp_34^post14 == 0 /\ len_276^0-len_276^post14 == 0 /\ -a_330^0 <= 0 /\ t_23^0-t_23^post14 == 0 /\ -a_330^post14+a_330^0 == 0 /\ len_132^0-len_132^post14 == 0 /\ r_218^0-r_218^post14 == 0 /\ -nondet_12^post14+nondet_12^0 == 0 /\ -f_170^post14+f_170^0 == 0 /\ -i_94^post14+i_94^0 == 0 /\ -length_29^post14+length_29^0 == 0 /\ -temp_35^post14+temp_35^0 == 0 /\ a_241^0-a_241^post14 == 0 /\ head_175^0-head_175^post14 == 0 /\ a_184^0-a_184^post14 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14 == 0 /\ head_129^0-head_129^post14 == 0 /\ -f_263^post14+f_263^0 == 0 /\ -a_210^post14+a_210^0 == 0 /\ a_116^0-a_116^post14 == 0 /\ a_147^0-a_147^post14 == 0 /\ head_27^0-head_27^post14 == 0 /\ i_30^0-i_30^post14 == 0 /\ -a_277^post14+a_277^0 == 0 /\ -x_20^post14+x_20^0 == 0 /\ head_268^0-head_268^post14 == 0 /\ len_226^0-len_226^post14 == 0 /\ a_353^0-a_353^post14 == 0 /\ -rcd_58^post14+rcd_58^0 == 0 /\ -i_108^post14+i_108^0 == 0 /\ -len_183^post14+len_183^0 == 0 /\ -head_32^post14+head_32^0 == 0 /\ y_19^0-y_19^post14 == 0 /\ -r_163^post14+r_163^0 == 0 /\ -r_260^post14+r_260^0 == 0 /\ result_11^0-result_11^post14 == 0 /\ -head_223^post14+head_223^0 == 0 /\ -i_167^post14+i_167^0 == 0 /\ -head_SLAM_f_26^post14+head_SLAM_f_26^0 == 0 /\ temp0_31^0-temp0_31^post14 == 0 /\ temp0_15^0-temp0_15^post14 == 0), cost: 1 15: l13 -> l14 : temp0_15^0'=temp0_15^post15, a_241^0'=a_241^post15, head_27^0'=head_27^post15, head_129^0'=head_129^post15, r_124^0'=r_124^post15, len_183^0'=len_183^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15, a_147^0'=a_147^post15, rcd_58^0'=rcd_58^post15, head_175^0'=head_175^post15, y_19^0'=y_19^post15, ct_17^0'=ct_17^post15, temp_35^0'=temp_35^post15, i_30^0'=i_30^post15, head_SLAM_f_26^0'=head_SLAM_f_26^post15, r_218^0'=r_218^post15, len_276^0'=len_276^post15, a_308^0'=a_308^post15, t_23^0'=t_23^post15, a_210^0'=a_210^post15, result_11^0'=result_11^post15, head_268^0'=head_268^post15, f_263^0'=f_263^post15, x_16^0'=x_16^post15, len_132^0'=len_132^post15, i_167^0'=i_167^post15, a_116^0'=a_116^post15, r_39^0'=r_39^post15, nondet_12^0'=nondet_12^post15, x_SLAM_f_18^0'=x_SLAM_f_18^post15, a_353^0'=a_353^post15, temp0_31^0'=temp0_31^post15, a_277^0'=a_277^post15, head_32^0'=head_32^post15, head_14^0'=head_14^post15, r_163^0'=r_163^post15, len_226^0'=len_226^post15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post15, a_184^0'=a_184^post15, rcd_88^0'=rcd_88^post15, head_223^0'=head_223^post15, f_170^0'=f_170^post15, tmp_34^0'=tmp_34^post15, i_94^0'=i_94^post15, i_108^0'=i_108^post15, r_260^0'=r_260^post15, length_29^0'=length_29^post15, x_20^0'=x_20^post15, a_330^0'=a_330^post15, (-nondet_12^post15+nondet_12^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post15 == 0 /\ -a_330^post15+a_330^0 == 0 /\ head_175^0-head_175^post15 == 0 /\ r_124^0-r_124^post15 == 0 /\ head_223^0-head_223^post15 == 0 /\ -head_14^post15+head_14^0 == 0 /\ -r_163^post15+r_163^0 == 0 /\ -rcd_88^post15+rcd_88^0 == 0 /\ temp0_15^0-temp0_15^post15 == 0 /\ a_116^0-a_116^post15 == 0 /\ -length_29^post15+length_29^0 == 0 /\ -i_94^post15+i_94^0 == 0 /\ -f_170^post15+f_170^0 == 0 /\ result_11^0-result_11^post15 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post15+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_241^0-a_241^post15 == 0 /\ head_129^0-head_129^post15 == 0 /\ -f_263^post15+f_263^0 == 0 /\ x_16^0-x_16^post15 == 0 /\ -a_277^post15+a_277^0 == 0 /\ -len_276^post15+len_276^0 == 0 /\ -temp0_31^post15+temp0_31^0 == 0 /\ -rcd_58^post15+rcd_58^0 == 0 /\ -head_268^post15+head_268^0 == 0 /\ a_308^0-a_308^post15 == 0 /\ len_226^0-len_226^post15 == 0 /\ y_19^0-y_19^post15 == 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_20^post15+x_20^0 == 0 /\ -a_210^post15+a_210^0 == 0 /\ -head_SLAM_f_26^post15+head_SLAM_f_26^0 == 0 /\ -len_183^post15+len_183^0 == 0 /\ -len_132^post15+len_132^0 == 0 /\ head_27^0-head_27^post15 == 0 /\ t_23^0-t_23^post15 == 0 /\ -i_108^post15+i_108^0 == 0 /\ a_353^0-a_353^post15 == 0 /\ ct_17^0-ct_17^post15 == 0 /\ -tmp_34^post15+tmp_34^0 == 0 /\ i_167^0-i_167^post15 == 0 /\ i_30^0-i_30^post15 == 0 /\ -a_184^post15+a_184^0 == 0 /\ -r_260^post15+r_260^0 == 0 /\ -head_32^post15+head_32^0 == 0 /\ r_218^0-r_218^post15 == 0 /\ -r_39^post15+r_39^0 == 0 /\ temp_35^0-temp_35^post15 == 0 /\ a_147^0-a_147^post15 == 0), cost: 1 16: l13 -> l14 : temp0_15^0'=temp0_15^post16, a_241^0'=a_241^post16, head_27^0'=head_27^post16, head_129^0'=head_129^post16, r_124^0'=r_124^post16, len_183^0'=len_183^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16, a_147^0'=a_147^post16, rcd_58^0'=rcd_58^post16, head_175^0'=head_175^post16, y_19^0'=y_19^post16, ct_17^0'=ct_17^post16, temp_35^0'=temp_35^post16, i_30^0'=i_30^post16, head_SLAM_f_26^0'=head_SLAM_f_26^post16, r_218^0'=r_218^post16, len_276^0'=len_276^post16, a_308^0'=a_308^post16, t_23^0'=t_23^post16, a_210^0'=a_210^post16, result_11^0'=result_11^post16, head_268^0'=head_268^post16, f_263^0'=f_263^post16, x_16^0'=x_16^post16, len_132^0'=len_132^post16, i_167^0'=i_167^post16, a_116^0'=a_116^post16, r_39^0'=r_39^post16, nondet_12^0'=nondet_12^post16, x_SLAM_f_18^0'=x_SLAM_f_18^post16, a_353^0'=a_353^post16, temp0_31^0'=temp0_31^post16, a_277^0'=a_277^post16, head_32^0'=head_32^post16, head_14^0'=head_14^post16, r_163^0'=r_163^post16, len_226^0'=len_226^post16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post16, a_184^0'=a_184^post16, rcd_88^0'=rcd_88^post16, head_223^0'=head_223^post16, f_170^0'=f_170^post16, tmp_34^0'=tmp_34^post16, i_94^0'=i_94^post16, i_108^0'=i_108^post16, r_260^0'=r_260^post16, length_29^0'=length_29^post16, x_20^0'=x_20^post16, a_330^0'=a_330^post16, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post16 == 0 /\ head_223^0-head_223^post16 == 0 /\ -a_330^post16+a_330^0 == 0 /\ -a_147^post16+a_147^0 == 0 /\ head_27^0-head_27^post16 == 0 /\ r_218^0-r_218^post16 == 0 /\ -f_170^post16+f_170^0 == 0 /\ -x_SLAM_f_18^post16+x_SLAM_f_18^0 == 0 /\ -a_308^post16+a_308^0 == 0 /\ -rcd_88^post16+rcd_88^0 == 0 /\ -r_260^post16+r_260^0 == 0 /\ i_30^0-i_30^post16 == 0 /\ len_183^0-len_183^post16 == 0 /\ i_167^0-i_167^post16 == 0 /\ -a_353^post16+a_353^0 == 0 /\ -len_226^post16+len_226^0 == 0 /\ f_263^0-f_263^post16 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post16 == 0 /\ -i_94^post16+i_94^0 == 0 /\ -y_19^post16+y_19^0 == 0 /\ temp_35^0-temp_35^post16 == 0 /\ a_210^0-a_210^post16 == 0 /\ -ct_17^post16+ct_17^0 == 0 /\ -x_20^post16+x_20^0 == 0 /\ head_14^0-head_14^post16 == 0 /\ -t_23^post16+t_23^0 == 0 /\ head_175^0-head_175^post16 == 0 /\ -tmp_34^post16+tmp_34^0 == 0 /\ -head_268^post16+head_268^0 == 0 /\ -temp0_31^post16+temp0_31^0 == 0 /\ r_124^0-r_124^post16 == 0 /\ -a_277^post16+a_277^0 == 0 /\ -length_29^post16+length_29^0 == 0 /\ nondet_12^0-nondet_12^post16 == 0 /\ temp0_15^0-temp0_15^post16 == 0 /\ -len_132^post16+len_132^0 == 0 /\ result_11^0-result_11^post16 == 0 /\ -r_39^post16+r_39^0 == 0 /\ x_16^0-x_16^post16 == 0 /\ -i_108^post16+i_108^0 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ rcd_58^0-rcd_58^post16 == 0 /\ -head_32^post16+head_32^0 == 0 /\ -a_116^post16+a_116^0 == 0 /\ r_163^0-r_163^post16 == 0 /\ len_276^0-len_276^post16 == 0 /\ head_129^0-head_129^post16 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16 == 0 /\ -a_184^post16+a_184^0 == 0 /\ a_241^0-a_241^post16 == 0), cost: 1 17: l14 -> l15 : temp0_15^0'=temp0_15^post17, a_241^0'=a_241^post17, head_27^0'=head_27^post17, head_129^0'=head_129^post17, r_124^0'=r_124^post17, len_183^0'=len_183^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17, a_147^0'=a_147^post17, rcd_58^0'=rcd_58^post17, head_175^0'=head_175^post17, y_19^0'=y_19^post17, ct_17^0'=ct_17^post17, temp_35^0'=temp_35^post17, i_30^0'=i_30^post17, head_SLAM_f_26^0'=head_SLAM_f_26^post17, r_218^0'=r_218^post17, len_276^0'=len_276^post17, a_308^0'=a_308^post17, t_23^0'=t_23^post17, a_210^0'=a_210^post17, result_11^0'=result_11^post17, head_268^0'=head_268^post17, f_263^0'=f_263^post17, x_16^0'=x_16^post17, len_132^0'=len_132^post17, i_167^0'=i_167^post17, a_116^0'=a_116^post17, r_39^0'=r_39^post17, nondet_12^0'=nondet_12^post17, x_SLAM_f_18^0'=x_SLAM_f_18^post17, a_353^0'=a_353^post17, temp0_31^0'=temp0_31^post17, a_277^0'=a_277^post17, head_32^0'=head_32^post17, head_14^0'=head_14^post17, r_163^0'=r_163^post17, len_226^0'=len_226^post17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post17, a_184^0'=a_184^post17, rcd_88^0'=rcd_88^post17, head_223^0'=head_223^post17, f_170^0'=f_170^post17, tmp_34^0'=tmp_34^post17, i_94^0'=i_94^post17, i_108^0'=i_108^post17, r_260^0'=r_260^post17, length_29^0'=length_29^post17, x_20^0'=x_20^post17, a_330^0'=a_330^post17, (0 == 0 /\ x_16^0-head_14^0 <= 0 /\ -head_14^post17+head_14^0 == 0 /\ -x_SLAM_f_18^post17+x_SLAM_f_18^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post17 == 0 /\ -head_175^post17+head_175^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ -f_170^post17+f_170^0 == 0 /\ nondet_12^0-nondet_12^post17 == 0 /\ -i_30^post17+i_30^0 == 0 /\ -length_29^post17+length_29^0 == 0 /\ head_268^0-head_268^post17 == 0 /\ -1-a_353^post17+a_330^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post17 == 0 /\ y_19^0 <= 0 /\ -r_260^post17+r_260^0 == 0 /\ ct_17^0 <= 0 /\ -a_308^post17+a_308^0 == 0 /\ -x_16^0+head_14^0 <= 0 /\ temp0_15^0-temp0_15^post17 == 0 /\ a_241^0-a_241^post17 == 0 /\ i_167^0-i_167^post17 == 0 /\ temp0_31^0-temp0_31^post17 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ rcd_58^0-rcd_58^post17 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ head_129^0-head_129^post17 == 0 /\ -i_94^post17+i_94^0 == 0 /\ -x_20^post17+x_20^0 == 0 /\ len_276^0-len_276^post17 == 0 /\ -a_330^post17+a_330^0 == 0 /\ -x_16^post17+x_16^0 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ ct_17^0-ct_17^post17 == 0 /\ r_163^0-r_163^post17 == 0 /\ -tmp_34^post17+tmp_34^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17 == 0 /\ y_19^0-y_19^post17 == 0 /\ -ct_17^0 <= 0 /\ -len_226^post17+len_226^0 == 0 /\ -a_277^post17+a_277^0 == 0 /\ -y_19^0 <= 0 /\ head_27^0-head_27^post17 == 0 /\ 1+a_353^post17-a_330^0 <= 0 /\ len_183^0-len_183^post17 == 0 /\ len_132^0-len_132^post17 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ i_108^0-i_108^post17 == 0 /\ -head_223^post17+head_223^0 == 0 /\ -r_39^post17+r_39^0 == 0 /\ -a_184^post17+a_184^0 == 0 /\ f_263^0-f_263^post17 == 0 /\ -rcd_88^post17+rcd_88^0 == 0 /\ a_147^0-a_147^post17 == 0 /\ temp_35^0-temp_35^post17 == 0 /\ -result_11^post17+result_11^0 == 0 /\ -r_124^post17+r_124^0 == 0 /\ -a_116^post17+a_116^0 == 0 /\ t_23^post17-x_20^0 == 0 /\ a_210^0-a_210^post17 == 0 /\ -head_32^post17+head_32^0 == 0 /\ -r_218^post17+r_218^0 == 0), cost: 1 18: l15 -> l16 : temp0_15^0'=temp0_15^post18, a_241^0'=a_241^post18, head_27^0'=head_27^post18, head_129^0'=head_129^post18, r_124^0'=r_124^post18, len_183^0'=len_183^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post18, a_147^0'=a_147^post18, rcd_58^0'=rcd_58^post18, head_175^0'=head_175^post18, y_19^0'=y_19^post18, ct_17^0'=ct_17^post18, temp_35^0'=temp_35^post18, i_30^0'=i_30^post18, head_SLAM_f_26^0'=head_SLAM_f_26^post18, r_218^0'=r_218^post18, len_276^0'=len_276^post18, a_308^0'=a_308^post18, t_23^0'=t_23^post18, a_210^0'=a_210^post18, result_11^0'=result_11^post18, head_268^0'=head_268^post18, f_263^0'=f_263^post18, x_16^0'=x_16^post18, len_132^0'=len_132^post18, i_167^0'=i_167^post18, a_116^0'=a_116^post18, r_39^0'=r_39^post18, nondet_12^0'=nondet_12^post18, x_SLAM_f_18^0'=x_SLAM_f_18^post18, a_353^0'=a_353^post18, temp0_31^0'=temp0_31^post18, a_277^0'=a_277^post18, head_32^0'=head_32^post18, head_14^0'=head_14^post18, r_163^0'=r_163^post18, len_226^0'=len_226^post18, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post18, a_184^0'=a_184^post18, rcd_88^0'=rcd_88^post18, head_223^0'=head_223^post18, f_170^0'=f_170^post18, tmp_34^0'=tmp_34^post18, i_94^0'=i_94^post18, i_108^0'=i_108^post18, r_260^0'=r_260^post18, length_29^0'=length_29^post18, x_20^0'=x_20^post18, a_330^0'=a_330^post18, (head_SLAM_f_26^0-head_SLAM_f_26^post18 == 0 /\ -result_11^post18+result_11^0 == 0 /\ -length_29^post18+length_29^0 == 0 /\ y_19^0-y_19^post18 == 0 /\ -r_260^post18+r_260^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post18 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post18+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_268^0-head_268^post18 == 0 /\ -a_353^post18+a_353^0 == 0 /\ i_30^0-i_30^post18 == 0 /\ head_27^0-head_27^post18 == 0 /\ a_147^0-a_147^post18 == 0 /\ -r_163^post18+r_163^0 == 0 /\ -i_167^post18+i_167^0 == 0 /\ len_183^0-len_183^post18 == 0 /\ -x_16^post18+x_16^0 == 0 /\ -a_308^post18+a_308^0 == 0 /\ -x_20^post18+x_20^0 == 0 /\ r_124^0-r_124^post18 == 0 /\ -head_14^post18+head_14^0 == 0 /\ -a_330^post18+a_330^0 == 0 /\ -tmp_34^post18+tmp_34^0 == 0 /\ len_276^0-len_276^post18 == 0 /\ head_175^0-head_175^post18 == 0 /\ -i_94^post18+i_94^0 == 0 /\ head_32^0-head_32^post18 == 0 /\ -temp_35^post18+temp_35^0 == 0 /\ -f_170^post18+f_170^0 == 0 /\ 1-head_14^0 <= 0 /\ ct_17^0-ct_17^post18 == 0 /\ -head_223^post18+head_223^0 == 0 /\ f_263^0-f_263^post18 == 0 /\ temp0_15^0-temp0_15^post18 == 0 /\ t_23^0-t_23^post18 == 0 /\ a_241^0-a_241^post18 == 0 /\ -rcd_88^post18+rcd_88^0 == 0 /\ a_210^0-a_210^post18 == 0 /\ -a_277^post18+a_277^0 == 0 /\ len_132^0-len_132^post18 == 0 /\ temp0_31^0-temp0_31^post18 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post18 == 0 /\ i_108^0-i_108^post18 == 0 /\ -r_218^post18+r_218^0 == 0 /\ head_129^0-head_129^post18 == 0 /\ rcd_58^0-rcd_58^post18 == 0 /\ r_39^0-r_39^post18 == 0 /\ -a_184^post18+a_184^0 == 0 /\ -nondet_12^post18+nondet_12^0 == 0 /\ len_226^0-len_226^post18 == 0 /\ -a_116^post18+a_116^0 == 0), cost: 1 19: l15 -> l16 : temp0_15^0'=temp0_15^post19, a_241^0'=a_241^post19, head_27^0'=head_27^post19, head_129^0'=head_129^post19, r_124^0'=r_124^post19, len_183^0'=len_183^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19, a_147^0'=a_147^post19, rcd_58^0'=rcd_58^post19, head_175^0'=head_175^post19, y_19^0'=y_19^post19, ct_17^0'=ct_17^post19, temp_35^0'=temp_35^post19, i_30^0'=i_30^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post19, r_218^0'=r_218^post19, len_276^0'=len_276^post19, a_308^0'=a_308^post19, t_23^0'=t_23^post19, a_210^0'=a_210^post19, result_11^0'=result_11^post19, head_268^0'=head_268^post19, f_263^0'=f_263^post19, x_16^0'=x_16^post19, len_132^0'=len_132^post19, i_167^0'=i_167^post19, a_116^0'=a_116^post19, r_39^0'=r_39^post19, nondet_12^0'=nondet_12^post19, x_SLAM_f_18^0'=x_SLAM_f_18^post19, a_353^0'=a_353^post19, temp0_31^0'=temp0_31^post19, a_277^0'=a_277^post19, head_32^0'=head_32^post19, head_14^0'=head_14^post19, r_163^0'=r_163^post19, len_226^0'=len_226^post19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, a_184^0'=a_184^post19, rcd_88^0'=rcd_88^post19, head_223^0'=head_223^post19, f_170^0'=f_170^post19, tmp_34^0'=tmp_34^post19, i_94^0'=i_94^post19, i_108^0'=i_108^post19, r_260^0'=r_260^post19, length_29^0'=length_29^post19, x_20^0'=x_20^post19, a_330^0'=a_330^post19, (head_27^0-head_27^post19 == 0 /\ -a_116^post19+a_116^0 == 0 /\ t_23^0-t_23^post19 == 0 /\ len_132^0-len_132^post19 == 0 /\ -rcd_88^post19+rcd_88^0 == 0 /\ ct_17^0-ct_17^post19 == 0 /\ -r_218^post19+r_218^0 == 0 /\ -f_263^post19+f_263^0 == 0 /\ y_19^0-y_19^post19 == 0 /\ -x_20^post19+x_20^0 == 0 /\ len_276^0-len_276^post19 == 0 /\ rcd_58^0-rcd_58^post19 == 0 /\ -head_14^post19+head_14^0 == 0 /\ -i_167^post19+i_167^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post19+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1+head_14^0 <= 0 /\ a_147^0-a_147^post19 == 0 /\ -head_SLAM_f_26^post19+head_SLAM_f_26^0 == 0 /\ -nondet_12^post19+nondet_12^0 == 0 /\ i_30^0-i_30^post19 == 0 /\ len_183^0-len_183^post19 == 0 /\ -a_353^post19+a_353^0 == 0 /\ -a_210^post19+a_210^0 == 0 /\ -tmp_34^post19+tmp_34^0 == 0 /\ a_184^0-a_184^post19 == 0 /\ -len_226^post19+len_226^0 == 0 /\ -r_260^post19+r_260^0 == 0 /\ -i_94^post19+i_94^0 == 0 /\ r_124^0-r_124^post19 == 0 /\ temp_35^0-temp_35^post19 == 0 /\ a_241^0-a_241^post19 == 0 /\ r_39^0-r_39^post19 == 0 /\ -head_223^post19+head_223^0 == 0 /\ temp0_31^0-temp0_31^post19 == 0 /\ temp0_15^0-temp0_15^post19 == 0 /\ head_32^0-head_32^post19 == 0 /\ -result_11^post19+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19 == 0 /\ -a_330^post19+a_330^0 == 0 /\ -head_129^post19+head_129^0 == 0 /\ -x_16^post19+x_16^0 == 0 /\ -a_277^post19+a_277^0 == 0 /\ -x_SLAM_f_18^post19+x_SLAM_f_18^0 == 0 /\ -f_170^post19+f_170^0 == 0 /\ -length_29^post19+length_29^0 == 0 /\ head_175^0-head_175^post19 == 0 /\ -i_108^post19+i_108^0 == 0 /\ a_308^0-a_308^post19 == 0 /\ head_268^0-head_268^post19 == 0 /\ -r_163^post19+r_163^0 == 0), cost: 1 20: l16 -> l17 : temp0_15^0'=temp0_15^post20, a_241^0'=a_241^post20, head_27^0'=head_27^post20, head_129^0'=head_129^post20, r_124^0'=r_124^post20, len_183^0'=len_183^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20, a_147^0'=a_147^post20, rcd_58^0'=rcd_58^post20, head_175^0'=head_175^post20, y_19^0'=y_19^post20, ct_17^0'=ct_17^post20, temp_35^0'=temp_35^post20, i_30^0'=i_30^post20, head_SLAM_f_26^0'=head_SLAM_f_26^post20, r_218^0'=r_218^post20, len_276^0'=len_276^post20, a_308^0'=a_308^post20, t_23^0'=t_23^post20, a_210^0'=a_210^post20, result_11^0'=result_11^post20, head_268^0'=head_268^post20, f_263^0'=f_263^post20, x_16^0'=x_16^post20, len_132^0'=len_132^post20, i_167^0'=i_167^post20, a_116^0'=a_116^post20, r_39^0'=r_39^post20, nondet_12^0'=nondet_12^post20, x_SLAM_f_18^0'=x_SLAM_f_18^post20, a_353^0'=a_353^post20, temp0_31^0'=temp0_31^post20, a_277^0'=a_277^post20, head_32^0'=head_32^post20, head_14^0'=head_14^post20, r_163^0'=r_163^post20, len_226^0'=len_226^post20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, a_184^0'=a_184^post20, rcd_88^0'=rcd_88^post20, head_223^0'=head_223^post20, f_170^0'=f_170^post20, tmp_34^0'=tmp_34^post20, i_94^0'=i_94^post20, i_108^0'=i_108^post20, r_260^0'=r_260^post20, length_29^0'=length_29^post20, x_20^0'=x_20^post20, a_330^0'=a_330^post20, (r_124^0-r_124^post20 == 0 /\ a_308^0-a_308^post20 == 0 /\ len_276^0-len_276^post20 == 0 /\ -i_108^post20+i_108^0 == 0 /\ -head_223^post20+head_223^0 == 0 /\ a_241^0-a_241^post20 == 0 /\ -rcd_88^post20+rcd_88^0 == 0 /\ a_184^0-a_184^post20 == 0 /\ len_132^0-len_132^post20 == 0 /\ -nondet_12^post20+nondet_12^0 == 0 /\ -x_16^post20+x_16^0 == 0 /\ f_170^0-f_170^post20 == 0 /\ temp0_15^0-temp0_15^post20 == 0 /\ tmp_34^0-tmp_34^post20 == 0 /\ -x_20^post20+x_20^0 == 0 /\ -i_94^post20+i_94^0 == 0 /\ ct_17^0-ct_17^post20 == 0 /\ -a_330^post20+a_330^0 == 0 /\ t_23^0-t_23^post20 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post20+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_30^0-i_30^post20 == 0 /\ -head_14^post20+head_14^0 == 0 /\ head_129^0-head_129^post20 == 0 /\ a_147^0-a_147^post20 == 0 /\ -i_167^post20+i_167^0 == 0 /\ 1-y_19^0+head_14^0 <= 0 /\ head_175^0-head_175^post20 == 0 /\ r_218^0-r_218^post20 == 0 /\ -head_SLAM_f_26^post20+head_SLAM_f_26^0 == 0 /\ -r_260^post20+r_260^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post20 == 0 /\ -a_277^post20+a_277^0 == 0 /\ head_27^0-head_27^post20 == 0 /\ head_268^0-head_268^post20 == 0 /\ -head_32^post20+head_32^0 == 0 /\ -a_210^post20+a_210^0 == 0 /\ len_226^0-len_226^post20 == 0 /\ -f_263^post20+f_263^0 == 0 /\ r_39^0-r_39^post20 == 0 /\ y_19^0-y_19^post20 == 0 /\ a_353^0-a_353^post20 == 0 /\ rcd_58^0-rcd_58^post20 == 0 /\ -len_183^post20+len_183^0 == 0 /\ -temp_35^post20+temp_35^0 == 0 /\ result_11^0-result_11^post20 == 0 /\ a_116^0-a_116^post20 == 0 /\ -temp0_31^post20+temp0_31^0 == 0 /\ -length_29^post20+length_29^0 == 0 /\ -r_163^post20+r_163^0 == 0), cost: 1 21: l16 -> l17 : temp0_15^0'=temp0_15^post21, a_241^0'=a_241^post21, head_27^0'=head_27^post21, head_129^0'=head_129^post21, r_124^0'=r_124^post21, len_183^0'=len_183^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21, a_147^0'=a_147^post21, rcd_58^0'=rcd_58^post21, head_175^0'=head_175^post21, y_19^0'=y_19^post21, ct_17^0'=ct_17^post21, temp_35^0'=temp_35^post21, i_30^0'=i_30^post21, head_SLAM_f_26^0'=head_SLAM_f_26^post21, r_218^0'=r_218^post21, len_276^0'=len_276^post21, a_308^0'=a_308^post21, t_23^0'=t_23^post21, a_210^0'=a_210^post21, result_11^0'=result_11^post21, head_268^0'=head_268^post21, f_263^0'=f_263^post21, x_16^0'=x_16^post21, len_132^0'=len_132^post21, i_167^0'=i_167^post21, a_116^0'=a_116^post21, r_39^0'=r_39^post21, nondet_12^0'=nondet_12^post21, x_SLAM_f_18^0'=x_SLAM_f_18^post21, a_353^0'=a_353^post21, temp0_31^0'=temp0_31^post21, a_277^0'=a_277^post21, head_32^0'=head_32^post21, head_14^0'=head_14^post21, r_163^0'=r_163^post21, len_226^0'=len_226^post21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post21, a_184^0'=a_184^post21, rcd_88^0'=rcd_88^post21, head_223^0'=head_223^post21, f_170^0'=f_170^post21, tmp_34^0'=tmp_34^post21, i_94^0'=i_94^post21, i_108^0'=i_108^post21, r_260^0'=r_260^post21, length_29^0'=length_29^post21, x_20^0'=x_20^post21, a_330^0'=a_330^post21, (a_116^0-a_116^post21 == 0 /\ -f_263^post21+f_263^0 == 0 /\ r_124^0-r_124^post21 == 0 /\ -x_20^post21+x_20^0 == 0 /\ head_223^0-head_223^post21 == 0 /\ head_175^0-head_175^post21 == 0 /\ -a_330^post21+a_330^0 == 0 /\ 1+y_19^0-head_14^0 <= 0 /\ -i_108^post21+i_108^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post21 == 0 /\ r_39^0-r_39^post21 == 0 /\ -i_94^post21+i_94^0 == 0 /\ -nondet_12^post21+nondet_12^0 == 0 /\ f_170^0-f_170^post21 == 0 /\ temp0_15^0-temp0_15^post21 == 0 /\ -head_32^post21+head_32^0 == 0 /\ -r_163^post21+r_163^0 == 0 /\ result_11^0-result_11^post21 == 0 /\ -a_184^post21+a_184^0 == 0 /\ -r_260^post21+r_260^0 == 0 /\ x_16^0-x_16^post21 == 0 /\ a_241^0-a_241^post21 == 0 /\ -temp0_31^post21+temp0_31^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21 == 0 /\ -a_277^post21+a_277^0 == 0 /\ -head_SLAM_f_26^post21+head_SLAM_f_26^0 == 0 /\ head_129^0-head_129^post21 == 0 /\ a_353^0-a_353^post21 == 0 /\ a_308^0-a_308^post21 == 0 /\ -rcd_88^post21+rcd_88^0 == 0 /\ -y_19^post21+y_19^0 == 0 /\ -len_132^post21+len_132^0 == 0 /\ -len_276^post21+len_276^0 == 0 /\ head_27^0-head_27^post21 == 0 /\ -a_210^post21+a_210^0 == 0 /\ -len_183^post21+len_183^0 == 0 /\ i_167^0-i_167^post21 == 0 /\ -head_268^post21+head_268^0 == 0 /\ -rcd_58^post21+rcd_58^0 == 0 /\ ct_17^0-ct_17^post21 == 0 /\ t_23^0-t_23^post21 == 0 /\ -tmp_34^post21+tmp_34^0 == 0 /\ temp_35^0-temp_35^post21 == 0 /\ -length_29^post21+length_29^0 == 0 /\ a_147^0-a_147^post21 == 0 /\ i_30^0-i_30^post21 == 0 /\ -head_14^post21+head_14^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post21+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_226^post21+len_226^0 == 0 /\ r_218^0-r_218^post21 == 0), cost: 1 22: l17 -> l18 : temp0_15^0'=temp0_15^post22, a_241^0'=a_241^post22, head_27^0'=head_27^post22, head_129^0'=head_129^post22, r_124^0'=r_124^post22, len_183^0'=len_183^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22, a_147^0'=a_147^post22, rcd_58^0'=rcd_58^post22, head_175^0'=head_175^post22, y_19^0'=y_19^post22, ct_17^0'=ct_17^post22, temp_35^0'=temp_35^post22, i_30^0'=i_30^post22, head_SLAM_f_26^0'=head_SLAM_f_26^post22, r_218^0'=r_218^post22, len_276^0'=len_276^post22, a_308^0'=a_308^post22, t_23^0'=t_23^post22, a_210^0'=a_210^post22, result_11^0'=result_11^post22, head_268^0'=head_268^post22, f_263^0'=f_263^post22, x_16^0'=x_16^post22, len_132^0'=len_132^post22, i_167^0'=i_167^post22, a_116^0'=a_116^post22, r_39^0'=r_39^post22, nondet_12^0'=nondet_12^post22, x_SLAM_f_18^0'=x_SLAM_f_18^post22, a_353^0'=a_353^post22, temp0_31^0'=temp0_31^post22, a_277^0'=a_277^post22, head_32^0'=head_32^post22, head_14^0'=head_14^post22, r_163^0'=r_163^post22, len_226^0'=len_226^post22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_184^0'=a_184^post22, rcd_88^0'=rcd_88^post22, head_223^0'=head_223^post22, f_170^0'=f_170^post22, tmp_34^0'=tmp_34^post22, i_94^0'=i_94^post22, i_108^0'=i_108^post22, r_260^0'=r_260^post22, length_29^0'=length_29^post22, x_20^0'=x_20^post22, a_330^0'=a_330^post22, (-a_277^post22+a_277^0 == 0 /\ -head_268^post22+head_268^0 == 0 /\ -len_132^post22+len_132^0 == 0 /\ len_183^0-len_183^post22 == 0 /\ -a_184^post22+a_184^0 == 0 /\ a_241^0-a_241^post22 == 0 /\ a_210^0-a_210^post22 == 0 /\ r_163^0-r_163^post22 == 0 /\ -head_32^post22+head_32^0 == 0 /\ -tmp_34^post22+tmp_34^0 == 0 /\ i_167^0-i_167^post22 == 0 /\ i_30^0-i_30^post22 == 0 /\ -i_94^post22+i_94^0 == 0 /\ x_16^0-x_16^post22 == 0 /\ -x_SLAM_f_18^post22+x_SLAM_f_18^0 == 0 /\ r_124^0-r_124^post22 == 0 /\ -length_29^post22+length_29^0 == 0 /\ rcd_88^0-rcd_88^post22 == 0 /\ len_276^0-len_276^post22 == 0 /\ -f_170^post22+f_170^0 == 0 /\ -head_223^post22+head_223^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post22 == 0 /\ -temp0_31^post22+temp0_31^0 == 0 /\ f_263^0-f_263^post22 == 0 /\ temp_35^0-temp_35^post22 == 0 /\ -y_19^post22+y_19^0 == 0 /\ -ct_17^post22+ct_17^0 == 0 /\ rcd_58^0-rcd_58^post22 == 0 /\ head_175^0-head_175^post22 == 0 /\ -x_20^post22+x_20^0 == 0 /\ r_260^0-r_260^post22 == 0 /\ r_218^0-r_218^post22 == 0 /\ -a_330^post22+a_330^0 == 0 /\ -a_116^post22+a_116^0 == 0 /\ 1+y_19^0-t_23^0 <= 0 /\ head_129^0-head_129^post22 == 0 /\ -i_108^post22+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_308^0-a_308^post22 == 0 /\ head_27^0-head_27^post22 == 0 /\ result_11^0-result_11^post22 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post22+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_353^post22+a_353^0 == 0 /\ -r_39^post22+r_39^0 == 0 /\ temp0_15^0-temp0_15^post22 == 0 /\ t_23^0-t_23^post22 == 0 /\ -len_226^post22+len_226^0 == 0 /\ -a_147^post22+a_147^0 == 0 /\ head_14^0-head_14^post22 == 0 /\ nondet_12^0-nondet_12^post22 == 0), cost: 1 23: l17 -> l18 : temp0_15^0'=temp0_15^post23, a_241^0'=a_241^post23, head_27^0'=head_27^post23, head_129^0'=head_129^post23, r_124^0'=r_124^post23, len_183^0'=len_183^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23, a_147^0'=a_147^post23, rcd_58^0'=rcd_58^post23, head_175^0'=head_175^post23, y_19^0'=y_19^post23, ct_17^0'=ct_17^post23, temp_35^0'=temp_35^post23, i_30^0'=i_30^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post23, r_218^0'=r_218^post23, len_276^0'=len_276^post23, a_308^0'=a_308^post23, t_23^0'=t_23^post23, a_210^0'=a_210^post23, result_11^0'=result_11^post23, head_268^0'=head_268^post23, f_263^0'=f_263^post23, x_16^0'=x_16^post23, len_132^0'=len_132^post23, i_167^0'=i_167^post23, a_116^0'=a_116^post23, r_39^0'=r_39^post23, nondet_12^0'=nondet_12^post23, x_SLAM_f_18^0'=x_SLAM_f_18^post23, a_353^0'=a_353^post23, temp0_31^0'=temp0_31^post23, a_277^0'=a_277^post23, head_32^0'=head_32^post23, head_14^0'=head_14^post23, r_163^0'=r_163^post23, len_226^0'=len_226^post23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post23, a_184^0'=a_184^post23, rcd_88^0'=rcd_88^post23, head_223^0'=head_223^post23, f_170^0'=f_170^post23, tmp_34^0'=tmp_34^post23, i_94^0'=i_94^post23, i_108^0'=i_108^post23, r_260^0'=r_260^post23, length_29^0'=length_29^post23, x_20^0'=x_20^post23, a_330^0'=a_330^post23, (i_167^0-i_167^post23 == 0 /\ -i_30^post23+i_30^0 == 0 /\ len_183^0-len_183^post23 == 0 /\ -len_132^post23+len_132^0 == 0 /\ r_218^0-r_218^post23 == 0 /\ -r_260^post23+r_260^0 == 0 /\ -head_175^post23+head_175^0 == 0 /\ -x_SLAM_f_18^post23+x_SLAM_f_18^0 == 0 /\ -f_170^post23+f_170^0 == 0 /\ a_241^0-a_241^post23 == 0 /\ -tmp_34^post23+tmp_34^0 == 0 /\ rcd_88^0-rcd_88^post23 == 0 /\ f_263^0-f_263^post23 == 0 /\ -a_116^post23+a_116^0 == 0 /\ -i_94^post23+i_94^0 == 0 /\ r_124^0-r_124^post23 == 0 /\ head_268^0-head_268^post23 == 0 /\ -head_32^post23+head_32^0 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ a_210^0-a_210^post23 == 0 /\ head_129^0-head_129^post23 == 0 /\ -head_223^post23+head_223^0 == 0 /\ y_19^0-y_19^post23 == 0 /\ -a_330^post23+a_330^0 == 0 /\ a_277^0-a_277^post23 == 0 /\ rcd_58^0-rcd_58^post23 == 0 /\ -temp0_31^post23+temp0_31^0 == 0 /\ head_14^0-head_14^post23 == 0 /\ -a_308^post23+a_308^0 == 0 /\ -length_29^post23+length_29^0 == 0 /\ -a_353^post23+a_353^0 == 0 /\ x_16^0-x_16^post23 == 0 /\ -a_184^post23+a_184^0 == 0 /\ -r_39^post23+r_39^0 == 0 /\ result_11^0-result_11^post23 == 0 /\ -len_226^post23+len_226^0 == 0 /\ len_276^0-len_276^post23 == 0 /\ r_163^0-r_163^post23 == 0 /\ head_27^0-head_27^post23 == 0 /\ -i_108^post23+i_108^0 == 0 /\ -t_23^post23+t_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post23 == 0 /\ temp0_15^0-temp0_15^post23 == 0 /\ ct_17^0-ct_17^post23 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post23+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_147^0-a_147^post23 == 0 /\ 1-y_19^0+t_23^0 <= 0 /\ temp_35^0-temp_35^post23 == 0 /\ -x_20^post23+x_20^0 == 0), cost: 1 24: l18 -> l12 : temp0_15^0'=temp0_15^post24, a_241^0'=a_241^post24, head_27^0'=head_27^post24, head_129^0'=head_129^post24, r_124^0'=r_124^post24, len_183^0'=len_183^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24, a_147^0'=a_147^post24, rcd_58^0'=rcd_58^post24, head_175^0'=head_175^post24, y_19^0'=y_19^post24, ct_17^0'=ct_17^post24, temp_35^0'=temp_35^post24, i_30^0'=i_30^post24, head_SLAM_f_26^0'=head_SLAM_f_26^post24, r_218^0'=r_218^post24, len_276^0'=len_276^post24, a_308^0'=a_308^post24, t_23^0'=t_23^post24, a_210^0'=a_210^post24, result_11^0'=result_11^post24, head_268^0'=head_268^post24, f_263^0'=f_263^post24, x_16^0'=x_16^post24, len_132^0'=len_132^post24, i_167^0'=i_167^post24, a_116^0'=a_116^post24, r_39^0'=r_39^post24, nondet_12^0'=nondet_12^post24, x_SLAM_f_18^0'=x_SLAM_f_18^post24, a_353^0'=a_353^post24, temp0_31^0'=temp0_31^post24, a_277^0'=a_277^post24, head_32^0'=head_32^post24, head_14^0'=head_14^post24, r_163^0'=r_163^post24, len_226^0'=len_226^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, a_184^0'=a_184^post24, rcd_88^0'=rcd_88^post24, head_223^0'=head_223^post24, f_170^0'=f_170^post24, tmp_34^0'=tmp_34^post24, i_94^0'=i_94^post24, i_108^0'=i_108^post24, r_260^0'=r_260^post24, length_29^0'=length_29^post24, x_20^0'=x_20^post24, a_330^0'=a_330^post24, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ r_218^0-r_218^post24 == 0 /\ a_330^post24-a_353^0 <= 0 /\ f_263^0-f_263^post24 == 0 /\ -r_260^post24+r_260^0 == 0 /\ temp_35^0-temp_35^post24 == 0 /\ -a_353^post24+a_353^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 == 0 /\ -len_132^post24+len_132^0 == 0 /\ -f_170^post24+f_170^0 == 0 /\ -a_330^post24+a_353^0 <= 0 /\ nondet_12^0-nondet_12^post24 == 0 /\ i_167^0-i_167^post24 == 0 /\ -a_308^post24+a_308^0 == 0 /\ temp0_31^0-temp0_31^post24 == 0 /\ -r_39^post24+r_39^0 == 0 /\ -ct_17^post24+ct_17^0 == 0 /\ -i_94^post24+i_94^0 == 0 /\ head_27^0-head_27^post24 == 0 /\ head_129^0-head_129^post24 == 0 /\ -head_223^post24+head_223^0 == 0 /\ -result_11^post24+result_11^0 == 0 /\ i_30^0-i_30^post24 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_14^post24+head_14^0 == 0 /\ len_183^0-len_183^post24 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post24 == 0 /\ temp0_15^0-temp0_15^post24 == 0 /\ -a_277^post24+a_277^0 == 0 /\ -t_23^post24+t_23^0 == 0 /\ -head_175^post24+head_175^0 == 0 /\ r_163^0-r_163^post24 == 0 /\ -x_SLAM_f_18^post24+x_SLAM_f_18^0 == 0 /\ -tmp_34^post24+tmp_34^0 == 0 /\ head_268^0-head_268^post24 == 0 /\ rcd_58^0-rcd_58^post24 == 0 /\ a_147^0-a_147^post24 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24 == 0 /\ -len_226^post24+len_226^0 == 0 /\ -length_29^post24+length_29^0 == 0 /\ a_241^0-a_241^post24 == 0 /\ a_210^0-a_210^post24 == 0 /\ i_108^0-i_108^post24 == 0 /\ -head_32^post24+head_32^0 == 0 /\ -a_116^post24+a_116^0 == 0 /\ -a_184^post24+a_184^0 == 0 /\ x_16^0-x_16^post24 == 0 /\ -rcd_88^post24+rcd_88^0 == 0 /\ r_124^0-r_124^post24 == 0 /\ y_19^0-y_19^post24 == 0 /\ -x_20^post24+x_20^0 == 0 /\ len_276^0-len_276^post24 == 0), cost: 1 25: l12 -> l10 : temp0_15^0'=temp0_15^post25, a_241^0'=a_241^post25, head_27^0'=head_27^post25, head_129^0'=head_129^post25, r_124^0'=r_124^post25, len_183^0'=len_183^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25, a_147^0'=a_147^post25, rcd_58^0'=rcd_58^post25, head_175^0'=head_175^post25, y_19^0'=y_19^post25, ct_17^0'=ct_17^post25, temp_35^0'=temp_35^post25, i_30^0'=i_30^post25, head_SLAM_f_26^0'=head_SLAM_f_26^post25, r_218^0'=r_218^post25, len_276^0'=len_276^post25, a_308^0'=a_308^post25, t_23^0'=t_23^post25, a_210^0'=a_210^post25, result_11^0'=result_11^post25, head_268^0'=head_268^post25, f_263^0'=f_263^post25, x_16^0'=x_16^post25, len_132^0'=len_132^post25, i_167^0'=i_167^post25, a_116^0'=a_116^post25, r_39^0'=r_39^post25, nondet_12^0'=nondet_12^post25, x_SLAM_f_18^0'=x_SLAM_f_18^post25, a_353^0'=a_353^post25, temp0_31^0'=temp0_31^post25, a_277^0'=a_277^post25, head_32^0'=head_32^post25, head_14^0'=head_14^post25, r_163^0'=r_163^post25, len_226^0'=len_226^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, a_184^0'=a_184^post25, rcd_88^0'=rcd_88^post25, head_223^0'=head_223^post25, f_170^0'=f_170^post25, tmp_34^0'=tmp_34^post25, i_94^0'=i_94^post25, i_108^0'=i_108^post25, r_260^0'=r_260^post25, length_29^0'=length_29^post25, x_20^0'=x_20^post25, a_330^0'=a_330^post25, (-length_29^post25+length_29^0 == 0 /\ -i_94^post25+i_94^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post25 == 0 /\ -a_353^post25+a_353^0 == 0 /\ -a_184^post25+a_184^0 == 0 /\ rcd_58^0-rcd_58^post25 == 0 /\ head_268^0-head_268^post25 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post25 == 0 /\ a_147^0-a_147^post25 == 0 /\ -r_39^post25+r_39^0 == 0 /\ -head_223^post25+head_223^0 == 0 /\ -rcd_88^post25+rcd_88^0 == 0 /\ -x_20^post25+x_20^0 == 0 /\ a_241^0-a_241^post25 == 0 /\ -x_16^post25+x_16^0 == 0 /\ temp0_15^0-temp0_15^post25 == 0 /\ -a_330^post25+a_330^0 == 0 /\ y_19^0-y_19^post25 == 0 /\ temp0_31^0-temp0_31^post25 == 0 /\ len_276^0-len_276^post25 == 0 /\ -x_SLAM_f_18^post25+x_SLAM_f_18^0 == 0 /\ r_163^0-r_163^post25 == 0 /\ len_132^0-len_132^post25 == 0 /\ -result_11^post25+result_11^0 == 0 /\ -f_170^post25+f_170^0 == 0 /\ a_210^0-a_210^post25 == 0 /\ -len_226^post25+len_226^0 == 0 /\ -i_108^post25+i_108^0 == 0 /\ -r_260^post25+r_260^0 == 0 /\ ct_17^0-ct_17^post25 == 0 /\ temp_35^0-temp_35^post25 == 0 /\ len_183^0-len_183^post25 == 0 /\ head_27^0-head_27^post25 == 0 /\ -i_30^post25+i_30^0 == 0 /\ -r_218^post25+r_218^0 == 0 /\ -i_167^post25+i_167^0 == 0 /\ t_23^0-t_23^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25 == 0 /\ -r_124^post25+r_124^0 == 0 /\ -head_14^post25+head_14^0 == 0 /\ -head_32^post25+head_32^0 == 0 /\ -a_116^post25+a_116^0 == 0 /\ -a_308^post25+a_308^0 == 0 /\ f_263^0-f_263^post25 == 0 /\ -tmp_34^post25+tmp_34^0 == 0 /\ -head_129^post25+head_129^0 == 0 /\ a_277^0-a_277^post25 == 0 /\ -nondet_12^post25+nondet_12^0 == 0 /\ head_175^0-head_175^post25 == 0), cost: 1 26: l19 -> l20 : temp0_15^0'=temp0_15^post26, a_241^0'=a_241^post26, head_27^0'=head_27^post26, head_129^0'=head_129^post26, r_124^0'=r_124^post26, len_183^0'=len_183^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26, a_147^0'=a_147^post26, rcd_58^0'=rcd_58^post26, head_175^0'=head_175^post26, y_19^0'=y_19^post26, ct_17^0'=ct_17^post26, temp_35^0'=temp_35^post26, i_30^0'=i_30^post26, head_SLAM_f_26^0'=head_SLAM_f_26^post26, r_218^0'=r_218^post26, len_276^0'=len_276^post26, a_308^0'=a_308^post26, t_23^0'=t_23^post26, a_210^0'=a_210^post26, result_11^0'=result_11^post26, head_268^0'=head_268^post26, f_263^0'=f_263^post26, x_16^0'=x_16^post26, len_132^0'=len_132^post26, i_167^0'=i_167^post26, a_116^0'=a_116^post26, r_39^0'=r_39^post26, nondet_12^0'=nondet_12^post26, x_SLAM_f_18^0'=x_SLAM_f_18^post26, a_353^0'=a_353^post26, temp0_31^0'=temp0_31^post26, a_277^0'=a_277^post26, head_32^0'=head_32^post26, head_14^0'=head_14^post26, r_163^0'=r_163^post26, len_226^0'=len_226^post26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post26, a_184^0'=a_184^post26, rcd_88^0'=rcd_88^post26, head_223^0'=head_223^post26, f_170^0'=f_170^post26, tmp_34^0'=tmp_34^post26, i_94^0'=i_94^post26, i_108^0'=i_108^post26, r_260^0'=r_260^post26, length_29^0'=length_29^post26, x_20^0'=x_20^post26, a_330^0'=a_330^post26, (0 == 0 /\ a_210^0-a_210^post26 == 0 /\ head_27^0-head_27^post26 == 0 /\ f_170^0-f_170^post26 == 0 /\ -length_29^post26+length_29^0 == 0 /\ -a_330^post26+a_330^0 == 0 /\ -a_308^0 <= 0 /\ -head_223^post26+head_223^0 == 0 /\ -temp0_31^post26+temp0_31^0 == 0 /\ -len_276^post26+len_276^0 == 0 /\ -r_163^post26+r_163^0 == 0 /\ len_183^0-len_183^post26 == 0 /\ -a_277^post26+a_277^0 == 0 /\ -r_39^post26+r_39^0 == 0 /\ temp0_15^0-temp0_15^post26 == 0 /\ -i_108^post26+i_108^0 == 0 /\ -a_184^post26+a_184^0 == 0 /\ -head_268^post26+head_268^0 == 0 /\ -temp0_15^0+result_11^post26 == 0 /\ temp_35^0-temp_35^post26 == 0 /\ -rcd_88^post26+rcd_88^0 == 0 /\ head_175^0-head_175^post26 == 0 /\ r_124^0-r_124^post26 == 0 /\ -r_260^post26+r_260^0 == 0 /\ y_19^0-x_20^0 <= 0 /\ nondet_12^0-nondet_12^post26 == 0 /\ f_263^0-f_263^post26 == 0 /\ -len_132^post26+len_132^0 == 0 /\ -r_218^post26+r_218^0 == 0 /\ -head_32^post26+head_32^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post26 == 0 /\ -i_30^post26+i_30^0 == 0 /\ rcd_58^0-rcd_58^post26 == 0 /\ i_167^0-i_167^post26 == 0 /\ -y_19^0+x_20^0 <= 0 /\ a_308^0-a_308^post26 == 0 /\ -a_353^post26+a_353^0 == 0 /\ a_241^0-a_241^post26 == 0 /\ -len_226^post26+len_226^0 == 0 /\ a_147^0-a_147^post26 == 0 /\ head_129^0-head_129^post26 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26 == 0 /\ -a_116^post26+a_116^0 == 0 /\ -tmp_34^post26+tmp_34^0 == 0 /\ -i_94^post26+i_94^0 == 0), cost: 1 30: l19 -> l22 : temp0_15^0'=temp0_15^post30, a_241^0'=a_241^post30, head_27^0'=head_27^post30, head_129^0'=head_129^post30, r_124^0'=r_124^post30, len_183^0'=len_183^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30, a_147^0'=a_147^post30, rcd_58^0'=rcd_58^post30, head_175^0'=head_175^post30, y_19^0'=y_19^post30, ct_17^0'=ct_17^post30, temp_35^0'=temp_35^post30, i_30^0'=i_30^post30, head_SLAM_f_26^0'=head_SLAM_f_26^post30, r_218^0'=r_218^post30, len_276^0'=len_276^post30, a_308^0'=a_308^post30, t_23^0'=t_23^post30, a_210^0'=a_210^post30, result_11^0'=result_11^post30, head_268^0'=head_268^post30, f_263^0'=f_263^post30, x_16^0'=x_16^post30, len_132^0'=len_132^post30, i_167^0'=i_167^post30, a_116^0'=a_116^post30, r_39^0'=r_39^post30, nondet_12^0'=nondet_12^post30, x_SLAM_f_18^0'=x_SLAM_f_18^post30, a_353^0'=a_353^post30, temp0_31^0'=temp0_31^post30, a_277^0'=a_277^post30, head_32^0'=head_32^post30, head_14^0'=head_14^post30, r_163^0'=r_163^post30, len_226^0'=len_226^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, a_184^0'=a_184^post30, rcd_88^0'=rcd_88^post30, head_223^0'=head_223^post30, f_170^0'=f_170^post30, tmp_34^0'=tmp_34^post30, i_94^0'=i_94^post30, i_108^0'=i_108^post30, r_260^0'=r_260^post30, length_29^0'=length_29^post30, x_20^0'=x_20^post30, a_330^0'=a_330^post30, (0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post30 == 0 /\ -r_163^post30+r_163^0 == 0 /\ head_223^0-head_223^post30 == 0 /\ -length_29^post30+length_29^0 == 0 /\ f_170^0-f_170^post30 == 0 /\ -a_308^0 <= 0 /\ a_116^0-a_116^post30 == 0 /\ head_129^0-head_129^post30 == 0 /\ r_39^0-r_39^post30 == 0 /\ -i_167^post30+i_167^0 == 0 /\ -f_263^post30+f_263^0 == 0 /\ -temp0_31^post30+temp0_31^0 == 0 /\ -len_132^post30+len_132^0 == 0 /\ -a_210^post30+a_210^0 == 0 /\ -a_277^post30+a_277^0 == 0 /\ a_241^0-a_241^post30 == 0 /\ -x_20^post30+x_20^0 == 0 /\ temp0_15^0-temp0_15^post30 == 0 /\ -a_330^post30+a_330^0 == 0 /\ -i_108^post30+i_108^0 == 0 /\ -a_184^post30+a_184^0 == 0 /\ -len_276^post30+len_276^0 == 0 /\ result_11^0-result_11^post30 == 0 /\ a_353^0-a_353^post30 == 0 /\ -tmp_34^post30+tmp_34^0 == 0 /\ r_218^0-r_218^post30 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30 == 0 /\ -len_226^post30+len_226^0 == 0 /\ -r_260^post30+r_260^0 == 0 /\ temp_35^0-temp_35^post30 == 0 /\ a_308^0-a_308^post30 == 0 /\ len_183^0-len_183^post30 == 0 /\ -a_147^post30+a_147^0 == 0 /\ head_27^0-head_27^post30 == 0 /\ head_175^0-head_175^post30 == 0 /\ -y_19^post30+y_19^0 == 0 /\ -rcd_88^post30+rcd_88^0 == 0 /\ t_23^0-t_23^post30 == 0 /\ i_30^0-i_30^post30 == 0 /\ -nondet_12^post30+nondet_12^0 == 0 /\ -rcd_58^post30+rcd_58^0 == 0 /\ -head_32^post30+head_32^0 == 0 /\ r_124^0-r_124^post30 == 0 /\ -head_268^post30+head_268^0 == 0 /\ -i_94^post30+i_94^0 == 0), cost: 1 27: l20 -> l21 : temp0_15^0'=temp0_15^post27, a_241^0'=a_241^post27, head_27^0'=head_27^post27, head_129^0'=head_129^post27, r_124^0'=r_124^post27, len_183^0'=len_183^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27, a_147^0'=a_147^post27, rcd_58^0'=rcd_58^post27, head_175^0'=head_175^post27, y_19^0'=y_19^post27, ct_17^0'=ct_17^post27, temp_35^0'=temp_35^post27, i_30^0'=i_30^post27, head_SLAM_f_26^0'=head_SLAM_f_26^post27, r_218^0'=r_218^post27, len_276^0'=len_276^post27, a_308^0'=a_308^post27, t_23^0'=t_23^post27, a_210^0'=a_210^post27, result_11^0'=result_11^post27, head_268^0'=head_268^post27, f_263^0'=f_263^post27, x_16^0'=x_16^post27, len_132^0'=len_132^post27, i_167^0'=i_167^post27, a_116^0'=a_116^post27, r_39^0'=r_39^post27, nondet_12^0'=nondet_12^post27, x_SLAM_f_18^0'=x_SLAM_f_18^post27, a_353^0'=a_353^post27, temp0_31^0'=temp0_31^post27, a_277^0'=a_277^post27, head_32^0'=head_32^post27, head_14^0'=head_14^post27, r_163^0'=r_163^post27, len_226^0'=len_226^post27, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post27, a_184^0'=a_184^post27, rcd_88^0'=rcd_88^post27, head_223^0'=head_223^post27, f_170^0'=f_170^post27, tmp_34^0'=tmp_34^post27, i_94^0'=i_94^post27, i_108^0'=i_108^post27, r_260^0'=r_260^post27, length_29^0'=length_29^post27, x_20^0'=x_20^post27, a_330^0'=a_330^post27, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27 == 0 /\ -f_263^post27+f_263^0 == 0 /\ a_147^0-a_147^post27 == 0 /\ i_30^0-i_30^post27 == 0 /\ len_183^0-len_183^post27 == 0 /\ -a_210^post27+a_210^0 == 0 /\ a_241^0-a_241^post27 == 0 /\ -tmp_34^post27+tmp_34^0 == 0 /\ r_124^0-r_124^post27 == 0 /\ -result_11^post27+result_11^0 == 0 /\ len_276^0-len_276^post27 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post27 == 0 /\ -f_170^post27+f_170^0 == 0 /\ -head_223^post27+head_223^0 == 0 /\ -length_29^post27+length_29^0 == 0 /\ -r_163^post27+r_163^0 == 0 /\ ct_17^0-ct_17^post27 == 0 /\ -r_218^post27+r_218^0 == 0 /\ temp_35^0-temp_35^post27 == 0 /\ head_129^0-head_129^post27 == 0 /\ a_116^0-a_116^post27 == 0 /\ r_39^0-r_39^post27 == 0 /\ -x_16^post27+x_16^0 == 0 /\ -rcd_88^post27+rcd_88^0 == 0 /\ 1-head_14^0 <= 0 /\ -a_184^post27+a_184^0 == 0 /\ head_175^0-head_175^post27 == 0 /\ -x_20^post27+x_20^0 == 0 /\ -a_330^post27+a_330^0 == 0 /\ -i_108^post27+i_108^0 == 0 /\ -i_94^post27+i_94^0 == 0 /\ -nondet_12^post27+nondet_12^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post27 == 0 /\ head_268^0-head_268^post27 == 0 /\ -r_260^post27+r_260^0 == 0 /\ a_308^0-a_308^post27 == 0 /\ len_226^0-len_226^post27 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post27+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_14^post27+head_14^0 == 0 /\ temp0_15^0-temp0_15^post27 == 0 /\ -a_353^post27+a_353^0 == 0 /\ len_132^0-len_132^post27 == 0 /\ -i_167^post27+i_167^0 == 0 /\ temp0_31^0-temp0_31^post27 == 0 /\ -head_27^post27+head_27^0 == 0 /\ -a_277^post27+a_277^0 == 0 /\ head_32^0-head_32^post27 == 0 /\ t_23^0-t_23^post27 == 0 /\ y_19^0-y_19^post27 == 0 /\ rcd_58^0-rcd_58^post27 == 0), cost: 1 28: l20 -> l21 : temp0_15^0'=temp0_15^post28, a_241^0'=a_241^post28, head_27^0'=head_27^post28, head_129^0'=head_129^post28, r_124^0'=r_124^post28, len_183^0'=len_183^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28, a_147^0'=a_147^post28, rcd_58^0'=rcd_58^post28, head_175^0'=head_175^post28, y_19^0'=y_19^post28, ct_17^0'=ct_17^post28, temp_35^0'=temp_35^post28, i_30^0'=i_30^post28, head_SLAM_f_26^0'=head_SLAM_f_26^post28, r_218^0'=r_218^post28, len_276^0'=len_276^post28, a_308^0'=a_308^post28, t_23^0'=t_23^post28, a_210^0'=a_210^post28, result_11^0'=result_11^post28, head_268^0'=head_268^post28, f_263^0'=f_263^post28, x_16^0'=x_16^post28, len_132^0'=len_132^post28, i_167^0'=i_167^post28, a_116^0'=a_116^post28, r_39^0'=r_39^post28, nondet_12^0'=nondet_12^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, a_353^0'=a_353^post28, temp0_31^0'=temp0_31^post28, a_277^0'=a_277^post28, head_32^0'=head_32^post28, head_14^0'=head_14^post28, r_163^0'=r_163^post28, len_226^0'=len_226^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, a_184^0'=a_184^post28, rcd_88^0'=rcd_88^post28, head_223^0'=head_223^post28, f_170^0'=f_170^post28, tmp_34^0'=tmp_34^post28, i_94^0'=i_94^post28, i_108^0'=i_108^post28, r_260^0'=r_260^post28, length_29^0'=length_29^post28, x_20^0'=x_20^post28, a_330^0'=a_330^post28, (temp_35^0-temp_35^post28 == 0 /\ -a_277^post28+a_277^0 == 0 /\ len_183^0-len_183^post28 == 0 /\ result_11^0-result_11^post28 == 0 /\ -a_210^post28+a_210^0 == 0 /\ -len_276^post28+len_276^0 == 0 /\ -head_14^post28+head_14^0 == 0 /\ r_218^0-r_218^post28 == 0 /\ -r_260^post28+r_260^0 == 0 /\ a_241^0-a_241^post28 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28 == 0 /\ -tmp_34^post28+tmp_34^0 == 0 /\ -head_268^post28+head_268^0 == 0 /\ r_39^0-r_39^post28 == 0 /\ -f_170^post28+f_170^0 == 0 /\ a_308^0-a_308^post28 == 0 /\ -length_29^post28+length_29^0 == 0 /\ -r_163^post28+r_163^0 == 0 /\ r_124^0-r_124^post28 == 0 /\ head_175^0-head_175^post28 == 0 /\ 1+head_14^0 <= 0 /\ t_23^0-t_23^post28 == 0 /\ -head_223^post28+head_223^0 == 0 /\ -f_263^post28+f_263^0 == 0 /\ a_184^0-a_184^post28 == 0 /\ len_132^0-len_132^post28 == 0 /\ y_19^0-y_19^post28 == 0 /\ i_30^0-i_30^post28 == 0 /\ -x_20^post28+x_20^0 == 0 /\ a_147^0-a_147^post28 == 0 /\ rcd_58^0-rcd_58^post28 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post28 == 0 /\ -temp0_31^post28+temp0_31^0 == 0 /\ -a_330^post28+a_330^0 == 0 /\ -i_167^post28+i_167^0 == 0 /\ -x_16^post28+x_16^0 == 0 /\ -nondet_12^post28+nondet_12^0 == 0 /\ -rcd_88^post28+rcd_88^0 == 0 /\ head_129^0-head_129^post28 == 0 /\ -i_94^post28+i_94^0 == 0 /\ -a_353^post28+a_353^0 == 0 /\ len_226^0-len_226^post28 == 0 /\ -head_27^post28+head_27^0 == 0 /\ -i_108^post28+i_108^0 == 0 /\ head_32^0-head_32^post28 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post28+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_SLAM_f_26^post28+head_SLAM_f_26^0 == 0 /\ temp0_15^0-temp0_15^post28 == 0 /\ a_116^0-a_116^post28 == 0 /\ ct_17^0-ct_17^post28 == 0), cost: 1 29: l21 -> l11 : temp0_15^0'=temp0_15^post29, a_241^0'=a_241^post29, head_27^0'=head_27^post29, head_129^0'=head_129^post29, r_124^0'=r_124^post29, len_183^0'=len_183^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29, a_147^0'=a_147^post29, rcd_58^0'=rcd_58^post29, head_175^0'=head_175^post29, y_19^0'=y_19^post29, ct_17^0'=ct_17^post29, temp_35^0'=temp_35^post29, i_30^0'=i_30^post29, head_SLAM_f_26^0'=head_SLAM_f_26^post29, r_218^0'=r_218^post29, len_276^0'=len_276^post29, a_308^0'=a_308^post29, t_23^0'=t_23^post29, a_210^0'=a_210^post29, result_11^0'=result_11^post29, head_268^0'=head_268^post29, f_263^0'=f_263^post29, x_16^0'=x_16^post29, len_132^0'=len_132^post29, i_167^0'=i_167^post29, a_116^0'=a_116^post29, r_39^0'=r_39^post29, nondet_12^0'=nondet_12^post29, x_SLAM_f_18^0'=x_SLAM_f_18^post29, a_353^0'=a_353^post29, temp0_31^0'=temp0_31^post29, a_277^0'=a_277^post29, head_32^0'=head_32^post29, head_14^0'=head_14^post29, r_163^0'=r_163^post29, len_226^0'=len_226^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, a_184^0'=a_184^post29, rcd_88^0'=rcd_88^post29, head_223^0'=head_223^post29, f_170^0'=f_170^post29, tmp_34^0'=tmp_34^post29, i_94^0'=i_94^post29, i_108^0'=i_108^post29, r_260^0'=r_260^post29, length_29^0'=length_29^post29, x_20^0'=x_20^post29, a_330^0'=a_330^post29, (2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ ct_17^0-ct_17^post29 == 0 /\ result_11^0-result_11^post29 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post29+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ r_218^0-r_218^post29 == 0 /\ -i_167^post29+i_167^0 == 0 /\ -temp_35^post29+temp_35^0 == 0 /\ -temp0_31^post29+temp0_31^0 == 0 /\ -tmp_34^post29+tmp_34^0 == 0 /\ r_39^0-r_39^post29 == 0 /\ a_308^0-a_308^post29 == 0 /\ -r_163^post29+r_163^0 == 0 /\ -r_260^post29+r_260^0 == 0 /\ -a_277^post29+a_277^0 == 0 /\ head_129^0-head_129^post29 == 0 /\ a_116^0-a_116^post29 == 0 /\ -f_170^post29+f_170^0 == 0 /\ -rcd_58^post29+rcd_58^0 == 0 /\ -head_SLAM_f_26^post29+head_SLAM_f_26^0 == 0 /\ -head_223^post29+head_223^0 == 0 /\ head_175^0-head_175^post29 == 0 /\ len_132^0-len_132^post29 == 0 /\ -length_29^post29+length_29^0 == 0 /\ -i_94^post29+i_94^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post29 == 0 /\ t_23^0-t_23^post29 == 0 /\ head_27^0-head_27^post29 == 0 /\ i_30^0-i_30^post29 == 0 /\ -x_16^post29+x_16^0 == 0 /\ -len_276^post29+len_276^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ temp0_15^0-temp0_15^post29 == 0 /\ -x_20^post29+x_20^0 == 0 /\ len_183^0-len_183^post29 == 0 /\ -head_14^post29+head_14^0 == 0 /\ -a_330^post29+a_330^0 == 0 /\ a_353^0-a_353^post29 == 0 /\ a_147^0-a_147^post29 == 0 /\ -a_210^post29+a_210^0 == 0 /\ head_268^0-head_268^post29 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29 == 0 /\ a_241^0-a_241^post29 == 0 /\ -len_226^post29+len_226^0 == 0 /\ -head_32^post29+head_32^0 == 0 /\ -f_263^post29+f_263^0 == 0 /\ r_124^0-r_124^post29 == 0 /\ -rcd_88^post29+rcd_88^0 == 0 /\ y_19^0-y_19^post29 == 0 /\ -i_108^post29+i_108^0 == 0 /\ -a_184^post29+a_184^0 == 0 /\ -nondet_12^post29+nondet_12^0 == 0), cost: 1 31: l22 -> l23 : temp0_15^0'=temp0_15^post31, a_241^0'=a_241^post31, head_27^0'=head_27^post31, head_129^0'=head_129^post31, r_124^0'=r_124^post31, len_183^0'=len_183^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31, a_147^0'=a_147^post31, rcd_58^0'=rcd_58^post31, head_175^0'=head_175^post31, y_19^0'=y_19^post31, ct_17^0'=ct_17^post31, temp_35^0'=temp_35^post31, i_30^0'=i_30^post31, head_SLAM_f_26^0'=head_SLAM_f_26^post31, r_218^0'=r_218^post31, len_276^0'=len_276^post31, a_308^0'=a_308^post31, t_23^0'=t_23^post31, a_210^0'=a_210^post31, result_11^0'=result_11^post31, head_268^0'=head_268^post31, f_263^0'=f_263^post31, x_16^0'=x_16^post31, len_132^0'=len_132^post31, i_167^0'=i_167^post31, a_116^0'=a_116^post31, r_39^0'=r_39^post31, nondet_12^0'=nondet_12^post31, x_SLAM_f_18^0'=x_SLAM_f_18^post31, a_353^0'=a_353^post31, temp0_31^0'=temp0_31^post31, a_277^0'=a_277^post31, head_32^0'=head_32^post31, head_14^0'=head_14^post31, r_163^0'=r_163^post31, len_226^0'=len_226^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, a_184^0'=a_184^post31, rcd_88^0'=rcd_88^post31, head_223^0'=head_223^post31, f_170^0'=f_170^post31, tmp_34^0'=tmp_34^post31, i_94^0'=i_94^post31, i_108^0'=i_108^post31, r_260^0'=r_260^post31, length_29^0'=length_29^post31, x_20^0'=x_20^post31, a_330^0'=a_330^post31, (-i_94^post31+i_94^0 == 0 /\ -length_29^post31+length_29^0 == 0 /\ a_353^0-a_353^post31 == 0 /\ a_210^0-a_210^post31 == 0 /\ i_30^0-i_30^post31 == 0 /\ -r_163^post31+r_163^0 == 0 /\ -y_19^post31+y_19^0 == 0 /\ rcd_58^0-rcd_58^post31 == 0 /\ -r_39^post31+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post31+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_27^0-head_27^post31 == 0 /\ len_183^0-len_183^post31 == 0 /\ head_223^0-head_223^post31 == 0 /\ -temp0_31^post31+temp0_31^0 == 0 /\ -len_276^post31+len_276^0 == 0 /\ x_16^0-x_16^post31 == 0 /\ -x_20^post31+x_20^0 == 0 /\ f_263^0-f_263^post31 == 0 /\ -a_330^post31+a_330^0 == 0 /\ -a_184^post31+a_184^0 == 0 /\ rcd_88^0-rcd_88^post31 == 0 /\ -i_108^post31+i_108^0 == 0 /\ -x_SLAM_f_18^post31+x_SLAM_f_18^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post31 == 0 /\ r_124^0-r_124^post31 == 0 /\ a_277^0-a_277^post31 == 0 /\ -f_170^post31+f_170^0 == 0 /\ 1+y_19^0-x_20^0 <= 0 /\ temp_35^0-temp_35^post31 == 0 /\ -r_260^post31+r_260^0 == 0 /\ ct_17^0-ct_17^post31 == 0 /\ -len_226^post31+len_226^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_308^0-a_308^post31 == 0 /\ r_218^0-r_218^post31 == 0 /\ -nondet_12^post31+nondet_12^0 == 0 /\ a_241^0-a_241^post31 == 0 /\ t_23^0-t_23^post31 == 0 /\ head_129^0-head_129^post31 == 0 /\ -head_268^post31+head_268^0 == 0 /\ -a_147^post31+a_147^0 == 0 /\ temp0_15^0-temp0_15^post31 == 0 /\ -len_132^post31+len_132^0 == 0 /\ i_167^0-i_167^post31 == 0 /\ -a_116^post31+a_116^0 == 0 /\ -head_32^post31+head_32^0 == 0 /\ -tmp_34^post31+tmp_34^0 == 0 /\ head_14^0-head_14^post31 == 0 /\ head_175^0-head_175^post31 == 0 /\ result_11^0-result_11^post31 == 0), cost: 1 32: l22 -> l23 : temp0_15^0'=temp0_15^post32, a_241^0'=a_241^post32, head_27^0'=head_27^post32, head_129^0'=head_129^post32, r_124^0'=r_124^post32, len_183^0'=len_183^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32, a_147^0'=a_147^post32, rcd_58^0'=rcd_58^post32, head_175^0'=head_175^post32, y_19^0'=y_19^post32, ct_17^0'=ct_17^post32, temp_35^0'=temp_35^post32, i_30^0'=i_30^post32, head_SLAM_f_26^0'=head_SLAM_f_26^post32, r_218^0'=r_218^post32, len_276^0'=len_276^post32, a_308^0'=a_308^post32, t_23^0'=t_23^post32, a_210^0'=a_210^post32, result_11^0'=result_11^post32, head_268^0'=head_268^post32, f_263^0'=f_263^post32, x_16^0'=x_16^post32, len_132^0'=len_132^post32, i_167^0'=i_167^post32, a_116^0'=a_116^post32, r_39^0'=r_39^post32, nondet_12^0'=nondet_12^post32, x_SLAM_f_18^0'=x_SLAM_f_18^post32, a_353^0'=a_353^post32, temp0_31^0'=temp0_31^post32, a_277^0'=a_277^post32, head_32^0'=head_32^post32, head_14^0'=head_14^post32, r_163^0'=r_163^post32, len_226^0'=len_226^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, a_184^0'=a_184^post32, rcd_88^0'=rcd_88^post32, head_223^0'=head_223^post32, f_170^0'=f_170^post32, tmp_34^0'=tmp_34^post32, i_94^0'=i_94^post32, i_108^0'=i_108^post32, r_260^0'=r_260^post32, length_29^0'=length_29^post32, x_20^0'=x_20^post32, a_330^0'=a_330^post32, (-result_11^post32+result_11^0 == 0 /\ -len_226^post32+len_226^0 == 0 /\ temp0_15^0-temp0_15^post32 == 0 /\ nondet_12^0-nondet_12^post32 == 0 /\ a_241^0-a_241^post32 == 0 /\ -i_108^post32+i_108^0 == 0 /\ head_129^0-head_129^post32 == 0 /\ -a_116^post32+a_116^0 == 0 /\ -t_23^post32+t_23^0 == 0 /\ f_263^0-f_263^post32 == 0 /\ -i_30^post32+i_30^0 == 0 /\ r_124^0-r_124^post32 == 0 /\ a_210^0-a_210^post32 == 0 /\ -r_218^post32+r_218^0 == 0 /\ y_19^0-y_19^post32 == 0 /\ -head_175^post32+head_175^0 == 0 /\ -len_132^post32+len_132^0 == 0 /\ i_167^0-i_167^post32 == 0 /\ -tmp_34^post32+tmp_34^0 == 0 /\ -r_260^post32+r_260^0 == 0 /\ -a_308^post32+a_308^0 == 0 /\ rcd_58^0-rcd_58^post32 == 0 /\ head_268^0-head_268^post32 == 0 /\ -a_353^post32+a_353^0 == 0 /\ -length_29^post32+length_29^0 == 0 /\ x_20^0-x_20^post32 == 0 /\ -i_94^post32+i_94^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32 == 0 /\ -head_32^post32+head_32^0 == 0 /\ x_16^0-x_16^post32 == 0 /\ -a_184^post32+a_184^0 == 0 /\ a_277^0-a_277^post32 == 0 /\ -head_223^post32+head_223^0 == 0 /\ -r_39^post32+r_39^0 == 0 /\ len_276^0-len_276^post32 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post32+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_14^0-head_14^post32 == 0 /\ r_163^0-r_163^post32 == 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post32 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ ct_17^0-ct_17^post32 == 0 /\ -a_330^post32+a_330^0 == 0 /\ temp_35^0-temp_35^post32 == 0 /\ -x_SLAM_f_18^post32+x_SLAM_f_18^0 == 0 /\ len_183^0-len_183^post32 == 0 /\ a_147^0-a_147^post32 == 0 /\ -f_170^post32+f_170^0 == 0 /\ -rcd_88^post32+rcd_88^0 == 0 /\ head_27^0-head_27^post32 == 0), cost: 1 33: l23 -> l24 : temp0_15^0'=temp0_15^post33, a_241^0'=a_241^post33, head_27^0'=head_27^post33, head_129^0'=head_129^post33, r_124^0'=r_124^post33, len_183^0'=len_183^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33, a_147^0'=a_147^post33, rcd_58^0'=rcd_58^post33, head_175^0'=head_175^post33, y_19^0'=y_19^post33, ct_17^0'=ct_17^post33, temp_35^0'=temp_35^post33, i_30^0'=i_30^post33, head_SLAM_f_26^0'=head_SLAM_f_26^post33, r_218^0'=r_218^post33, len_276^0'=len_276^post33, a_308^0'=a_308^post33, t_23^0'=t_23^post33, a_210^0'=a_210^post33, result_11^0'=result_11^post33, head_268^0'=head_268^post33, f_263^0'=f_263^post33, x_16^0'=x_16^post33, len_132^0'=len_132^post33, i_167^0'=i_167^post33, a_116^0'=a_116^post33, r_39^0'=r_39^post33, nondet_12^0'=nondet_12^post33, x_SLAM_f_18^0'=x_SLAM_f_18^post33, a_353^0'=a_353^post33, temp0_31^0'=temp0_31^post33, a_277^0'=a_277^post33, head_32^0'=head_32^post33, head_14^0'=head_14^post33, r_163^0'=r_163^post33, len_226^0'=len_226^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, a_184^0'=a_184^post33, rcd_88^0'=rcd_88^post33, head_223^0'=head_223^post33, f_170^0'=f_170^post33, tmp_34^0'=tmp_34^post33, i_94^0'=i_94^post33, i_108^0'=i_108^post33, r_260^0'=r_260^post33, length_29^0'=length_29^post33, x_20^0'=x_20^post33, a_330^0'=a_330^post33, (x_16^0-head_14^0 <= 0 /\ -len_226^post33+len_226^0 == 0 /\ head_129^0-head_129^post33 == 0 /\ head_268^0-head_268^post33 == 0 /\ -a_116^post33+a_116^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ -i_108^post33+i_108^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ head_175^0-head_175^post33 == 0 /\ y_19^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post33 == 0 /\ -x_16^post33+x_16^0 == 0 /\ t_23^post33-x_20^0 == 0 /\ -r_218^post33+r_218^0 == 0 /\ ct_17^0 <= 0 /\ -result_11^post33+result_11^0 == 0 /\ -x_16^0+head_14^0 <= 0 /\ -y_19^0+ct_17^0 <= 0 /\ -i_167^post33+i_167^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 == 0 /\ a_241^0-a_241^post33 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ -tmp_34^post33+tmp_34^0 == 0 /\ -r_260^post33+r_260^0 == 0 /\ -a_308^post33+a_308^0 == 0 /\ len_183^0-len_183^post33 == 0 /\ y_19^0-y_19^post33 == 0 /\ -head_14^post33+head_14^0 == 0 /\ head_27^0-head_27^post33 == 0 /\ rcd_58^0-rcd_58^post33 == 0 /\ -a_353^post33+a_353^0 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33 == 0 /\ -a_184^post33+a_184^0 == 0 /\ len_276^0-len_276^post33 == 0 /\ temp0_15^0-temp0_15^post33 == 0 /\ -i_94^post33+i_94^0 == 0 /\ -rcd_88^post33+rcd_88^0 == 0 /\ ct_17^0-ct_17^post33 == 0 /\ -ct_17^0 <= 0 /\ f_263^0-f_263^post33 == 0 /\ -y_19^0 <= 0 /\ temp0_31^0-temp0_31^post33 == 0 /\ -head_223^post33+head_223^0 == 0 /\ r_124^0-r_124^post33 == 0 /\ head_32^0-head_32^post33 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ -x_20^post33+x_20^0 == 0 /\ temp_35^0-temp_35^post33 == 0 /\ -a_330^post33+a_330^0 == 0 /\ a_210^0-a_210^post33 == 0 /\ -a_277^post33+a_277^0 == 0 /\ -i_30^post33+i_30^0 == 0 /\ len_132^0-len_132^post33 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ a_147^0-a_147^post33 == 0 /\ r_39^0-r_39^post33 == 0 /\ -x_SLAM_f_18^post33+x_SLAM_f_18^0 == 0 /\ -r_163^post33+r_163^0 == 0 /\ -f_170^post33+f_170^0 == 0 /\ -length_29^post33+length_29^0 == 0), cost: 1 34: l24 -> l25 : temp0_15^0'=temp0_15^post34, a_241^0'=a_241^post34, head_27^0'=head_27^post34, head_129^0'=head_129^post34, r_124^0'=r_124^post34, len_183^0'=len_183^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34, a_147^0'=a_147^post34, rcd_58^0'=rcd_58^post34, head_175^0'=head_175^post34, y_19^0'=y_19^post34, ct_17^0'=ct_17^post34, temp_35^0'=temp_35^post34, i_30^0'=i_30^post34, head_SLAM_f_26^0'=head_SLAM_f_26^post34, r_218^0'=r_218^post34, len_276^0'=len_276^post34, a_308^0'=a_308^post34, t_23^0'=t_23^post34, a_210^0'=a_210^post34, result_11^0'=result_11^post34, head_268^0'=head_268^post34, f_263^0'=f_263^post34, x_16^0'=x_16^post34, len_132^0'=len_132^post34, i_167^0'=i_167^post34, a_116^0'=a_116^post34, r_39^0'=r_39^post34, nondet_12^0'=nondet_12^post34, x_SLAM_f_18^0'=x_SLAM_f_18^post34, a_353^0'=a_353^post34, temp0_31^0'=temp0_31^post34, a_277^0'=a_277^post34, head_32^0'=head_32^post34, head_14^0'=head_14^post34, r_163^0'=r_163^post34, len_226^0'=len_226^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, a_184^0'=a_184^post34, rcd_88^0'=rcd_88^post34, head_223^0'=head_223^post34, f_170^0'=f_170^post34, tmp_34^0'=tmp_34^post34, i_94^0'=i_94^post34, i_108^0'=i_108^post34, r_260^0'=r_260^post34, length_29^0'=length_29^post34, x_20^0'=x_20^post34, a_330^0'=a_330^post34, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34 == 0 /\ len_276^0-len_276^post34 == 0 /\ head_27^0-head_27^post34 == 0 /\ -rcd_88^post34+rcd_88^0 == 0 /\ -a_308^post34+a_308^0 == 0 /\ head_268^0-head_268^post34 == 0 /\ -x_20^post34+x_20^0 == 0 /\ ct_17^0-ct_17^post34 == 0 /\ len_183^0-len_183^post34 == 0 /\ -head_14^post34+head_14^0 == 0 /\ -a_330^post34+a_330^0 == 0 /\ nondet_12^0-nondet_12^post34 == 0 /\ -head_32^post34+head_32^0 == 0 /\ t_23^0-t_23^post34 == 0 /\ -x_SLAM_f_18^post34+x_SLAM_f_18^0 == 0 /\ -i_108^post34+i_108^0 == 0 /\ -x_16^post34+x_16^0 == 0 /\ -r_218^post34+r_218^0 == 0 /\ -tmp_34^post34+tmp_34^0 == 0 /\ i_30^0-i_30^post34 == 0 /\ -head_SLAM_f_26^post34+head_SLAM_f_26^0 == 0 /\ -r_260^post34+r_260^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post34+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_147^0-a_147^post34 == 0 /\ -len_226^post34+len_226^0 == 0 /\ head_129^0-head_129^post34 == 0 /\ temp0_31^0-temp0_31^post34 == 0 /\ r_124^0-r_124^post34 == 0 /\ -head_223^post34+head_223^0 == 0 /\ 1-head_14^0 <= 0 /\ r_163^0-r_163^post34 == 0 /\ -a_116^post34+a_116^0 == 0 /\ temp0_15^0-temp0_15^post34 == 0 /\ -a_184^post34+a_184^0 == 0 /\ head_175^0-head_175^post34 == 0 /\ len_132^0-len_132^post34 == 0 /\ -i_94^post34+i_94^0 == 0 /\ f_263^0-f_263^post34 == 0 /\ -result_11^post34+result_11^0 == 0 /\ -a_353^post34+a_353^0 == 0 /\ -f_170^post34+f_170^0 == 0 /\ -length_29^post34+length_29^0 == 0 /\ a_241^0-a_241^post34 == 0 /\ -temp_35^post34+temp_35^0 == 0 /\ a_210^0-a_210^post34 == 0 /\ -i_167^post34+i_167^0 == 0 /\ -r_39^post34+r_39^0 == 0 /\ y_19^0-y_19^post34 == 0 /\ rcd_58^0-rcd_58^post34 == 0 /\ -a_277^post34+a_277^0 == 0), cost: 1 35: l24 -> l25 : temp0_15^0'=temp0_15^post35, a_241^0'=a_241^post35, head_27^0'=head_27^post35, head_129^0'=head_129^post35, r_124^0'=r_124^post35, len_183^0'=len_183^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35, a_147^0'=a_147^post35, rcd_58^0'=rcd_58^post35, head_175^0'=head_175^post35, y_19^0'=y_19^post35, ct_17^0'=ct_17^post35, temp_35^0'=temp_35^post35, i_30^0'=i_30^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, r_218^0'=r_218^post35, len_276^0'=len_276^post35, a_308^0'=a_308^post35, t_23^0'=t_23^post35, a_210^0'=a_210^post35, result_11^0'=result_11^post35, head_268^0'=head_268^post35, f_263^0'=f_263^post35, x_16^0'=x_16^post35, len_132^0'=len_132^post35, i_167^0'=i_167^post35, a_116^0'=a_116^post35, r_39^0'=r_39^post35, nondet_12^0'=nondet_12^post35, x_SLAM_f_18^0'=x_SLAM_f_18^post35, a_353^0'=a_353^post35, temp0_31^0'=temp0_31^post35, a_277^0'=a_277^post35, head_32^0'=head_32^post35, head_14^0'=head_14^post35, r_163^0'=r_163^post35, len_226^0'=len_226^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, a_184^0'=a_184^post35, rcd_88^0'=rcd_88^post35, head_223^0'=head_223^post35, f_170^0'=f_170^post35, tmp_34^0'=tmp_34^post35, i_94^0'=i_94^post35, i_108^0'=i_108^post35, r_260^0'=r_260^post35, length_29^0'=length_29^post35, x_20^0'=x_20^post35, a_330^0'=a_330^post35, (-a_330^post35+a_330^0 == 0 /\ y_19^0-y_19^post35 == 0 /\ -nondet_12^post35+nondet_12^0 == 0 /\ len_226^0-len_226^post35 == 0 /\ a_308^0-a_308^post35 == 0 /\ tmp_34^0-tmp_34^post35 == 0 /\ t_23^0-t_23^post35 == 0 /\ -head_14^post35+head_14^0 == 0 /\ len_132^0-len_132^post35 == 0 /\ len_276^0-len_276^post35 == 0 /\ -rcd_88^post35+rcd_88^0 == 0 /\ i_30^0-i_30^post35 == 0 /\ -a_353^post35+a_353^0 == 0 /\ -length_29^post35+length_29^0 == 0 /\ r_39^0-r_39^post35 == 0 /\ -i_94^post35+i_94^0 == 0 /\ ct_17^0-ct_17^post35 == 0 /\ -f_170^post35+f_170^0 == 0 /\ len_183^0-len_183^post35 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post35 == 0 /\ r_124^0-r_124^post35 == 0 /\ 1+head_14^0 <= 0 /\ -r_163^post35+r_163^0 == 0 /\ a_184^0-a_184^post35 == 0 /\ -r_218^post35+r_218^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post35+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_147^0-a_147^post35 == 0 /\ -f_263^post35+f_263^0 == 0 /\ -temp0_31^post35+temp0_31^0 == 0 /\ -a_277^post35+a_277^0 == 0 /\ a_116^0-a_116^post35 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post35 == 0 /\ -x_20^post35+x_20^0 == 0 /\ -a_210^post35+a_210^0 == 0 /\ -x_16^post35+x_16^0 == 0 /\ head_175^0-head_175^post35 == 0 /\ -i_167^post35+i_167^0 == 0 /\ head_268^0-head_268^post35 == 0 /\ -temp_35^post35+temp_35^0 == 0 /\ -head_27^post35+head_27^0 == 0 /\ -r_260^post35+r_260^0 == 0 /\ -i_108^post35+i_108^0 == 0 /\ rcd_58^0-rcd_58^post35 == 0 /\ result_11^0-result_11^post35 == 0 /\ head_32^0-head_32^post35 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35 == 0 /\ head_129^0-head_129^post35 == 0 /\ a_241^0-a_241^post35 == 0 /\ temp0_15^0-temp0_15^post35 == 0 /\ -head_223^post35+head_223^0 == 0), cost: 1 36: l25 -> l26 : temp0_15^0'=temp0_15^post36, a_241^0'=a_241^post36, head_27^0'=head_27^post36, head_129^0'=head_129^post36, r_124^0'=r_124^post36, len_183^0'=len_183^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36, a_147^0'=a_147^post36, rcd_58^0'=rcd_58^post36, head_175^0'=head_175^post36, y_19^0'=y_19^post36, ct_17^0'=ct_17^post36, temp_35^0'=temp_35^post36, i_30^0'=i_30^post36, head_SLAM_f_26^0'=head_SLAM_f_26^post36, r_218^0'=r_218^post36, len_276^0'=len_276^post36, a_308^0'=a_308^post36, t_23^0'=t_23^post36, a_210^0'=a_210^post36, result_11^0'=result_11^post36, head_268^0'=head_268^post36, f_263^0'=f_263^post36, x_16^0'=x_16^post36, len_132^0'=len_132^post36, i_167^0'=i_167^post36, a_116^0'=a_116^post36, r_39^0'=r_39^post36, nondet_12^0'=nondet_12^post36, x_SLAM_f_18^0'=x_SLAM_f_18^post36, a_353^0'=a_353^post36, temp0_31^0'=temp0_31^post36, a_277^0'=a_277^post36, head_32^0'=head_32^post36, head_14^0'=head_14^post36, r_163^0'=r_163^post36, len_226^0'=len_226^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, a_184^0'=a_184^post36, rcd_88^0'=rcd_88^post36, head_223^0'=head_223^post36, f_170^0'=f_170^post36, tmp_34^0'=tmp_34^post36, i_94^0'=i_94^post36, i_108^0'=i_108^post36, r_260^0'=r_260^post36, length_29^0'=length_29^post36, x_20^0'=x_20^post36, a_330^0'=a_330^post36, (tmp_34^0-tmp_34^post36 == 0 /\ -head_14^post36+head_14^0 == 0 /\ temp0_15^0-temp0_15^post36 == 0 /\ head_175^0-head_175^post36 == 0 /\ -a_330^post36+a_330^0 == 0 /\ a_308^0-a_308^post36 == 0 /\ r_124^0-r_124^post36 == 0 /\ -rcd_88^post36+rcd_88^0 == 0 /\ -r_163^post36+r_163^0 == 0 /\ -f_170^post36+f_170^0 == 0 /\ -r_260^post36+r_260^0 == 0 /\ len_132^0-len_132^post36 == 0 /\ t_23^0-t_23^post36 == 0 /\ r_39^0-r_39^post36 == 0 /\ -f_263^post36+f_263^0 == 0 /\ 1-y_19^0+head_14^0 <= 0 /\ -i_94^post36+i_94^0 == 0 /\ head_129^0-head_129^post36 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36 == 0 /\ a_241^0-a_241^post36 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post36+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_184^0-a_184^post36 == 0 /\ -x_16^post36+x_16^0 == 0 /\ -rcd_58^post36+rcd_58^0 == 0 /\ -i_167^post36+i_167^0 == 0 /\ -len_183^post36+len_183^0 == 0 /\ y_19^0-y_19^post36 == 0 /\ len_226^0-len_226^post36 == 0 /\ -head_SLAM_f_26^post36+head_SLAM_f_26^0 == 0 /\ a_353^0-a_353^post36 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post36 == 0 /\ -a_277^post36+a_277^0 == 0 /\ -length_29^post36+length_29^0 == 0 /\ -temp0_31^post36+temp0_31^0 == 0 /\ head_268^0-head_268^post36 == 0 /\ -a_210^post36+a_210^0 == 0 /\ i_30^0-i_30^post36 == 0 /\ ct_17^0-ct_17^post36 == 0 /\ result_11^0-result_11^post36 == 0 /\ head_32^0-head_32^post36 == 0 /\ r_218^0-r_218^post36 == 0 /\ -head_223^post36+head_223^0 == 0 /\ head_27^0-head_27^post36 == 0 /\ -nondet_12^post36+nondet_12^0 == 0 /\ -x_20^post36+x_20^0 == 0 /\ -len_276^post36+len_276^0 == 0 /\ -i_108^post36+i_108^0 == 0 /\ temp_35^0-temp_35^post36 == 0 /\ a_116^0-a_116^post36 == 0 /\ a_147^0-a_147^post36 == 0), cost: 1 37: l25 -> l26 : temp0_15^0'=temp0_15^post37, a_241^0'=a_241^post37, head_27^0'=head_27^post37, head_129^0'=head_129^post37, r_124^0'=r_124^post37, len_183^0'=len_183^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37, a_147^0'=a_147^post37, rcd_58^0'=rcd_58^post37, head_175^0'=head_175^post37, y_19^0'=y_19^post37, ct_17^0'=ct_17^post37, temp_35^0'=temp_35^post37, i_30^0'=i_30^post37, head_SLAM_f_26^0'=head_SLAM_f_26^post37, r_218^0'=r_218^post37, len_276^0'=len_276^post37, a_308^0'=a_308^post37, t_23^0'=t_23^post37, a_210^0'=a_210^post37, result_11^0'=result_11^post37, head_268^0'=head_268^post37, f_263^0'=f_263^post37, x_16^0'=x_16^post37, len_132^0'=len_132^post37, i_167^0'=i_167^post37, a_116^0'=a_116^post37, r_39^0'=r_39^post37, nondet_12^0'=nondet_12^post37, x_SLAM_f_18^0'=x_SLAM_f_18^post37, a_353^0'=a_353^post37, temp0_31^0'=temp0_31^post37, a_277^0'=a_277^post37, head_32^0'=head_32^post37, head_14^0'=head_14^post37, r_163^0'=r_163^post37, len_226^0'=len_226^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, a_184^0'=a_184^post37, rcd_88^0'=rcd_88^post37, head_223^0'=head_223^post37, f_170^0'=f_170^post37, tmp_34^0'=tmp_34^post37, i_94^0'=i_94^post37, i_108^0'=i_108^post37, r_260^0'=r_260^post37, length_29^0'=length_29^post37, x_20^0'=x_20^post37, a_330^0'=a_330^post37, (i_167^0-i_167^post37 == 0 /\ head_223^0-head_223^post37 == 0 /\ -x_SLAM_f_18^post37+x_SLAM_f_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post37+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ y_19^0-y_19^post37 == 0 /\ 1+y_19^0-head_14^0 <= 0 /\ a_353^0-a_353^post37 == 0 /\ i_30^0-i_30^post37 == 0 /\ -f_170^post37+f_170^0 == 0 /\ head_27^0-head_27^post37 == 0 /\ -r_260^post37+r_260^0 == 0 /\ -a_147^post37+a_147^0 == 0 /\ -r_163^post37+r_163^0 == 0 /\ len_183^0-len_183^post37 == 0 /\ -a_308^post37+a_308^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post37 == 0 /\ -a_116^post37+a_116^0 == 0 /\ r_218^0-r_218^post37 == 0 /\ f_263^0-f_263^post37 == 0 /\ r_124^0-r_124^post37 == 0 /\ -i_94^post37+i_94^0 == 0 /\ temp_35^0-temp_35^post37 == 0 /\ -a_330^post37+a_330^0 == 0 /\ rcd_88^0-rcd_88^post37 == 0 /\ a_210^0-a_210^post37 == 0 /\ head_14^0-head_14^post37 == 0 /\ temp0_15^0-temp0_15^post37 == 0 /\ head_175^0-head_175^post37 == 0 /\ -t_23^post37+t_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -tmp_34^post37+tmp_34^0 == 0 /\ -temp0_31^post37+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post37 == 0 /\ -a_277^post37+a_277^0 == 0 /\ -len_226^post37+len_226^0 == 0 /\ -length_29^post37+length_29^0 == 0 /\ -len_132^post37+len_132^0 == 0 /\ a_241^0-a_241^post37 == 0 /\ result_11^0-result_11^post37 == 0 /\ x_16^0-x_16^post37 == 0 /\ -r_39^post37+r_39^0 == 0 /\ rcd_58^0-rcd_58^post37 == 0 /\ -head_268^post37+head_268^0 == 0 /\ head_129^0-head_129^post37 == 0 /\ -x_20^post37+x_20^0 == 0 /\ len_276^0-len_276^post37 == 0 /\ -ct_17^post37+ct_17^0 == 0 /\ -i_108^post37+i_108^0 == 0 /\ -a_184^post37+a_184^0 == 0 /\ -head_32^post37+head_32^0 == 0), cost: 1 38: l26 -> l27 : temp0_15^0'=temp0_15^post38, a_241^0'=a_241^post38, head_27^0'=head_27^post38, head_129^0'=head_129^post38, r_124^0'=r_124^post38, len_183^0'=len_183^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38, a_147^0'=a_147^post38, rcd_58^0'=rcd_58^post38, head_175^0'=head_175^post38, y_19^0'=y_19^post38, ct_17^0'=ct_17^post38, temp_35^0'=temp_35^post38, i_30^0'=i_30^post38, head_SLAM_f_26^0'=head_SLAM_f_26^post38, r_218^0'=r_218^post38, len_276^0'=len_276^post38, a_308^0'=a_308^post38, t_23^0'=t_23^post38, a_210^0'=a_210^post38, result_11^0'=result_11^post38, head_268^0'=head_268^post38, f_263^0'=f_263^post38, x_16^0'=x_16^post38, len_132^0'=len_132^post38, i_167^0'=i_167^post38, a_116^0'=a_116^post38, r_39^0'=r_39^post38, nondet_12^0'=nondet_12^post38, x_SLAM_f_18^0'=x_SLAM_f_18^post38, a_353^0'=a_353^post38, temp0_31^0'=temp0_31^post38, a_277^0'=a_277^post38, head_32^0'=head_32^post38, head_14^0'=head_14^post38, r_163^0'=r_163^post38, len_226^0'=len_226^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, a_184^0'=a_184^post38, rcd_88^0'=rcd_88^post38, head_223^0'=head_223^post38, f_170^0'=f_170^post38, tmp_34^0'=tmp_34^post38, i_94^0'=i_94^post38, i_108^0'=i_108^post38, r_260^0'=r_260^post38, length_29^0'=length_29^post38, x_20^0'=x_20^post38, a_330^0'=a_330^post38, (-f_170^post38+f_170^0 == 0 /\ -result_11^post38+result_11^0 == 0 /\ -head_175^post38+head_175^0 == 0 /\ -r_260^post38+r_260^0 == 0 /\ ct_17^0-ct_17^post38 == 0 /\ i_167^0-i_167^post38 == 0 /\ -i_30^post38+i_30^0 == 0 /\ -a_353^post38+a_353^0 == 0 /\ f_263^0-f_263^post38 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post38 == 0 /\ a_241^0-a_241^post38 == 0 /\ temp0_15^0-temp0_15^post38 == 0 /\ a_210^0-a_210^post38 == 0 /\ -r_218^post38+r_218^0 == 0 /\ -len_132^post38+len_132^0 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -a_308^post38+a_308^0 == 0 /\ head_129^0-head_129^post38 == 0 /\ rcd_58^0-rcd_58^post38 == 0 /\ -a_330^post38+a_330^0 == 0 /\ -tmp_34^post38+tmp_34^0 == 0 /\ -i_94^post38+i_94^0 == 0 /\ r_163^0-r_163^post38 == 0 /\ -length_29^post38+length_29^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38 == 0 /\ y_19^0-y_19^post38 == 0 /\ -head_223^post38+head_223^0 == 0 /\ -len_226^post38+len_226^0 == 0 /\ -t_23^post38+t_23^0 == 0 /\ -r_39^post38+r_39^0 == 0 /\ head_27^0-head_27^post38 == 0 /\ head_14^0-head_14^post38 == 0 /\ -temp0_31^post38+temp0_31^0 == 0 /\ 1+y_19^0-t_23^0 <= 0 /\ len_183^0-len_183^post38 == 0 /\ a_277^0-a_277^post38 == 0 /\ head_268^0-head_268^post38 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post38 == 0 /\ -rcd_88^post38+rcd_88^0 == 0 /\ -x_20^post38+x_20^0 == 0 /\ x_16^0-x_16^post38 == 0 /\ temp_35^0-temp_35^post38 == 0 /\ a_147^0-a_147^post38 == 0 /\ -r_124^post38+r_124^0 == 0 /\ -i_108^post38+i_108^0 == 0 /\ -a_184^post38+a_184^0 == 0 /\ -x_SLAM_f_18^post38+x_SLAM_f_18^0 == 0 /\ -a_116^post38+a_116^0 == 0 /\ -head_32^post38+head_32^0 == 0 /\ len_276^0-len_276^post38 == 0), cost: 1 39: l26 -> l27 : temp0_15^0'=temp0_15^post39, a_241^0'=a_241^post39, head_27^0'=head_27^post39, head_129^0'=head_129^post39, r_124^0'=r_124^post39, len_183^0'=len_183^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39, a_147^0'=a_147^post39, rcd_58^0'=rcd_58^post39, head_175^0'=head_175^post39, y_19^0'=y_19^post39, ct_17^0'=ct_17^post39, temp_35^0'=temp_35^post39, i_30^0'=i_30^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, r_218^0'=r_218^post39, len_276^0'=len_276^post39, a_308^0'=a_308^post39, t_23^0'=t_23^post39, a_210^0'=a_210^post39, result_11^0'=result_11^post39, head_268^0'=head_268^post39, f_263^0'=f_263^post39, x_16^0'=x_16^post39, len_132^0'=len_132^post39, i_167^0'=i_167^post39, a_116^0'=a_116^post39, r_39^0'=r_39^post39, nondet_12^0'=nondet_12^post39, x_SLAM_f_18^0'=x_SLAM_f_18^post39, a_353^0'=a_353^post39, temp0_31^0'=temp0_31^post39, a_277^0'=a_277^post39, head_32^0'=head_32^post39, head_14^0'=head_14^post39, r_163^0'=r_163^post39, len_226^0'=len_226^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, a_184^0'=a_184^post39, rcd_88^0'=rcd_88^post39, head_223^0'=head_223^post39, f_170^0'=f_170^post39, tmp_34^0'=tmp_34^post39, i_94^0'=i_94^post39, i_108^0'=i_108^post39, r_260^0'=r_260^post39, length_29^0'=length_29^post39, x_20^0'=x_20^post39, a_330^0'=a_330^post39, (-f_170^post39+f_170^0 == 0 /\ -a_116^post39+a_116^0 == 0 /\ -result_11^post39+result_11^0 == 0 /\ head_129^0-head_129^post39 == 0 /\ -r_260^post39+r_260^0 == 0 /\ -rcd_88^post39+rcd_88^0 == 0 /\ head_175^0-head_175^post39 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post39 == 0 /\ head_268^0-head_268^post39 == 0 /\ -x_20^post39+x_20^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post39+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp0_15^0-temp0_15^post39 == 0 /\ -a_330^post39+a_330^0 == 0 /\ a_241^0-a_241^post39 == 0 /\ -x_16^post39+x_16^0 == 0 /\ -a_308^post39+a_308^0 == 0 /\ y_19^0-y_19^post39 == 0 /\ -head_14^post39+head_14^0 == 0 /\ i_167^0-i_167^post39 == 0 /\ -a_353^post39+a_353^0 == 0 /\ -tmp_34^post39+tmp_34^0 == 0 /\ rcd_58^0-rcd_58^post39 == 0 /\ -len_226^post39+len_226^0 == 0 /\ len_276^0-len_276^post39 == 0 /\ -length_29^post39+length_29^0 == 0 /\ -i_94^post39+i_94^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 == 0 /\ -head_32^post39+head_32^0 == 0 /\ ct_17^0-ct_17^post39 == 0 /\ -a_184^post39+a_184^0 == 0 /\ f_263^0-f_263^post39 == 0 /\ -head_223^post39+head_223^0 == 0 /\ temp0_31^0-temp0_31^post39 == 0 /\ len_183^0-len_183^post39 == 0 /\ head_27^0-head_27^post39 == 0 /\ -i_30^post39+i_30^0 == 0 /\ -r_124^post39+r_124^0 == 0 /\ t_23^0-t_23^post39 == 0 /\ a_210^0-a_210^post39 == 0 /\ len_132^0-len_132^post39 == 0 /\ -nondet_12^post39+nondet_12^0 == 0 /\ -a_277^post39+a_277^0 == 0 /\ temp_35^0-temp_35^post39 == 0 /\ a_147^0-a_147^post39 == 0 /\ i_108^0-i_108^post39 == 0 /\ -r_218^post39+r_218^0 == 0 /\ r_39^0-r_39^post39 == 0 /\ r_163^0-r_163^post39 == 0 /\ -x_SLAM_f_18^post39+x_SLAM_f_18^0 == 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 1 40: l27 -> l10 : temp0_15^0'=temp0_15^post40, a_241^0'=a_241^post40, head_27^0'=head_27^post40, head_129^0'=head_129^post40, r_124^0'=r_124^post40, len_183^0'=len_183^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40, a_147^0'=a_147^post40, rcd_58^0'=rcd_58^post40, head_175^0'=head_175^post40, y_19^0'=y_19^post40, ct_17^0'=ct_17^post40, temp_35^0'=temp_35^post40, i_30^0'=i_30^post40, head_SLAM_f_26^0'=head_SLAM_f_26^post40, r_218^0'=r_218^post40, len_276^0'=len_276^post40, a_308^0'=a_308^post40, t_23^0'=t_23^post40, a_210^0'=a_210^post40, result_11^0'=result_11^post40, head_268^0'=head_268^post40, f_263^0'=f_263^post40, x_16^0'=x_16^post40, len_132^0'=len_132^post40, i_167^0'=i_167^post40, a_116^0'=a_116^post40, r_39^0'=r_39^post40, nondet_12^0'=nondet_12^post40, x_SLAM_f_18^0'=x_SLAM_f_18^post40, a_353^0'=a_353^post40, temp0_31^0'=temp0_31^post40, a_277^0'=a_277^post40, head_32^0'=head_32^post40, head_14^0'=head_14^post40, r_163^0'=r_163^post40, len_226^0'=len_226^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, a_184^0'=a_184^post40, rcd_88^0'=rcd_88^post40, head_223^0'=head_223^post40, f_170^0'=f_170^post40, tmp_34^0'=tmp_34^post40, i_94^0'=i_94^post40, i_108^0'=i_108^post40, r_260^0'=r_260^post40, length_29^0'=length_29^post40, x_20^0'=x_20^post40, a_330^0'=a_330^post40, (2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_116^post40+a_116^0 == 0 /\ head_27^0-head_27^post40 == 0 /\ i_30^0-i_30^post40 == 0 /\ head_268^0-head_268^post40 == 0 /\ -a_308^post40+a_308^0 == 0 /\ -r_218^post40+r_218^0 == 0 /\ -head_223^post40+head_223^0 == 0 /\ a_147^0-a_147^post40 == 0 /\ -rcd_88^post40+rcd_88^0 == 0 /\ -r_39^post40+r_39^0 == 0 /\ -a_184^post40+a_184^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post40 == 0 /\ -x_16^post40+x_16^0 == 0 /\ -x_20^post40+x_20^0 == 0 /\ nondet_12^0-nondet_12^post40 == 0 /\ -i_94^post40+i_94^0 == 0 /\ y_19^0-y_19^post40 == 0 /\ -a_330^post40+a_330^0 == 0 /\ rcd_58^0-rcd_58^post40 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_18^post40+x_SLAM_f_18^0 == 0 /\ -i_167^post40+i_167^0 == 0 /\ -f_170^post40+f_170^0 == 0 /\ -t_23^post40+t_23^0 == 0 /\ len_183^0-len_183^post40 == 0 /\ -a_353^post40+a_353^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -len_226^post40+len_226^0 == 0 /\ r_124^0-r_124^post40 == 0 /\ len_276^0-len_276^post40 == 0 /\ temp_35^0-temp_35^post40 == 0 /\ a_241^0-a_241^post40 == 0 /\ len_132^0-len_132^post40 == 0 /\ temp0_15^0-temp0_15^post40 == 0 /\ head_32^0-head_32^post40 == 0 /\ temp0_31^0-temp0_31^post40 == 0 /\ ct_17^0-ct_17^post40 == 0 /\ -i_108^post40+i_108^0 == 0 /\ -tmp_34^post40+tmp_34^0 == 0 /\ -r_260^post40+r_260^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40 == 0 /\ -head_129^post40+head_129^0 == 0 /\ -head_14^post40+head_14^0 == 0 /\ -result_11^post40+result_11^0 == 0 /\ a_277^0-a_277^post40 == 0 /\ a_210^0-a_210^post40 == 0 /\ -length_29^post40+length_29^0 == 0 /\ head_175^0-head_175^post40 == 0 /\ f_263^0-f_263^post40 == 0 /\ -r_163^post40+r_163^0 == 0), cost: 1 42: l28 -> l29 : temp0_15^0'=temp0_15^post42, a_241^0'=a_241^post42, head_27^0'=head_27^post42, head_129^0'=head_129^post42, r_124^0'=r_124^post42, len_183^0'=len_183^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42, a_147^0'=a_147^post42, rcd_58^0'=rcd_58^post42, head_175^0'=head_175^post42, y_19^0'=y_19^post42, ct_17^0'=ct_17^post42, temp_35^0'=temp_35^post42, i_30^0'=i_30^post42, head_SLAM_f_26^0'=head_SLAM_f_26^post42, r_218^0'=r_218^post42, len_276^0'=len_276^post42, a_308^0'=a_308^post42, t_23^0'=t_23^post42, a_210^0'=a_210^post42, result_11^0'=result_11^post42, head_268^0'=head_268^post42, f_263^0'=f_263^post42, x_16^0'=x_16^post42, len_132^0'=len_132^post42, i_167^0'=i_167^post42, a_116^0'=a_116^post42, r_39^0'=r_39^post42, nondet_12^0'=nondet_12^post42, x_SLAM_f_18^0'=x_SLAM_f_18^post42, a_353^0'=a_353^post42, temp0_31^0'=temp0_31^post42, a_277^0'=a_277^post42, head_32^0'=head_32^post42, head_14^0'=head_14^post42, r_163^0'=r_163^post42, len_226^0'=len_226^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, a_184^0'=a_184^post42, rcd_88^0'=rcd_88^post42, head_223^0'=head_223^post42, f_170^0'=f_170^post42, tmp_34^0'=tmp_34^post42, i_94^0'=i_94^post42, i_108^0'=i_108^post42, r_260^0'=r_260^post42, length_29^0'=length_29^post42, x_20^0'=x_20^post42, a_330^0'=a_330^post42, (-a_210^post42+a_210^0 == 0 /\ -len_276^post42+len_276^0 == 0 /\ -head_268^post42+head_268^0 == 0 /\ r_39^0-r_39^post42 == 0 /\ -x_20^post42+x_20^0 == 0 /\ a_116^0-a_116^post42 == 0 /\ head_175^0-head_175^post42 == 0 /\ r_124^0-r_124^post42 == 0 /\ result_11^0-result_11^post42 == 0 /\ tmp_34^0-tmp_34^post42 == 0 /\ -a_330^post42+a_330^0 == 0 /\ r_218^0-r_218^post42 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post42 == 0 /\ -head_32^post42+head_32^0 == 0 /\ temp0_15^0-temp0_15^post42 == 0 /\ f_170^0-f_170^post42 == 0 /\ a_308^0-a_308^post42 == 0 /\ -r_163^post42+r_163^0 == 0 /\ -r_260^post42+r_260^0 == 0 /\ -i_94^post42+i_94^0 == 0 /\ a_353^0-a_353^post42 == 0 /\ t_23^0-t_23^post42 == 0 /\ a_184^0-a_184^post42 == 0 /\ len_132^0-len_132^post42 == 0 /\ a_241^0-a_241^post42 == 0 /\ -temp0_31^post42+temp0_31^0 == 0 /\ head_129^0-head_129^post42 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42 == 0 /\ y_19^0-y_19^post42 == 0 /\ -nondet_12^post42+nondet_12^0 == 0 /\ 1+y_19^0-x_20^0 <= 0 /\ a_147^0-a_147^post42 == 0 /\ -rcd_88^post42+rcd_88^0 == 0 /\ head_27^0-head_27^post42 == 0 /\ -a_277^post42+a_277^0 == 0 /\ -len_183^post42+len_183^0 == 0 /\ -x_16^post42+x_16^0 == 0 /\ -rcd_58^post42+rcd_58^0 == 0 /\ i_30^0-i_30^post42 == 0 /\ i_167^0-i_167^post42 == 0 /\ -length_29^post42+length_29^0 == 0 /\ -head_223^post42+head_223^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post42+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_14^post42+head_14^0 == 0 /\ -i_108^post42+i_108^0 == 0 /\ -len_226^post42+len_226^0 == 0 /\ -head_SLAM_f_26^post42+head_SLAM_f_26^0 == 0 /\ ct_17^0-ct_17^post42 == 0 /\ -f_263^post42+f_263^0 == 0 /\ temp_35^0-temp_35^post42 == 0), cost: 1 43: l28 -> l29 : temp0_15^0'=temp0_15^post43, a_241^0'=a_241^post43, head_27^0'=head_27^post43, head_129^0'=head_129^post43, r_124^0'=r_124^post43, len_183^0'=len_183^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43, a_147^0'=a_147^post43, rcd_58^0'=rcd_58^post43, head_175^0'=head_175^post43, y_19^0'=y_19^post43, ct_17^0'=ct_17^post43, temp_35^0'=temp_35^post43, i_30^0'=i_30^post43, head_SLAM_f_26^0'=head_SLAM_f_26^post43, r_218^0'=r_218^post43, len_276^0'=len_276^post43, a_308^0'=a_308^post43, t_23^0'=t_23^post43, a_210^0'=a_210^post43, result_11^0'=result_11^post43, head_268^0'=head_268^post43, f_263^0'=f_263^post43, x_16^0'=x_16^post43, len_132^0'=len_132^post43, i_167^0'=i_167^post43, a_116^0'=a_116^post43, r_39^0'=r_39^post43, nondet_12^0'=nondet_12^post43, x_SLAM_f_18^0'=x_SLAM_f_18^post43, a_353^0'=a_353^post43, temp0_31^0'=temp0_31^post43, a_277^0'=a_277^post43, head_32^0'=head_32^post43, head_14^0'=head_14^post43, r_163^0'=r_163^post43, len_226^0'=len_226^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, a_184^0'=a_184^post43, rcd_88^0'=rcd_88^post43, head_223^0'=head_223^post43, f_170^0'=f_170^post43, tmp_34^0'=tmp_34^post43, i_94^0'=i_94^post43, i_108^0'=i_108^post43, r_260^0'=r_260^post43, length_29^0'=length_29^post43, x_20^0'=x_20^post43, a_330^0'=a_330^post43, (-rcd_58^post43+rcd_58^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post43 == 0 /\ -a_277^post43+a_277^0 == 0 /\ -head_268^post43+head_268^0 == 0 /\ -len_132^post43+len_132^0 == 0 /\ -a_147^post43+a_147^0 == 0 /\ -r_260^post43+r_260^0 == 0 /\ head_129^0-head_129^post43 == 0 /\ -tmp_34^post43+tmp_34^0 == 0 /\ a_210^0-a_210^post43 == 0 /\ x_16^0-x_16^post43 == 0 /\ i_30^0-i_30^post43 == 0 /\ -head_14^post43+head_14^0 == 0 /\ -f_170^post43+f_170^0 == 0 /\ a_353^0-a_353^post43 == 0 /\ -head_32^post43+head_32^0 == 0 /\ len_276^0-len_276^post43 == 0 /\ -a_184^post43+a_184^0 == 0 /\ head_27^0-head_27^post43 == 0 /\ -f_263^post43+f_263^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post43 == 0 /\ temp0_15^0-temp0_15^post43 == 0 /\ -r_39^post43+r_39^0 == 0 /\ -head_223^post43+head_223^0 == 0 /\ temp_35^0-temp_35^post43 == 0 /\ a_116^0-a_116^post43 == 0 /\ -ct_17^post43+ct_17^0 == 0 /\ i_167^0-i_167^post43 == 0 /\ -a_330^post43+a_330^0 == 0 /\ len_183^0-len_183^post43 == 0 /\ -temp0_31^post43+temp0_31^0 == 0 /\ result_11^0-result_11^post43 == 0 /\ r_218^0-r_218^post43 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43 == 0 /\ -rcd_88^post43+rcd_88^0 == 0 /\ -r_163^post43+r_163^0 == 0 /\ -length_29^post43+length_29^0 == 0 /\ a_241^0-a_241^post43 == 0 /\ -i_108^post43+i_108^0 == 0 /\ -len_226^post43+len_226^0 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ head_175^0-head_175^post43 == 0 /\ a_308^0-a_308^post43 == 0 /\ r_124^0-r_124^post43 == 0 /\ t_23^0-t_23^post43 == 0 /\ nondet_12^0-nondet_12^post43 == 0 /\ i_94^0-i_94^post43 == 0 /\ -y_19^post43+y_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post43+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_20^post43+x_20^0 == 0), cost: 1 44: l29 -> l30 : temp0_15^0'=temp0_15^post44, a_241^0'=a_241^post44, head_27^0'=head_27^post44, head_129^0'=head_129^post44, r_124^0'=r_124^post44, len_183^0'=len_183^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44, a_147^0'=a_147^post44, rcd_58^0'=rcd_58^post44, head_175^0'=head_175^post44, y_19^0'=y_19^post44, ct_17^0'=ct_17^post44, temp_35^0'=temp_35^post44, i_30^0'=i_30^post44, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_218^0'=r_218^post44, len_276^0'=len_276^post44, a_308^0'=a_308^post44, t_23^0'=t_23^post44, a_210^0'=a_210^post44, result_11^0'=result_11^post44, head_268^0'=head_268^post44, f_263^0'=f_263^post44, x_16^0'=x_16^post44, len_132^0'=len_132^post44, i_167^0'=i_167^post44, a_116^0'=a_116^post44, r_39^0'=r_39^post44, nondet_12^0'=nondet_12^post44, x_SLAM_f_18^0'=x_SLAM_f_18^post44, a_353^0'=a_353^post44, temp0_31^0'=temp0_31^post44, a_277^0'=a_277^post44, head_32^0'=head_32^post44, head_14^0'=head_14^post44, r_163^0'=r_163^post44, len_226^0'=len_226^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_184^0'=a_184^post44, rcd_88^0'=rcd_88^post44, head_223^0'=head_223^post44, f_170^0'=f_170^post44, tmp_34^0'=tmp_34^post44, i_94^0'=i_94^post44, i_108^0'=i_108^post44, r_260^0'=r_260^post44, length_29^0'=length_29^post44, x_20^0'=x_20^post44, a_330^0'=a_330^post44, (0 == 0 /\ x_16^0-head_14^0 <= 0 /\ len_183^0-len_183^post44 == 0 /\ i_167^0-i_167^post44 == 0 /\ temp0_15^0-temp0_15^post44 == 0 /\ x_16^0-x_16^post44 == 0 /\ -tmp_34^post44+tmp_34^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ y_19^0-y_19^post44 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ len_276^0-len_276^post44 == 0 /\ -r_260^post44+r_260^0 == 0 /\ i_30^0-i_30^post44 == 0 /\ -x_SLAM_f_18^post44+x_SLAM_f_18^0 == 0 /\ a_241^0-a_241^post44 == 0 /\ -len_132^post44+len_132^0 == 0 /\ y_19^0 <= 0 /\ -f_170^post44+f_170^0 == 0 /\ ct_17^0 <= 0 /\ -len_226^post44+len_226^0 == 0 /\ -a_147^post44+a_147^0 == 0 /\ a_210^0-a_210^post44 == 0 /\ -x_16^0+head_14^0 <= 0 /\ rcd_88^0-rcd_88^post44 == 0 /\ a_277^0-a_277^post44 == 0 /\ r_218^0-r_218^post44 == 0 /\ -head_32^post44+head_32^0 == 0 /\ f_263^0-f_263^post44 == 0 /\ -a_116^post44+a_116^0 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ r_124^0-r_124^post44 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post44 == 0 /\ -head_223^post44+head_223^0 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ -head_268^post44+head_268^0 == 0 /\ temp_35^0-temp_35^post44 == 0 /\ t_23^post44-x_20^0 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ -head_175^post44+head_175^0 == 0 /\ result_11^0-result_11^post44 == 0 /\ -a_330^post44+a_330^0 == 0 /\ rcd_58^0-rcd_58^post44 == 0 /\ -temp0_31^post44+temp0_31^0 == 0 /\ head_14^0-head_14^post44 == 0 /\ nondet_12^0-nondet_12^post44 == 0 /\ -t_23^post44+head_14^0 <= 0 /\ -ct_17^0 <= 0 /\ -y_19^0 <= 0 /\ head_129^0-head_129^post44 == 0 /\ -a_353^post44+a_353^0 == 0 /\ a_308^post44-a_330^0 <= 0 /\ -length_29^post44+length_29^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ -i_108^post44+i_108^0 == 0 /\ -a_184^post44+a_184^0 == 0 /\ -r_39^post44+r_39^0 == 0 /\ head_27^0-head_27^post44 == 0 /\ r_163^0-r_163^post44 == 0 /\ -ct_17^post44+ct_17^0 == 0 /\ t_23^post44-head_14^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post44+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_94^0-i_94^post44 == 0 /\ -x_20^post44+x_20^0 == 0 /\ -a_308^post44+a_330^0 <= 0), cost: 1 45: l30 -> l31 : temp0_15^0'=temp0_15^post45, a_241^0'=a_241^post45, head_27^0'=head_27^post45, head_129^0'=head_129^post45, r_124^0'=r_124^post45, len_183^0'=len_183^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45, a_147^0'=a_147^post45, rcd_58^0'=rcd_58^post45, head_175^0'=head_175^post45, y_19^0'=y_19^post45, ct_17^0'=ct_17^post45, temp_35^0'=temp_35^post45, i_30^0'=i_30^post45, head_SLAM_f_26^0'=head_SLAM_f_26^post45, r_218^0'=r_218^post45, len_276^0'=len_276^post45, a_308^0'=a_308^post45, t_23^0'=t_23^post45, a_210^0'=a_210^post45, result_11^0'=result_11^post45, head_268^0'=head_268^post45, f_263^0'=f_263^post45, x_16^0'=x_16^post45, len_132^0'=len_132^post45, i_167^0'=i_167^post45, a_116^0'=a_116^post45, r_39^0'=r_39^post45, nondet_12^0'=nondet_12^post45, x_SLAM_f_18^0'=x_SLAM_f_18^post45, a_353^0'=a_353^post45, temp0_31^0'=temp0_31^post45, a_277^0'=a_277^post45, head_32^0'=head_32^post45, head_14^0'=head_14^post45, r_163^0'=r_163^post45, len_226^0'=len_226^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, a_184^0'=a_184^post45, rcd_88^0'=rcd_88^post45, head_223^0'=head_223^post45, f_170^0'=f_170^post45, tmp_34^0'=tmp_34^post45, i_94^0'=i_94^post45, i_108^0'=i_108^post45, r_260^0'=r_260^post45, length_29^0'=length_29^post45, x_20^0'=x_20^post45, a_330^0'=a_330^post45, (a_353^0-a_353^post45 == 0 /\ -i_94^post45+i_94^0 == 0 /\ r_218^0-r_218^post45 == 0 /\ -tmp_34^post45+tmp_34^0 == 0 /\ -length_29^post45+length_29^0 == 0 /\ -r_163^post45+r_163^0 == 0 /\ -a_184^post45+a_184^0 == 0 /\ i_167^0-i_167^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post45+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp_35^0-temp_35^post45 == 0 /\ len_183^0-len_183^post45 == 0 /\ head_27^0-head_27^post45 == 0 /\ -r_39^post45+r_39^0 == 0 /\ -temp0_31^post45+temp0_31^0 == 0 /\ a_210^0-a_210^post45 == 0 /\ -x_20^post45+x_20^0 == 0 /\ -a_308^post45+a_308^0 == 0 /\ -len_132^post45+len_132^0 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ -ct_17^post45+ct_17^0 == 0 /\ -head_223^post45+head_223^0 == 0 /\ -a_330^post45+a_330^0 == 0 /\ i_30^0-i_30^post45 == 0 /\ rcd_88^0-rcd_88^post45 == 0 /\ f_263^0-f_263^post45 == 0 /\ r_124^0-r_124^post45 == 0 /\ -x_SLAM_f_18^post45+x_SLAM_f_18^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post45 == 0 /\ -f_170^post45+f_170^0 == 0 /\ -len_226^post45+len_226^0 == 0 /\ -i_108^post45+i_108^0 == 0 /\ 1-head_14^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_129^0-head_129^post45 == 0 /\ head_268^0-head_268^post45 == 0 /\ y_19^0-y_19^post45 == 0 /\ a_147^0-a_147^post45 == 0 /\ -t_23^post45+t_23^0 == 0 /\ a_241^0-a_241^post45 == 0 /\ a_277^0-a_277^post45 == 0 /\ temp0_15^0-temp0_15^post45 == 0 /\ x_16^0-x_16^post45 == 0 /\ -a_116^post45+a_116^0 == 0 /\ -head_32^post45+head_32^0 == 0 /\ rcd_58^0-rcd_58^post45 == 0 /\ -head_175^post45+head_175^0 == 0 /\ -r_260^post45+r_260^0 == 0 /\ head_14^0-head_14^post45 == 0 /\ len_276^0-len_276^post45 == 0 /\ result_11^0-result_11^post45 == 0), cost: 1 46: l30 -> l31 : temp0_15^0'=temp0_15^post46, a_241^0'=a_241^post46, head_27^0'=head_27^post46, head_129^0'=head_129^post46, r_124^0'=r_124^post46, len_183^0'=len_183^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46, a_147^0'=a_147^post46, rcd_58^0'=rcd_58^post46, head_175^0'=head_175^post46, y_19^0'=y_19^post46, ct_17^0'=ct_17^post46, temp_35^0'=temp_35^post46, i_30^0'=i_30^post46, head_SLAM_f_26^0'=head_SLAM_f_26^post46, r_218^0'=r_218^post46, len_276^0'=len_276^post46, a_308^0'=a_308^post46, t_23^0'=t_23^post46, a_210^0'=a_210^post46, result_11^0'=result_11^post46, head_268^0'=head_268^post46, f_263^0'=f_263^post46, x_16^0'=x_16^post46, len_132^0'=len_132^post46, i_167^0'=i_167^post46, a_116^0'=a_116^post46, r_39^0'=r_39^post46, nondet_12^0'=nondet_12^post46, x_SLAM_f_18^0'=x_SLAM_f_18^post46, a_353^0'=a_353^post46, temp0_31^0'=temp0_31^post46, a_277^0'=a_277^post46, head_32^0'=head_32^post46, head_14^0'=head_14^post46, r_163^0'=r_163^post46, len_226^0'=len_226^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, a_184^0'=a_184^post46, rcd_88^0'=rcd_88^post46, head_223^0'=head_223^post46, f_170^0'=f_170^post46, tmp_34^0'=tmp_34^post46, i_94^0'=i_94^post46, i_108^0'=i_108^post46, r_260^0'=r_260^post46, length_29^0'=length_29^post46, x_20^0'=x_20^post46, a_330^0'=a_330^post46, (-a_353^post46+a_353^0 == 0 /\ -length_29^post46+length_29^0 == 0 /\ -i_94^post46+i_94^0 == 0 /\ temp_35^0-temp_35^post46 == 0 /\ -a_184^post46+a_184^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post46 == 0 /\ -r_39^post46+r_39^0 == 0 /\ r_218^0-r_218^post46 == 0 /\ -x_20^post46+x_20^0 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ head_129^0-head_129^post46 == 0 /\ -a_330^post46+a_330^0 == 0 /\ temp0_15^0-temp0_15^post46 == 0 /\ -i_30^post46+i_30^0 == 0 /\ a_241^0-a_241^post46 == 0 /\ 1+head_14^0 <= 0 /\ -tmp_34^post46+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post46 == 0 /\ rcd_58^0-rcd_58^post46 == 0 /\ -a_308^post46+a_308^0 == 0 /\ -len_132^post46+len_132^0 == 0 /\ -x_SLAM_f_18^post46+x_SLAM_f_18^0 == 0 /\ -result_11^post46+result_11^0 == 0 /\ r_163^0-r_163^post46 == 0 /\ -f_170^post46+f_170^0 == 0 /\ -len_226^post46+len_226^0 == 0 /\ -head_223^post46+head_223^0 == 0 /\ a_210^0-a_210^post46 == 0 /\ -i_108^post46+i_108^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46 == 0 /\ -a_116^post46+a_116^0 == 0 /\ a_147^0-a_147^post46 == 0 /\ x_16^0-x_16^post46 == 0 /\ len_183^0-len_183^post46 == 0 /\ y_19^0-y_19^post46 == 0 /\ -t_23^post46+t_23^0 == 0 /\ head_268^0-head_268^post46 == 0 /\ head_27^0-head_27^post46 == 0 /\ len_276^0-len_276^post46 == 0 /\ -head_175^post46+head_175^0 == 0 /\ -i_167^post46+i_167^0 == 0 /\ -r_124^post46+r_124^0 == 0 /\ -head_32^post46+head_32^0 == 0 /\ f_263^0-f_263^post46 == 0 /\ ct_17^0-ct_17^post46 == 0 /\ -r_260^post46+r_260^0 == 0 /\ a_277^0-a_277^post46 == 0 /\ -rcd_88^post46+rcd_88^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post46 == 0 /\ -head_14^post46+head_14^0 == 0), cost: 1 47: l31 -> l32 : temp0_15^0'=temp0_15^post47, a_241^0'=a_241^post47, head_27^0'=head_27^post47, head_129^0'=head_129^post47, r_124^0'=r_124^post47, len_183^0'=len_183^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47, a_147^0'=a_147^post47, rcd_58^0'=rcd_58^post47, head_175^0'=head_175^post47, y_19^0'=y_19^post47, ct_17^0'=ct_17^post47, temp_35^0'=temp_35^post47, i_30^0'=i_30^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, r_218^0'=r_218^post47, len_276^0'=len_276^post47, a_308^0'=a_308^post47, t_23^0'=t_23^post47, a_210^0'=a_210^post47, result_11^0'=result_11^post47, head_268^0'=head_268^post47, f_263^0'=f_263^post47, x_16^0'=x_16^post47, len_132^0'=len_132^post47, i_167^0'=i_167^post47, a_116^0'=a_116^post47, r_39^0'=r_39^post47, nondet_12^0'=nondet_12^post47, x_SLAM_f_18^0'=x_SLAM_f_18^post47, a_353^0'=a_353^post47, temp0_31^0'=temp0_31^post47, a_277^0'=a_277^post47, head_32^0'=head_32^post47, head_14^0'=head_14^post47, r_163^0'=r_163^post47, len_226^0'=len_226^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, a_184^0'=a_184^post47, rcd_88^0'=rcd_88^post47, head_223^0'=head_223^post47, f_170^0'=f_170^post47, tmp_34^0'=tmp_34^post47, i_94^0'=i_94^post47, i_108^0'=i_108^post47, r_260^0'=r_260^post47, length_29^0'=length_29^post47, x_20^0'=x_20^post47, a_330^0'=a_330^post47, (-a_116^post47+a_116^0 == 0 /\ i_30^0-i_30^post47 == 0 /\ a_147^0-a_147^post47 == 0 /\ -i_94^post47+i_94^0 == 0 /\ rcd_58^0-rcd_58^post47 == 0 /\ head_268^0-head_268^post47 == 0 /\ y_19^0-y_19^post47 == 0 /\ -result_11^post47+result_11^0 == 0 /\ -a_184^post47+a_184^0 == 0 /\ -i_167^post47+i_167^0 == 0 /\ len_276^0-len_276^post47 == 0 /\ head_27^0-head_27^post47 == 0 /\ 1-y_19^0+head_14^0 <= 0 /\ -rcd_88^post47+rcd_88^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 == 0 /\ temp0_15^0-temp0_15^post47 == 0 /\ -f_170^post47+f_170^0 == 0 /\ -length_29^post47+length_29^0 == 0 /\ ct_17^0-ct_17^post47 == 0 /\ -a_308^post47+a_308^0 == 0 /\ -head_14^post47+head_14^0 == 0 /\ -a_353^post47+a_353^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post47 == 0 /\ -len_226^post47+len_226^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47 == 0 /\ -head_223^post47+head_223^0 == 0 /\ temp_35^0-temp_35^post47 == 0 /\ len_183^0-len_183^post47 == 0 /\ -x_20^post47+x_20^0 == 0 /\ temp0_31^0-temp0_31^post47 == 0 /\ -a_330^post47+a_330^0 == 0 /\ -x_16^post47+x_16^0 == 0 /\ -i_108^post47+i_108^0 == 0 /\ f_263^0-f_263^post47 == 0 /\ -r_218^post47+r_218^0 == 0 /\ -r_124^post47+r_124^0 == 0 /\ head_32^0-head_32^post47 == 0 /\ -head_129^post47+head_129^0 == 0 /\ -tmp_34^post47+tmp_34^0 == 0 /\ -r_260^post47+r_260^0 == 0 /\ -nondet_12^post47+nondet_12^0 == 0 /\ a_210^0-a_210^post47 == 0 /\ -a_241^post47+a_241^0 == 0 /\ len_132^0-len_132^post47 == 0 /\ -r_163^post47+r_163^0 == 0 /\ a_277^0-a_277^post47 == 0 /\ -x_SLAM_f_18^post47+x_SLAM_f_18^0 == 0 /\ head_175^0-head_175^post47 == 0 /\ t_23^0-t_23^post47 == 0 /\ r_39^0-r_39^post47 == 0), cost: 1 48: l31 -> l32 : temp0_15^0'=temp0_15^post48, a_241^0'=a_241^post48, head_27^0'=head_27^post48, head_129^0'=head_129^post48, r_124^0'=r_124^post48, len_183^0'=len_183^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48, a_147^0'=a_147^post48, rcd_58^0'=rcd_58^post48, head_175^0'=head_175^post48, y_19^0'=y_19^post48, ct_17^0'=ct_17^post48, temp_35^0'=temp_35^post48, i_30^0'=i_30^post48, head_SLAM_f_26^0'=head_SLAM_f_26^post48, r_218^0'=r_218^post48, len_276^0'=len_276^post48, a_308^0'=a_308^post48, t_23^0'=t_23^post48, a_210^0'=a_210^post48, result_11^0'=result_11^post48, head_268^0'=head_268^post48, f_263^0'=f_263^post48, x_16^0'=x_16^post48, len_132^0'=len_132^post48, i_167^0'=i_167^post48, a_116^0'=a_116^post48, r_39^0'=r_39^post48, nondet_12^0'=nondet_12^post48, x_SLAM_f_18^0'=x_SLAM_f_18^post48, a_353^0'=a_353^post48, temp0_31^0'=temp0_31^post48, a_277^0'=a_277^post48, head_32^0'=head_32^post48, head_14^0'=head_14^post48, r_163^0'=r_163^post48, len_226^0'=len_226^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, a_184^0'=a_184^post48, rcd_88^0'=rcd_88^post48, head_223^0'=head_223^post48, f_170^0'=f_170^post48, tmp_34^0'=tmp_34^post48, i_94^0'=i_94^post48, i_108^0'=i_108^post48, r_260^0'=r_260^post48, length_29^0'=length_29^post48, x_20^0'=x_20^post48, a_330^0'=a_330^post48, (len_276^0-len_276^post48 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48 == 0 /\ -i_108^post48+i_108^0 == 0 /\ 1+y_19^0-head_14^0 <= 0 /\ a_241^0-a_241^post48 == 0 /\ -nondet_12^post48+nondet_12^0 == 0 /\ -x_16^post48+x_16^0 == 0 /\ result_11^0-result_11^post48 == 0 /\ ct_17^0-ct_17^post48 == 0 /\ f_170^0-f_170^post48 == 0 /\ temp0_15^0-temp0_15^post48 == 0 /\ -x_20^post48+x_20^0 == 0 /\ a_308^0-a_308^post48 == 0 /\ t_23^0-t_23^post48 == 0 /\ r_124^0-r_124^post48 == 0 /\ -i_167^post48+i_167^0 == 0 /\ i_30^0-i_30^post48 == 0 /\ a_147^0-a_147^post48 == 0 /\ a_184^0-a_184^post48 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post48+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_14^post48+head_14^0 == 0 /\ -tmp_34^post48+tmp_34^0 == 0 /\ len_132^0-len_132^post48 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post48 == 0 /\ r_218^0-r_218^post48 == 0 /\ -r_260^post48+r_260^0 == 0 /\ r_39^0-r_39^post48 == 0 /\ -head_SLAM_f_26^post48+head_SLAM_f_26^0 == 0 /\ head_129^0-head_129^post48 == 0 /\ -head_223^post48+head_223^0 == 0 /\ head_27^0-head_27^post48 == 0 /\ head_268^0-head_268^post48 == 0 /\ -head_32^post48+head_32^0 == 0 /\ len_226^0-len_226^post48 == 0 /\ -f_263^post48+f_263^0 == 0 /\ -rcd_88^post48+rcd_88^0 == 0 /\ -i_94^post48+i_94^0 == 0 /\ head_175^0-head_175^post48 == 0 /\ a_353^0-a_353^post48 == 0 /\ -a_330^post48+a_330^0 == 0 /\ -len_183^post48+len_183^0 == 0 /\ a_116^0-a_116^post48 == 0 /\ -temp_35^post48+temp_35^0 == 0 /\ -temp0_31^post48+temp0_31^0 == 0 /\ -r_163^post48+r_163^0 == 0 /\ -a_210^post48+a_210^0 == 0 /\ -a_277^post48+a_277^0 == 0 /\ -length_29^post48+length_29^0 == 0 /\ y_19^0-y_19^post48 == 0 /\ rcd_58^0-rcd_58^post48 == 0), cost: 1 49: l32 -> l33 : temp0_15^0'=temp0_15^post49, a_241^0'=a_241^post49, head_27^0'=head_27^post49, head_129^0'=head_129^post49, r_124^0'=r_124^post49, len_183^0'=len_183^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49, a_147^0'=a_147^post49, rcd_58^0'=rcd_58^post49, head_175^0'=head_175^post49, y_19^0'=y_19^post49, ct_17^0'=ct_17^post49, temp_35^0'=temp_35^post49, i_30^0'=i_30^post49, head_SLAM_f_26^0'=head_SLAM_f_26^post49, r_218^0'=r_218^post49, len_276^0'=len_276^post49, a_308^0'=a_308^post49, t_23^0'=t_23^post49, a_210^0'=a_210^post49, result_11^0'=result_11^post49, head_268^0'=head_268^post49, f_263^0'=f_263^post49, x_16^0'=x_16^post49, len_132^0'=len_132^post49, i_167^0'=i_167^post49, a_116^0'=a_116^post49, r_39^0'=r_39^post49, nondet_12^0'=nondet_12^post49, x_SLAM_f_18^0'=x_SLAM_f_18^post49, a_353^0'=a_353^post49, temp0_31^0'=temp0_31^post49, a_277^0'=a_277^post49, head_32^0'=head_32^post49, head_14^0'=head_14^post49, r_163^0'=r_163^post49, len_226^0'=len_226^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, a_184^0'=a_184^post49, rcd_88^0'=rcd_88^post49, head_223^0'=head_223^post49, f_170^0'=f_170^post49, tmp_34^0'=tmp_34^post49, i_94^0'=i_94^post49, i_108^0'=i_108^post49, r_260^0'=r_260^post49, length_29^0'=length_29^post49, x_20^0'=x_20^post49, a_330^0'=a_330^post49, (head_129^0-head_129^post49 == 0 /\ -a_210^post49+a_210^0 == 0 /\ -a_277^post49+a_277^0 == 0 /\ r_39^0-r_39^post49 == 0 /\ r_124^0-r_124^post49 == 0 /\ result_11^0-result_11^post49 == 0 /\ -x_20^post49+x_20^0 == 0 /\ -a_330^post49+a_330^0 == 0 /\ -i_108^post49+i_108^0 == 0 /\ head_175^0-head_175^post49 == 0 /\ -tmp_34^post49+tmp_34^0 == 0 /\ f_170^0-f_170^post49 == 0 /\ temp0_15^0-temp0_15^post49 == 0 /\ a_308^0-a_308^post49 == 0 /\ a_184^0-a_184^post49 == 0 /\ -r_260^post49+r_260^0 == 0 /\ -i_167^post49+i_167^0 == 0 /\ x_16^0-x_16^post49 == 0 /\ -head_223^post49+head_223^0 == 0 /\ len_132^0-len_132^post49 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post49 == 0 /\ -head_SLAM_f_26^post49+head_SLAM_f_26^0 == 0 /\ len_226^0-len_226^post49 == 0 /\ -y_19^post49+y_19^0 == 0 /\ -rcd_88^post49+rcd_88^0 == 0 /\ head_27^0-head_27^post49 == 0 /\ ct_17^0-ct_17^post49 == 0 /\ a_353^0-a_353^post49 == 0 /\ a_241^0-a_241^post49 == 0 /\ -len_276^post49+len_276^0 == 0 /\ -head_14^post49+head_14^0 == 0 /\ -len_183^post49+len_183^0 == 0 /\ -nondet_12^post49+nondet_12^0 == 0 /\ -head_268^post49+head_268^0 == 0 /\ -head_32^post49+head_32^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49 == 0 /\ 1+y_19^0-t_23^0 <= 0 /\ -i_94^post49+i_94^0 == 0 /\ t_23^0-t_23^post49 == 0 /\ temp_35^0-temp_35^post49 == 0 /\ a_116^0-a_116^post49 == 0 /\ i_30^0-i_30^post49 == 0 /\ a_147^0-a_147^post49 == 0 /\ -r_163^post49+r_163^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post49+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_58^post49+rcd_58^0 == 0 /\ -length_29^post49+length_29^0 == 0 /\ r_218^0-r_218^post49 == 0 /\ -f_263^post49+f_263^0 == 0 /\ -temp0_31^post49+temp0_31^0 == 0), cost: 1 50: l32 -> l33 : temp0_15^0'=temp0_15^post50, a_241^0'=a_241^post50, head_27^0'=head_27^post50, head_129^0'=head_129^post50, r_124^0'=r_124^post50, len_183^0'=len_183^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50, a_147^0'=a_147^post50, rcd_58^0'=rcd_58^post50, head_175^0'=head_175^post50, y_19^0'=y_19^post50, ct_17^0'=ct_17^post50, temp_35^0'=temp_35^post50, i_30^0'=i_30^post50, head_SLAM_f_26^0'=head_SLAM_f_26^post50, r_218^0'=r_218^post50, len_276^0'=len_276^post50, a_308^0'=a_308^post50, t_23^0'=t_23^post50, a_210^0'=a_210^post50, result_11^0'=result_11^post50, head_268^0'=head_268^post50, f_263^0'=f_263^post50, x_16^0'=x_16^post50, len_132^0'=len_132^post50, i_167^0'=i_167^post50, a_116^0'=a_116^post50, r_39^0'=r_39^post50, nondet_12^0'=nondet_12^post50, x_SLAM_f_18^0'=x_SLAM_f_18^post50, a_353^0'=a_353^post50, temp0_31^0'=temp0_31^post50, a_277^0'=a_277^post50, head_32^0'=head_32^post50, head_14^0'=head_14^post50, r_163^0'=r_163^post50, len_226^0'=len_226^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, a_184^0'=a_184^post50, rcd_88^0'=rcd_88^post50, head_223^0'=head_223^post50, f_170^0'=f_170^post50, tmp_34^0'=tmp_34^post50, i_94^0'=i_94^post50, i_108^0'=i_108^post50, r_260^0'=r_260^post50, length_29^0'=length_29^post50, x_20^0'=x_20^post50, a_330^0'=a_330^post50, (x_SLAM_f_18^0-x_SLAM_f_18^post50 == 0 /\ -nondet_12^post50+nondet_12^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post50+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_277^post50+a_277^0 == 0 /\ head_175^0-head_175^post50 == 0 /\ -x_20^post50+x_20^0 == 0 /\ head_27^0-head_27^post50 == 0 /\ -a_330^post50+a_330^0 == 0 /\ -i_108^post50+i_108^0 == 0 /\ -tmp_34^post50+tmp_34^0 == 0 /\ -head_14^post50+head_14^0 == 0 /\ result_11^0-result_11^post50 == 0 /\ -r_260^post50+r_260^0 == 0 /\ -head_32^post50+head_32^0 == 0 /\ -head_223^post50+head_223^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50 == 0 /\ head_129^0-head_129^post50 == 0 /\ -f_263^post50+f_263^0 == 0 /\ a_353^0-a_353^post50 == 0 /\ a_116^0-a_116^post50 == 0 /\ a_241^0-a_241^post50 == 0 /\ -len_183^post50+len_183^0 == 0 /\ i_167^0-i_167^post50 == 0 /\ -head_SLAM_f_26^post50+head_SLAM_f_26^0 == 0 /\ -temp0_31^post50+temp0_31^0 == 0 /\ -rcd_58^post50+rcd_58^0 == 0 /\ y_19^0-y_19^post50 == 0 /\ a_308^0-a_308^post50 == 0 /\ r_124^0-r_124^post50 == 0 /\ -head_268^post50+head_268^0 == 0 /\ t_23^0-t_23^post50 == 0 /\ -r_163^post50+r_163^0 == 0 /\ -len_132^post50+len_132^0 == 0 /\ -a_184^post50+a_184^0 == 0 /\ -a_210^post50+a_210^0 == 0 /\ -len_226^post50+len_226^0 == 0 /\ temp0_15^0-temp0_15^post50 == 0 /\ i_30^0-i_30^post50 == 0 /\ -f_170^post50+f_170^0 == 0 /\ -length_29^post50+length_29^0 == 0 /\ ct_17^0-ct_17^post50 == 0 /\ r_218^0-r_218^post50 == 0 /\ -rcd_88^post50+rcd_88^0 == 0 /\ temp_35^0-temp_35^post50 == 0 /\ i_94^0-i_94^post50 == 0 /\ -x_16^post50+x_16^0 == 0 /\ -len_276^post50+len_276^0 == 0 /\ 1-y_19^0+t_23^0 <= 0 /\ -r_39^post50+r_39^0 == 0 /\ a_147^0-a_147^post50 == 0), cost: 1 51: l33 -> l10 : temp0_15^0'=temp0_15^post51, a_241^0'=a_241^post51, head_27^0'=head_27^post51, head_129^0'=head_129^post51, r_124^0'=r_124^post51, len_183^0'=len_183^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51, a_147^0'=a_147^post51, rcd_58^0'=rcd_58^post51, head_175^0'=head_175^post51, y_19^0'=y_19^post51, ct_17^0'=ct_17^post51, temp_35^0'=temp_35^post51, i_30^0'=i_30^post51, head_SLAM_f_26^0'=head_SLAM_f_26^post51, r_218^0'=r_218^post51, len_276^0'=len_276^post51, a_308^0'=a_308^post51, t_23^0'=t_23^post51, a_210^0'=a_210^post51, result_11^0'=result_11^post51, head_268^0'=head_268^post51, f_263^0'=f_263^post51, x_16^0'=x_16^post51, len_132^0'=len_132^post51, i_167^0'=i_167^post51, a_116^0'=a_116^post51, r_39^0'=r_39^post51, nondet_12^0'=nondet_12^post51, x_SLAM_f_18^0'=x_SLAM_f_18^post51, a_353^0'=a_353^post51, temp0_31^0'=temp0_31^post51, a_277^0'=a_277^post51, head_32^0'=head_32^post51, head_14^0'=head_14^post51, r_163^0'=r_163^post51, len_226^0'=len_226^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, a_184^0'=a_184^post51, rcd_88^0'=rcd_88^post51, head_223^0'=head_223^post51, f_170^0'=f_170^post51, tmp_34^0'=tmp_34^post51, i_94^0'=i_94^post51, i_108^0'=i_108^post51, r_260^0'=r_260^post51, length_29^0'=length_29^post51, x_20^0'=x_20^post51, a_330^0'=a_330^post51, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_147^post51+a_147^0 == 0 /\ head_223^0-head_223^post51 == 0 /\ -r_260^post51+r_260^0 == 0 /\ x_16^0-x_16^post51 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post51+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post51 == 0 /\ y_19^0-y_19^post51 == 0 /\ -f_170^post51+f_170^0 == 0 /\ a_353^0-a_353^post51 == 0 /\ -head_14^post51+head_14^0 == 0 /\ 1-len_226^post51+a_308^0 <= 0 /\ i_30^0-i_30^post51 == 0 /\ len_276^0-len_276^post51 == 0 /\ -len_132^post51+len_132^0 == 0 /\ len_183^0-len_183^post51 == 0 /\ -f_263^post51+f_263^0 == 0 /\ r_218^0-r_218^post51 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post51 == 0 /\ temp_35^0-temp_35^post51 == 0 /\ a_116^0-a_116^post51 == 0 /\ head_27^0-head_27^post51 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_94^post51+i_94^0 == 0 /\ -head_32^post51+head_32^0 == 0 /\ -a_330^post51+a_330^0 == 0 /\ rcd_88^0-rcd_88^post51 == 0 /\ temp0_15^0-temp0_15^post51 == 0 /\ -tmp_34^post51+tmp_34^0 == 0 /\ head_175^0-head_175^post51 == 0 /\ i_167^0-i_167^post51 == 0 /\ -length_29^post51+length_29^0 == 0 /\ -1+len_226^post51-a_308^0 <= 0 /\ a_308^0-a_308^post51 == 0 /\ r_124^0-r_124^post51 == 0 /\ -temp0_31^post51+temp0_31^0 == 0 /\ result_11^0-result_11^post51 == 0 /\ -r_163^post51+r_163^0 == 0 /\ -a_277^post51+a_277^0 == 0 /\ a_210^0-a_210^post51 == 0 /\ -r_39^post51+r_39^0 == 0 /\ rcd_58^0-rcd_58^post51 == 0 /\ t_23^0-t_23^post51 == 0 /\ -ct_17^post51+ct_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51 == 0 /\ -x_20^post51+x_20^0 == 0 /\ -nondet_12^post51+nondet_12^0 == 0 /\ head_129^0-head_129^post51 == 0 /\ -head_268^post51+head_268^0 == 0 /\ a_241^0-a_241^post51 == 0 /\ -i_108^post51+i_108^0 == 0 /\ -a_184^post51+a_184^0 == 0), cost: 1 52: l34 -> l35 : temp0_15^0'=temp0_15^post52, a_241^0'=a_241^post52, head_27^0'=head_27^post52, head_129^0'=head_129^post52, r_124^0'=r_124^post52, len_183^0'=len_183^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52, a_147^0'=a_147^post52, rcd_58^0'=rcd_58^post52, head_175^0'=head_175^post52, y_19^0'=y_19^post52, ct_17^0'=ct_17^post52, temp_35^0'=temp_35^post52, i_30^0'=i_30^post52, head_SLAM_f_26^0'=head_SLAM_f_26^post52, r_218^0'=r_218^post52, len_276^0'=len_276^post52, a_308^0'=a_308^post52, t_23^0'=t_23^post52, a_210^0'=a_210^post52, result_11^0'=result_11^post52, head_268^0'=head_268^post52, f_263^0'=f_263^post52, x_16^0'=x_16^post52, len_132^0'=len_132^post52, i_167^0'=i_167^post52, a_116^0'=a_116^post52, r_39^0'=r_39^post52, nondet_12^0'=nondet_12^post52, x_SLAM_f_18^0'=x_SLAM_f_18^post52, a_353^0'=a_353^post52, temp0_31^0'=temp0_31^post52, a_277^0'=a_277^post52, head_32^0'=head_32^post52, head_14^0'=head_14^post52, r_163^0'=r_163^post52, len_226^0'=len_226^post52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post52, a_184^0'=a_184^post52, rcd_88^0'=rcd_88^post52, head_223^0'=head_223^post52, f_170^0'=f_170^post52, tmp_34^0'=tmp_34^post52, i_94^0'=i_94^post52, i_108^0'=i_108^post52, r_260^0'=r_260^post52, length_29^0'=length_29^post52, x_20^0'=x_20^post52, a_330^0'=a_330^post52, (0 == 0 /\ len_276^0-len_276^post52 == 0 /\ -a_308^post52+a_308^0 == 0 /\ head_27^0-head_27^post52 == 0 /\ -tmp_34^post52+tmp_34^0 == 0 /\ -y_19^post52+y_19^0 == 0 /\ -head_32^post52 <= 0 /\ f_170^0-f_170^post52 == 0 /\ -r_39^post52+r_39^0 == 0 /\ a_210^0-a_210^post52 == 0 /\ temp0_15^0-temp0_15^post52 == 0 /\ -ct_17^post52+ct_17^0 == 0 /\ -a_330^post52+a_330^0 == 0 /\ i_167^0-i_167^post52 == 0 /\ -a_277^post52+a_277^0 == 0 /\ -t_23^post52+t_23^0 == 0 /\ -i_30^post52 <= 0 /\ len_183^0-len_183^post52 == 0 /\ -head_223^post52+head_223^0 == 0 /\ -x_SLAM_f_18^post52+x_SLAM_f_18^0 == 0 /\ rcd_88^0-rcd_88^post52 == 0 /\ -temp0_31^post52+temp0_31^0 == 0 /\ head_32^post52 <= 0 /\ head_32^post52 == 0 /\ -x_20^post52+x_20^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post52 == 0 /\ r_218^0-r_218^post52 == 0 /\ -i_108^post52+i_108^0 == 0 /\ -a_184^post52+a_184^0 == 0 /\ f_263^0-f_263^post52 == 0 /\ -r_163^post52+r_163^0 == 0 /\ temp_35^0-temp_35^post52 == 0 /\ -a_116^post52+a_116^0 == 0 /\ r_124^0-r_124^post52 == 0 /\ -r_260^post52+r_260^0 == 0 /\ -length_29^post52+result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 <= 0 /\ -head_268^post52+head_268^0 == 0 /\ rcd_58^0-rcd_58^post52 == 0 /\ i_30^post52 <= 0 /\ i_30^post52 == 0 /\ length_29^post52-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 <= 0 /\ length_29^post52-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ -nondet_12^10+result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ head_14^0-head_14^post52 == 0 /\ x_16^0-x_16^post52 == 0 /\ a_241^0-a_241^post52 == 0 /\ head_175^0-head_175^post52 == 0 /\ result_11^0-result_11^post52 == 0 /\ -a_147^post52+a_147^0 == 0 /\ -a_353^post52+a_353^0 == 0 /\ -i_94^post52+i_94^0 == 0 /\ -len_226^post52+len_226^0 == 0 /\ -len_132^post52+len_132^0 == 0 /\ head_129^0-head_129^post52 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52 == 0), cost: 1 129: l35 -> l11 : temp0_15^0'=temp0_15^post129, a_241^0'=a_241^post129, head_27^0'=head_27^post129, head_129^0'=head_129^post129, r_124^0'=r_124^post129, len_183^0'=len_183^post129, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post129, a_147^0'=a_147^post129, rcd_58^0'=rcd_58^post129, head_175^0'=head_175^post129, y_19^0'=y_19^post129, ct_17^0'=ct_17^post129, temp_35^0'=temp_35^post129, i_30^0'=i_30^post129, head_SLAM_f_26^0'=head_SLAM_f_26^post129, r_218^0'=r_218^post129, len_276^0'=len_276^post129, a_308^0'=a_308^post129, t_23^0'=t_23^post129, a_210^0'=a_210^post129, result_11^0'=result_11^post129, head_268^0'=head_268^post129, f_263^0'=f_263^post129, x_16^0'=x_16^post129, len_132^0'=len_132^post129, i_167^0'=i_167^post129, a_116^0'=a_116^post129, r_39^0'=r_39^post129, nondet_12^0'=nondet_12^post129, x_SLAM_f_18^0'=x_SLAM_f_18^post129, a_353^0'=a_353^post129, temp0_31^0'=temp0_31^post129, a_277^0'=a_277^post129, head_32^0'=head_32^post129, head_14^0'=head_14^post129, r_163^0'=r_163^post129, len_226^0'=len_226^post129, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post129, a_184^0'=a_184^post129, rcd_88^0'=rcd_88^post129, head_223^0'=head_223^post129, f_170^0'=f_170^post129, tmp_34^0'=tmp_34^post129, i_94^0'=i_94^post129, i_108^0'=i_108^post129, r_260^0'=r_260^post129, length_29^0'=length_29^post129, x_20^0'=x_20^post129, a_330^0'=a_330^post129, (0 == 0 /\ -head_SLAM_f_26^140 <= 0 /\ len_276^0-len_276^post129 == 0 /\ a_116^0-a_116^post129 == 0 /\ head_SLAM_f_26^30-head_14^post129 <= 0 /\ head_SLAM_f_26^30-head_14^post129 == 0 /\ -head_175^post129+head_175^0 == 0 /\ -i_108^post129+i_108^0 == 0 /\ head_27^130-head_SLAM_f_26^140 <= 0 /\ head_27^130-head_SLAM_f_26^140 == 0 /\ ct_17^13 <= 0 /\ ct_17^13 == 0 /\ y_19^130-x_20^130 <= 0 /\ -r_218^post129+r_218^0 == 0 /\ -ct_17^13+y_19^130 <= 0 /\ -ct_17^13+y_19^130 == 0 /\ -x_SLAM_f_18^130 <= 0 /\ -i_30^0+length_29^0 <= 0 /\ head_27^30 <= 0 /\ -head_14^post129+head_SLAM_f_26^140 <= 0 /\ -head_14^post129+head_SLAM_f_26^140 == 0 /\ -x_SLAM_f_18^130+x_16^10 <= 0 /\ rcd_58^0-rcd_58^post129 == 0 /\ -a_277^post129+a_277^0 == 0 /\ -x_20^130 <= 0 /\ a_241^0-a_241^post129 == 0 /\ -i_167^post129+i_167^0 == 0 /\ f_263^0-f_263^post129 == 0 /\ head_SLAM_f_26^30 <= 0 /\ -head_14^post129 <= 0 /\ a_184^0-a_184^post129 == 0 /\ -head_SLAM_f_26^30+head_14^post129 <= 0 /\ nondet_12^0-nondet_12^post129 == 0 /\ -a_210^post129+a_210^0 == 0 /\ head_14^post129 <= 0 /\ head_27^130 <= 0 /\ -head_27^130+head_SLAM_f_26^140 <= 0 /\ -r_260^post129+r_260^0 == 0 /\ -head_SLAM_f_26^30 <= 0 /\ a_147^0-a_147^post129 == 0 /\ -y_19^130+x_20^130 <= 0 /\ temp0_15^0-temp0_15^post129 == 0 /\ -head_223^post129+head_223^0 == 0 /\ ct_17^13-y_19^130 <= 0 /\ -y_19^130 <= 0 /\ head_14^post129-head_SLAM_f_26^140 <= 0 /\ x_SLAM_f_18^130-x_16^10 <= 0 /\ x_SLAM_f_18^130-x_16^10 == 0 /\ -a_353^post129+a_353^0 == 0 /\ -a_308^post129+a_308^0 == 0 /\ -head_27^130 <= 0 /\ x_SLAM_f_18^130 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^20 <= 0 /\ -temp0_15^0+result_11^post129 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^110 <= 0 /\ -head_27^30 <= 0 /\ x_16^10 <= 0 /\ -head_268^post129+head_268^0 == 0 /\ x_SLAM_f_18^130-x_20^130 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post129 <= 0 /\ head_14^post129-x_16^10 <= 0 /\ head_27^30-head_SLAM_f_26^30 <= 0 /\ head_27^30-head_SLAM_f_26^30 == 0 /\ r_124^0-r_124^post129 == 0 /\ -len_226^post129+len_226^0 == 0 /\ -temp0_31^120+result_11^120 == 0 /\ -x_16^10 <= 0 /\ -f_170^post129+f_170^0 == 0 /\ temp0_31^120-head_32^0 == 0 /\ head_129^0-head_129^post129 == 0 /\ -rcd_88^post129+rcd_88^0 == 0 /\ head_14^post129-result_11^120 == 0 /\ -x_SLAM_f_18^130+x_20^130 <= 0 /\ -x_SLAM_f_18^130+x_20^130 == 0 /\ y_19^130 <= 0 /\ len_183^0-len_183^post129 == 0 /\ -a_330^post129+a_330^0 == 0 /\ head_SLAM_f_26^140 <= 0 /\ -head_14^post129+x_16^10 <= 0 /\ -head_14^post129+x_16^10 == 0 /\ -head_27^30+head_SLAM_f_26^30 <= 0 /\ -r_39^post129+r_39^0 == 0 /\ -ct_17^13 <= 0 /\ x_20^130 <= 0 /\ len_132^0-len_132^post129 == 0 /\ -i_94^post129+i_94^0 == 0 /\ -r_163^post129+r_163^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^30 <= 0), cost: 1 130: l35 -> l62 : temp0_15^0'=temp0_15^post130, a_241^0'=a_241^post130, head_27^0'=head_27^post130, head_129^0'=head_129^post130, r_124^0'=r_124^post130, len_183^0'=len_183^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post130, a_147^0'=a_147^post130, rcd_58^0'=rcd_58^post130, head_175^0'=head_175^post130, y_19^0'=y_19^post130, ct_17^0'=ct_17^post130, temp_35^0'=temp_35^post130, i_30^0'=i_30^post130, head_SLAM_f_26^0'=head_SLAM_f_26^post130, r_218^0'=r_218^post130, len_276^0'=len_276^post130, a_308^0'=a_308^post130, t_23^0'=t_23^post130, a_210^0'=a_210^post130, result_11^0'=result_11^post130, head_268^0'=head_268^post130, f_263^0'=f_263^post130, x_16^0'=x_16^post130, len_132^0'=len_132^post130, i_167^0'=i_167^post130, a_116^0'=a_116^post130, r_39^0'=r_39^post130, nondet_12^0'=nondet_12^post130, x_SLAM_f_18^0'=x_SLAM_f_18^post130, a_353^0'=a_353^post130, temp0_31^0'=temp0_31^post130, a_277^0'=a_277^post130, head_32^0'=head_32^post130, head_14^0'=head_14^post130, r_163^0'=r_163^post130, len_226^0'=len_226^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post130, a_184^0'=a_184^post130, rcd_88^0'=rcd_88^post130, head_223^0'=head_223^post130, f_170^0'=f_170^post130, tmp_34^0'=tmp_34^post130, i_94^0'=i_94^post130, i_108^0'=i_108^post130, r_260^0'=r_260^post130, length_29^0'=length_29^post130, x_20^0'=x_20^post130, a_330^0'=a_330^post130, (0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post130-tmp_34^post130 <= 0 /\ 1-length_29^0 <= 0 /\ -x_SLAM_f_18^post130+x_SLAM_f_18^0 == 0 /\ -result_11^post130+result_11^0 == 0 /\ -f_170^post130+f_170^0 == 0 /\ y_19^0-y_19^post130 == 0 /\ t_23^0-t_23^post130 == 0 /\ -r_260^post130+r_260^0 == 0 /\ head_268^0-head_268^post130 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post130-length_29^0 <= 0 /\ len_276^0-len_276^post130 == 0 /\ len_183^0-len_183^post130 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post130 == 0 /\ ct_17^0-ct_17^post130 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post130+tmp_34^post130 <= 0 /\ -r_218^post130+r_218^0 == 0 /\ 1-i_30^post130 <= 0 /\ -1+i_30^post130 <= 0 /\ -a_308^post130+a_308^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post130+length_29^0 <= 0 /\ a_147^0-a_147^post130 == 0 /\ -a_116^post130+a_116^0 == 0 /\ -head_14^post130+head_14^0 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ head_27^0-head_27^post130 == 0 /\ -i_94^post130+i_94^0 == 0 /\ -r_163^post130+r_163^0 == 0 /\ head_175^0-head_175^post130 == 0 /\ -a_353^post130+a_353^0 == 0 /\ temp0_31^0-temp0_31^post130 == 0 /\ -length_29^post130+length_29^0 == 0 /\ temp0_15^0-temp0_15^post130 == 0 /\ -i_167^post130+i_167^0 == 0 /\ -head_223^post130+head_223^0 == 0 /\ f_263^0-f_263^post130 == 0 /\ -head_32^post130+tmp_34^post130 <= 0 /\ -r_39^post130+r_39^0 == 0 /\ r_124^0-r_124^post130 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post130+head_32^post130 <= 0 /\ -1-i_30^0+i_30^post130 == 0 /\ -temp_35^0+tmp_34^post130 == 0 /\ a_210^0-a_210^post130 == 0 /\ a_241^0-a_241^post130 == 0 /\ -a_277^post130+a_277^0 == 0 /\ len_132^0-len_132^post130 == 0 /\ i_108^0-i_108^post130 == 0 /\ -x_20^post130+x_20^0 == 0 /\ -rcd_88^post130+rcd_88^0 == 0 /\ rcd_58^0-rcd_58^post130 == 0 /\ -a_330^post130+a_330^0 == 0 /\ head_129^0-head_129^post130 == 0 /\ -x_16^post130+x_16^0 == 0 /\ head_32^post130-tmp_34^post130 <= 0 /\ head_32^post130-tmp_34^post130 == 0 /\ -a_184^post130+a_184^0 == 0 /\ -nondet_12^post130+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post130-head_32^post130 <= 0 /\ len_226^0-len_226^post130 == 0), cost: 1 53: l36 -> l37 : temp0_15^0'=temp0_15^post53, a_241^0'=a_241^post53, head_27^0'=head_27^post53, head_129^0'=head_129^post53, r_124^0'=r_124^post53, len_183^0'=len_183^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53, a_147^0'=a_147^post53, rcd_58^0'=rcd_58^post53, head_175^0'=head_175^post53, y_19^0'=y_19^post53, ct_17^0'=ct_17^post53, temp_35^0'=temp_35^post53, i_30^0'=i_30^post53, head_SLAM_f_26^0'=head_SLAM_f_26^post53, r_218^0'=r_218^post53, len_276^0'=len_276^post53, a_308^0'=a_308^post53, t_23^0'=t_23^post53, a_210^0'=a_210^post53, result_11^0'=result_11^post53, head_268^0'=head_268^post53, f_263^0'=f_263^post53, x_16^0'=x_16^post53, len_132^0'=len_132^post53, i_167^0'=i_167^post53, a_116^0'=a_116^post53, r_39^0'=r_39^post53, nondet_12^0'=nondet_12^post53, x_SLAM_f_18^0'=x_SLAM_f_18^post53, a_353^0'=a_353^post53, temp0_31^0'=temp0_31^post53, a_277^0'=a_277^post53, head_32^0'=head_32^post53, head_14^0'=head_14^post53, r_163^0'=r_163^post53, len_226^0'=len_226^post53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post53, a_184^0'=a_184^post53, rcd_88^0'=rcd_88^post53, head_223^0'=head_223^post53, f_170^0'=f_170^post53, tmp_34^0'=tmp_34^post53, i_94^0'=i_94^post53, i_108^0'=i_108^post53, r_260^0'=r_260^post53, length_29^0'=length_29^post53, x_20^0'=x_20^post53, a_330^0'=a_330^post53, (0 == 0 /\ -len_226^post53+len_226^0 == 0 /\ -rcd_58^post53+rcd_58^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post53 == 0 /\ a_184^0-a_184^post53 == 0 /\ head_175^0-head_175^post53 == 0 /\ head_27^0 <= 0 /\ head_129^0-head_129^post53 == 0 /\ -a_210^post53+a_210^0 == 0 /\ head_SLAM_f_26^post53-head_14^0 <= 0 /\ head_SLAM_f_26^post53-head_14^0 == 0 /\ -head_14^post53+head_14^0 == 0 /\ result_11^0-result_11^post53 == 0 /\ -tmp_34^post53+tmp_34^0 == 0 /\ -head_32^post53+head_32^0 == 0 /\ a_308^0-a_308^post53 == 0 /\ -head_268^post53+head_268^0 == 0 /\ -nondet_12^post53+nondet_12^0 == 0 /\ -f_263^post53+f_263^0 == 0 /\ -rcd_88^post53+rcd_88^0 == 0 /\ -head_SLAM_f_26^post53+head_14^0 <= 0 /\ len_132^0-len_132^post53 == 0 /\ -f_170^post53+f_170^0 == 0 /\ -length_29^post53+length_29^0 == 0 /\ a_116^0-a_116^post53 == 0 /\ len_183^0-len_183^post53 == 0 /\ -a_353^post53+a_353^0 == 0 /\ -a_147^0 <= 0 /\ -i_108^post53+i_108^0 == 0 /\ i_167^0-i_167^post53 == 0 /\ -a_330^post53+a_330^0 == 0 /\ -temp0_31^post53+temp0_31^0 == 0 /\ t_23^0-t_23^post53 == 0 /\ y_19^0-y_19^post53 == 0 /\ -head_223^post53+head_223^0 == 0 /\ -len_226^0 <= 0 /\ i_30^0-i_30^post53 == 0 /\ a_241^0-len_132^0 <= 0 /\ -head_27^post53+head_SLAM_f_26^post53 <= 0 /\ -i_94^post53+i_94^0 == 0 /\ -head_27^post53+head_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53 == 0 /\ a_241^0-a_241^post53 == 0 /\ -x_20^post53+x_20^0 == 0 /\ len_226^0 <= 0 /\ ct_17^0-ct_17^post53 == 0 /\ -r_39^post53+r_39^0 == 0 /\ r_218^0-r_218^post53 == 0 /\ r_124^0-r_124^post53 == 0 /\ -len_132^0 <= 0 /\ -len_276^post53+len_276^0 == 0 /\ -a_241^0+len_132^0 <= 0 /\ -a_277^post53+a_277^0 == 0 /\ head_27^post53-head_SLAM_f_26^post53 <= 0 /\ head_27^post53-head_SLAM_f_26^post53 == 0 /\ temp_35^0-temp_35^post53 == 0 /\ head_27^post53-head_14^0 <= 0 /\ temp0_15^0-temp0_15^post53 == 0 /\ r_163^0-r_163^post53 == 0 /\ -r_260^post53+r_260^0 == 0 /\ a_147^0-a_147^post53 == 0 /\ -x_16^post53+x_16^0 == 0 /\ -head_27^0 <= 0), cost: 1 57: l36 -> l40 : temp0_15^0'=temp0_15^post57, a_241^0'=a_241^post57, head_27^0'=head_27^post57, head_129^0'=head_129^post57, r_124^0'=r_124^post57, len_183^0'=len_183^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57, a_147^0'=a_147^post57, rcd_58^0'=rcd_58^post57, head_175^0'=head_175^post57, y_19^0'=y_19^post57, ct_17^0'=ct_17^post57, temp_35^0'=temp_35^post57, i_30^0'=i_30^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_218^0'=r_218^post57, len_276^0'=len_276^post57, a_308^0'=a_308^post57, t_23^0'=t_23^post57, a_210^0'=a_210^post57, result_11^0'=result_11^post57, head_268^0'=head_268^post57, f_263^0'=f_263^post57, x_16^0'=x_16^post57, len_132^0'=len_132^post57, i_167^0'=i_167^post57, a_116^0'=a_116^post57, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post57, x_SLAM_f_18^0'=x_SLAM_f_18^post57, a_353^0'=a_353^post57, temp0_31^0'=temp0_31^post57, a_277^0'=a_277^post57, head_32^0'=head_32^post57, head_14^0'=head_14^post57, r_163^0'=r_163^post57, len_226^0'=len_226^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=a_184^post57, rcd_88^0'=rcd_88^post57, head_223^0'=head_223^post57, f_170^0'=f_170^post57, tmp_34^0'=tmp_34^post57, i_94^0'=i_94^post57, i_108^0'=i_108^post57, r_260^0'=r_260^post57, length_29^0'=length_29^post57, x_20^0'=x_20^post57, a_330^0'=a_330^post57, (0 == 0 /\ temp0_15^0-temp0_15^post57 == 0 /\ tmp_34^0-tmp_34^post57 == 0 /\ -r_260^post57+r_260^0 == 0 /\ t_23^0-t_23^post57 == 0 /\ y_19^0-y_19^post57 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57 == 0 /\ a_308^0-a_308^post57 == 0 /\ r_124^0-r_124^post57 == 0 /\ i_30^0-i_30^post57 == 0 /\ len_183^0-len_183^post57 == 0 /\ len_276^0-len_276^post57 == 0 /\ -r_218^post57+r_218^0 == 0 /\ -f_263^post57+f_263^0 == 0 /\ len_132^0-len_132^post57 == 0 /\ ct_17^0-ct_17^post57 == 0 /\ a_147^0-a_147^post57 == 0 /\ -i_94^post57+i_94^0 == 0 /\ a_184^0-a_184^post57 == 0 /\ -temp_35^post57+temp_35^0 == 0 /\ -a_147^0 <= 0 /\ head_129^0-head_129^post57 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post57 == 0 /\ -temp0_31^post57+temp0_31^0 == 0 /\ -a_277^post57+a_277^0 == 0 /\ -len_226^post57+len_226^0 == 0 /\ -a_210^post57+a_210^0 == 0 /\ head_268^0-head_268^post57 == 0 /\ -a_353^post57+a_353^0 == 0 /\ -length_29^post57+length_29^0 == 0 /\ -r_163^post57+r_163^0 == 0 /\ -i_167^post57+i_167^0 == 0 /\ a_241^0-a_241^post57 == 0 /\ -rcd_88^post57+rcd_88^0 == 0 /\ result_11^0-result_11^post57 == 0 /\ -x_16^post57+x_16^0 == 0 /\ head_32^0-head_32^post57 == 0 /\ -head_223^post57+head_223^0 == 0 /\ -len_132^0 <= 0 /\ head_27^0-head_27^post57 == 0 /\ rcd_58^0-rcd_58^post57 == 0 /\ a_116^0-a_116^post57 == 0 /\ -x_20^post57+x_20^0 == 0 /\ -nondet_12^post57+nondet_12^0 == 0 /\ -i_108^post57+i_108^0 == 0 /\ -a_330^post57+a_330^0 == 0), cost: 1 54: l37 -> l38 : temp0_15^0'=temp0_15^post54, a_241^0'=a_241^post54, head_27^0'=head_27^post54, head_129^0'=head_129^post54, r_124^0'=r_124^post54, len_183^0'=len_183^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54, a_147^0'=a_147^post54, rcd_58^0'=rcd_58^post54, head_175^0'=head_175^post54, y_19^0'=y_19^post54, ct_17^0'=ct_17^post54, temp_35^0'=temp_35^post54, i_30^0'=i_30^post54, head_SLAM_f_26^0'=head_SLAM_f_26^post54, r_218^0'=r_218^post54, len_276^0'=len_276^post54, a_308^0'=a_308^post54, t_23^0'=t_23^post54, a_210^0'=a_210^post54, result_11^0'=result_11^post54, head_268^0'=head_268^post54, f_263^0'=f_263^post54, x_16^0'=x_16^post54, len_132^0'=len_132^post54, i_167^0'=i_167^post54, a_116^0'=a_116^post54, r_39^0'=r_39^post54, nondet_12^0'=nondet_12^post54, x_SLAM_f_18^0'=x_SLAM_f_18^post54, a_353^0'=a_353^post54, temp0_31^0'=temp0_31^post54, a_277^0'=a_277^post54, head_32^0'=head_32^post54, head_14^0'=head_14^post54, r_163^0'=r_163^post54, len_226^0'=len_226^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_184^0'=a_184^post54, rcd_88^0'=rcd_88^post54, head_223^0'=head_223^post54, f_170^0'=f_170^post54, tmp_34^0'=tmp_34^post54, i_94^0'=i_94^post54, i_108^0'=i_108^post54, r_260^0'=r_260^post54, length_29^0'=length_29^post54, x_20^0'=x_20^post54, a_330^0'=a_330^post54, (head_129^0-head_129^post54 == 0 /\ r_124^0-r_124^post54 == 0 /\ -len_132^post54+len_132^0 == 0 /\ -rcd_88^post54+rcd_88^0 == 0 /\ head_268^0-head_268^post54 == 0 /\ -head_223^post54+head_223^0 == 0 /\ -x_20^post54+x_20^0 == 0 /\ temp0_15^0-temp0_15^post54 == 0 /\ head_175^0-head_175^post54 == 0 /\ -a_330^post54+a_330^0 == 0 /\ -r_218^post54+r_218^0 == 0 /\ -a_116^post54+a_116^0 == 0 /\ f_263^0-f_263^post54 == 0 /\ nondet_12^0-nondet_12^post54 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post54 == 0 /\ -x_16^post54+x_16^0 == 0 /\ -i_108^post54+i_108^0 == 0 /\ -tmp_34^post54+tmp_34^0 == 0 /\ -r_260^post54+r_260^0 == 0 /\ -t_23^post54+t_23^0 == 0 /\ -result_11^post54+result_11^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post54+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_241^0-a_241^post54 == 0 /\ -a_353^post54+a_353^0 == 0 /\ -len_226^post54+len_226^0 == 0 /\ i_167^0-i_167^post54 == 0 /\ y_19^0-y_19^post54 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54 == 0 /\ rcd_58^0-rcd_58^post54 == 0 /\ len_276^0-len_276^post54 == 0 /\ head_27^0-head_27^post54 == 0 /\ 1-head_14^0 <= 0 /\ -r_39^post54+r_39^0 == 0 /\ a_277^0-a_277^post54 == 0 /\ ct_17^0-ct_17^post54 == 0 /\ a_210^0-a_210^post54 == 0 /\ -a_184^post54+a_184^0 == 0 /\ head_14^0-head_14^post54 == 0 /\ -i_94^post54+i_94^0 == 0 /\ -head_32^post54+head_32^0 == 0 /\ -x_SLAM_f_18^post54+x_SLAM_f_18^0 == 0 /\ temp_35^0-temp_35^post54 == 0 /\ -f_170^post54+f_170^0 == 0 /\ -length_29^post54+length_29^0 == 0 /\ a_147^0-a_147^post54 == 0 /\ len_183^0-len_183^post54 == 0 /\ r_163^0-r_163^post54 == 0 /\ -i_30^post54+i_30^0 == 0 /\ -temp0_31^post54+temp0_31^0 == 0 /\ -a_308^post54+a_308^0 == 0), cost: 1 55: l37 -> l38 : temp0_15^0'=temp0_15^post55, a_241^0'=a_241^post55, head_27^0'=head_27^post55, head_129^0'=head_129^post55, r_124^0'=r_124^post55, len_183^0'=len_183^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55, a_147^0'=a_147^post55, rcd_58^0'=rcd_58^post55, head_175^0'=head_175^post55, y_19^0'=y_19^post55, ct_17^0'=ct_17^post55, temp_35^0'=temp_35^post55, i_30^0'=i_30^post55, head_SLAM_f_26^0'=head_SLAM_f_26^post55, r_218^0'=r_218^post55, len_276^0'=len_276^post55, a_308^0'=a_308^post55, t_23^0'=t_23^post55, a_210^0'=a_210^post55, result_11^0'=result_11^post55, head_268^0'=head_268^post55, f_263^0'=f_263^post55, x_16^0'=x_16^post55, len_132^0'=len_132^post55, i_167^0'=i_167^post55, a_116^0'=a_116^post55, r_39^0'=r_39^post55, nondet_12^0'=nondet_12^post55, x_SLAM_f_18^0'=x_SLAM_f_18^post55, a_353^0'=a_353^post55, temp0_31^0'=temp0_31^post55, a_277^0'=a_277^post55, head_32^0'=head_32^post55, head_14^0'=head_14^post55, r_163^0'=r_163^post55, len_226^0'=len_226^post55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post55, a_184^0'=a_184^post55, rcd_88^0'=rcd_88^post55, head_223^0'=head_223^post55, f_170^0'=f_170^post55, tmp_34^0'=tmp_34^post55, i_94^0'=i_94^post55, i_108^0'=i_108^post55, r_260^0'=r_260^post55, length_29^0'=length_29^post55, x_20^0'=x_20^post55, a_330^0'=a_330^post55, (head_27^0-head_27^post55 == 0 /\ -x_20^post55+x_20^0 == 0 /\ -i_30^post55+i_30^0 == 0 /\ -head_32^post55+head_32^0 == 0 /\ -head_14^post55+head_14^0 == 0 /\ -i_108^post55+i_108^0 == 0 /\ -a_308^post55+a_308^0 == 0 /\ -a_330^post55+a_330^0 == 0 /\ -rcd_88^post55+rcd_88^0 == 0 /\ -head_175^post55+head_175^0 == 0 /\ -x_SLAM_f_18^post55+x_SLAM_f_18^0 == 0 /\ -r_260^post55+r_260^0 == 0 /\ -tmp_34^post55+tmp_34^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post55 == 0 /\ len_183^0-len_183^post55 == 0 /\ rcd_58^0-rcd_58^post55 == 0 /\ head_268^0-head_268^post55 == 0 /\ 1+head_14^0 <= 0 /\ -r_218^post55+r_218^0 == 0 /\ nondet_12^0-nondet_12^post55 == 0 /\ head_129^0-head_129^post55 == 0 /\ -head_223^post55+head_223^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55 == 0 /\ temp0_31^0-temp0_31^post55 == 0 /\ r_124^0-r_124^post55 == 0 /\ y_19^0-y_19^post55 == 0 /\ -i_167^post55+i_167^0 == 0 /\ r_163^0-r_163^post55 == 0 /\ temp0_15^0-temp0_15^post55 == 0 /\ -a_116^post55+a_116^0 == 0 /\ -a_184^post55+a_184^0 == 0 /\ len_132^0-len_132^post55 == 0 /\ len_276^0-len_276^post55 == 0 /\ x_16^0-x_16^post55 == 0 /\ -i_94^post55+i_94^0 == 0 /\ f_263^0-f_263^post55 == 0 /\ ct_17^0-ct_17^post55 == 0 /\ -result_11^post55+result_11^0 == 0 /\ -a_353^post55+a_353^0 == 0 /\ -length_29^post55+length_29^0 == 0 /\ -len_226^post55+len_226^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post55 == 0 /\ -f_170^post55+f_170^0 == 0 /\ a_241^0-a_241^post55 == 0 /\ a_210^0-a_210^post55 == 0 /\ -r_39^post55+r_39^0 == 0 /\ -a_277^post55+a_277^0 == 0 /\ temp_35^0-temp_35^post55 == 0 /\ a_147^0-a_147^post55 == 0 /\ -t_23^post55+t_23^0 == 0), cost: 1 56: l38 -> l4 : temp0_15^0'=temp0_15^post56, a_241^0'=a_241^post56, head_27^0'=head_27^post56, head_129^0'=head_129^post56, r_124^0'=r_124^post56, len_183^0'=len_183^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56, a_147^0'=a_147^post56, rcd_58^0'=rcd_58^post56, head_175^0'=head_175^post56, y_19^0'=y_19^post56, ct_17^0'=ct_17^post56, temp_35^0'=temp_35^post56, i_30^0'=i_30^post56, head_SLAM_f_26^0'=head_SLAM_f_26^post56, r_218^0'=r_218^post56, len_276^0'=len_276^post56, a_308^0'=a_308^post56, t_23^0'=t_23^post56, a_210^0'=a_210^post56, result_11^0'=result_11^post56, head_268^0'=head_268^post56, f_263^0'=f_263^post56, x_16^0'=x_16^post56, len_132^0'=len_132^post56, i_167^0'=i_167^post56, a_116^0'=a_116^post56, r_39^0'=r_39^post56, nondet_12^0'=nondet_12^post56, x_SLAM_f_18^0'=x_SLAM_f_18^post56, a_353^0'=a_353^post56, temp0_31^0'=temp0_31^post56, a_277^0'=a_277^post56, head_32^0'=head_32^post56, head_14^0'=head_14^post56, r_163^0'=r_163^post56, len_226^0'=len_226^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post56, a_184^0'=a_184^post56, rcd_88^0'=rcd_88^post56, head_223^0'=head_223^post56, f_170^0'=f_170^post56, tmp_34^0'=tmp_34^post56, i_94^0'=i_94^post56, i_108^0'=i_108^post56, r_260^0'=r_260^post56, length_29^0'=length_29^post56, x_20^0'=x_20^post56, a_330^0'=a_330^post56, (2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_14^post56+head_14^0 == 0 /\ y_19^0-y_19^post56 == 0 /\ -x_SLAM_f_18^post56+x_SLAM_f_18^0 == 0 /\ -rcd_88^post56+rcd_88^0 == 0 /\ len_276^0-len_276^post56 == 0 /\ -f_170^post56+f_170^0 == 0 /\ -len_226^post56+len_226^0 == 0 /\ -r_260^post56+r_260^0 == 0 /\ i_30^0-i_30^post56 == 0 /\ -a_308^post56+a_308^0 == 0 /\ -a_116^post56+a_116^0 == 0 /\ ct_17^0-ct_17^post56 == 0 /\ head_32^0-head_32^post56 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post56 == 0 /\ head_27^0-head_27^post56 == 0 /\ -r_218^post56+r_218^0 == 0 /\ -i_94^post56+i_94^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post56+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_147^0-a_147^post56 == 0 /\ len_183^0-len_183^post56 == 0 /\ temp0_15^0-temp0_15^post56 == 0 /\ head_175^0-head_175^post56 == 0 /\ -tmp_34^post56+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post56 == 0 /\ -temp_35^post56+temp_35^0 == 0 /\ -length_29^post56+length_29^0 == 0 /\ -a_277^post56+a_277^0 == 0 /\ r_124^0-r_124^post56 == 0 /\ -a_353^post56+a_353^0 == 0 /\ -i_167^post56+i_167^0 == 0 /\ len_132^0-len_132^post56 == 0 /\ -r_163^post56+r_163^0 == 0 /\ rcd_58^0-rcd_58^post56 == 0 /\ -r_39^post56+r_39^0 == 0 /\ f_263^0-f_263^post56 == 0 /\ head_268^0-head_268^post56 == 0 /\ i_108^0-i_108^post56 == 0 /\ -head_223^post56+head_223^0 == 0 /\ -result_11^post56+result_11^0 == 0 /\ t_23^0-t_23^post56 == 0 /\ -x_20^post56+x_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56 == 0 /\ -nondet_12^post56+nondet_12^0 == 0 /\ head_129^0-head_129^post56 == 0 /\ a_241^0-a_241^post56 == 0 /\ -x_16^post56+x_16^0 == 0 /\ -a_184^post56+a_184^0 == 0 /\ -a_330^post56+a_330^0 == 0 /\ a_210^0-a_210^post56 == 0), cost: 1 58: l40 -> l41 : temp0_15^0'=temp0_15^post58, a_241^0'=a_241^post58, head_27^0'=head_27^post58, head_129^0'=head_129^post58, r_124^0'=r_124^post58, len_183^0'=len_183^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58, a_147^0'=a_147^post58, rcd_58^0'=rcd_58^post58, head_175^0'=head_175^post58, y_19^0'=y_19^post58, ct_17^0'=ct_17^post58, temp_35^0'=temp_35^post58, i_30^0'=i_30^post58, head_SLAM_f_26^0'=head_SLAM_f_26^post58, r_218^0'=r_218^post58, len_276^0'=len_276^post58, a_308^0'=a_308^post58, t_23^0'=t_23^post58, a_210^0'=a_210^post58, result_11^0'=result_11^post58, head_268^0'=head_268^post58, f_263^0'=f_263^post58, x_16^0'=x_16^post58, len_132^0'=len_132^post58, i_167^0'=i_167^post58, a_116^0'=a_116^post58, r_39^0'=r_39^post58, nondet_12^0'=nondet_12^post58, x_SLAM_f_18^0'=x_SLAM_f_18^post58, a_353^0'=a_353^post58, temp0_31^0'=temp0_31^post58, a_277^0'=a_277^post58, head_32^0'=head_32^post58, head_14^0'=head_14^post58, r_163^0'=r_163^post58, len_226^0'=len_226^post58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post58, a_184^0'=a_184^post58, rcd_88^0'=rcd_88^post58, head_223^0'=head_223^post58, f_170^0'=f_170^post58, tmp_34^0'=tmp_34^post58, i_94^0'=i_94^post58, i_108^0'=i_108^post58, r_260^0'=r_260^post58, length_29^0'=length_29^post58, x_20^0'=x_20^post58, a_330^0'=a_330^post58, (x_16^0-x_16^post58 == 0 /\ -f_170^post58+f_170^0 == 0 /\ y_19^0-y_19^post58 == 0 /\ -r_260^post58+r_260^0 == 0 /\ a_353^0-a_353^post58 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post58+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_276^0-len_276^post58 == 0 /\ i_30^0-i_30^post58 == 0 /\ -a_147^post58+a_147^0 == 0 /\ head_223^0-head_223^post58 == 0 /\ len_183^0-len_183^post58 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post58 == 0 /\ r_218^0-r_218^post58 == 0 /\ -len_132^post58+len_132^0 == 0 /\ temp_35^0-temp_35^post58 == 0 /\ a_116^0-a_116^post58 == 0 /\ -head_14^post58+head_14^0 == 0 /\ -head_32^post58+head_32^0 == 0 /\ -a_330^post58+a_330^0 == 0 /\ head_27^0-head_27^post58 == 0 /\ rcd_88^0-rcd_88^post58 == 0 /\ -tmp_34^post58+tmp_34^0 == 0 /\ head_175^0-head_175^post58 == 0 /\ -i_94^post58+i_94^0 == 0 /\ -r_163^post58+r_163^0 == 0 /\ -length_29^post58+length_29^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_15^0-temp0_15^post58 == 0 /\ i_167^0-i_167^post58 == 0 /\ -len_226^post58+len_226^0 == 0 /\ a_308^0-a_308^post58 == 0 /\ -r_39^post58+r_39^0 == 0 /\ r_124^0-r_124^post58 == 0 /\ result_11^0-result_11^post58 == 0 /\ -temp0_31^post58+temp0_31^0 == 0 /\ -f_263^post58+f_263^0 == 0 /\ a_241^0-a_241^post58 == 0 /\ -head_268^post58+head_268^0 == 0 /\ t_23^0-t_23^post58 == 0 /\ a_210^0-a_210^post58 == 0 /\ -a_277^post58+a_277^0 == 0 /\ -ct_17^post58+ct_17^0 == 0 /\ -x_20^post58+x_20^0 == 0 /\ 1-head_27^0 <= 0 /\ head_129^0-head_129^post58 == 0 /\ rcd_58^0-rcd_58^post58 == 0 /\ -i_108^post58+i_108^0 == 0 /\ -a_184^post58+a_184^0 == 0 /\ -x_SLAM_f_18^post58+x_SLAM_f_18^0 == 0 /\ -nondet_12^post58+nondet_12^0 == 0), cost: 1 59: l40 -> l41 : temp0_15^0'=temp0_15^post59, a_241^0'=a_241^post59, head_27^0'=head_27^post59, head_129^0'=head_129^post59, r_124^0'=r_124^post59, len_183^0'=len_183^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59, a_147^0'=a_147^post59, rcd_58^0'=rcd_58^post59, head_175^0'=head_175^post59, y_19^0'=y_19^post59, ct_17^0'=ct_17^post59, temp_35^0'=temp_35^post59, i_30^0'=i_30^post59, head_SLAM_f_26^0'=head_SLAM_f_26^post59, r_218^0'=r_218^post59, len_276^0'=len_276^post59, a_308^0'=a_308^post59, t_23^0'=t_23^post59, a_210^0'=a_210^post59, result_11^0'=result_11^post59, head_268^0'=head_268^post59, f_263^0'=f_263^post59, x_16^0'=x_16^post59, len_132^0'=len_132^post59, i_167^0'=i_167^post59, a_116^0'=a_116^post59, r_39^0'=r_39^post59, nondet_12^0'=nondet_12^post59, x_SLAM_f_18^0'=x_SLAM_f_18^post59, a_353^0'=a_353^post59, temp0_31^0'=temp0_31^post59, a_277^0'=a_277^post59, head_32^0'=head_32^post59, head_14^0'=head_14^post59, r_163^0'=r_163^post59, len_226^0'=len_226^post59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post59, a_184^0'=a_184^post59, rcd_88^0'=rcd_88^post59, head_223^0'=head_223^post59, f_170^0'=f_170^post59, tmp_34^0'=tmp_34^post59, i_94^0'=i_94^post59, i_108^0'=i_108^post59, r_260^0'=r_260^post59, length_29^0'=length_29^post59, x_20^0'=x_20^post59, a_330^0'=a_330^post59, (-f_170^post59+f_170^0 == 0 /\ -result_11^post59+result_11^0 == 0 /\ a_353^0-a_353^post59 == 0 /\ -r_260^post59+r_260^0 == 0 /\ temp0_15^0-temp0_15^post59 == 0 /\ i_167^0-i_167^post59 == 0 /\ 1+head_27^0 <= 0 /\ f_263^0-f_263^post59 == 0 /\ len_183^0-len_183^post59 == 0 /\ -ct_17^post59+ct_17^0 == 0 /\ len_276^0-len_276^post59 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post59+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_210^0-a_210^post59 == 0 /\ nondet_12^0-nondet_12^post59 == 0 /\ temp_35^0-temp_35^post59 == 0 /\ i_30^0-i_30^post59 == 0 /\ a_147^0-a_147^post59 == 0 /\ -a_330^post59+a_330^0 == 0 /\ -a_308^post59+a_308^0 == 0 /\ -len_132^post59+len_132^0 == 0 /\ -a_116^post59+a_116^0 == 0 /\ rcd_88^0-rcd_88^post59 == 0 /\ -r_163^post59+r_163^0 == 0 /\ -head_32^post59+head_32^0 == 0 /\ -tmp_34^post59+tmp_34^0 == 0 /\ r_124^0-r_124^post59 == 0 /\ r_218^0-r_218^post59 == 0 /\ -length_29^post59+length_29^0 == 0 /\ -i_94^post59+i_94^0 == 0 /\ -len_226^post59+len_226^0 == 0 /\ -a_184^post59+a_184^0 == 0 /\ head_129^0-head_129^post59 == 0 /\ -t_23^post59+t_23^0 == 0 /\ -r_39^post59+r_39^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_175^0-head_175^post59 == 0 /\ head_14^0-head_14^post59 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post59 == 0 /\ a_277^0-a_277^post59 == 0 /\ -head_223^post59+head_223^0 == 0 /\ head_268^0-head_268^post59 == 0 /\ -temp0_31^post59+temp0_31^0 == 0 /\ -x_20^post59+x_20^0 == 0 /\ a_241^0-a_241^post59 == 0 /\ x_16^0-x_16^post59 == 0 /\ y_19^0-y_19^post59 == 0 /\ -i_108^post59+i_108^0 == 0 /\ head_27^0-head_27^post59 == 0 /\ rcd_58^0-rcd_58^post59 == 0 /\ -x_SLAM_f_18^post59+x_SLAM_f_18^0 == 0), cost: 1 60: l41 -> l42 : temp0_15^0'=temp0_15^post60, a_241^0'=a_241^post60, head_27^0'=head_27^post60, head_129^0'=head_129^post60, r_124^0'=r_124^post60, len_183^0'=len_183^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60, a_147^0'=a_147^post60, rcd_58^0'=rcd_58^post60, head_175^0'=head_175^post60, y_19^0'=y_19^post60, ct_17^0'=ct_17^post60, temp_35^0'=temp_35^post60, i_30^0'=i_30^post60, head_SLAM_f_26^0'=head_SLAM_f_26^post60, r_218^0'=r_218^post60, len_276^0'=len_276^post60, a_308^0'=a_308^post60, t_23^0'=t_23^post60, a_210^0'=a_210^post60, result_11^0'=result_11^post60, head_268^0'=head_268^post60, f_263^0'=f_263^post60, x_16^0'=x_16^post60, len_132^0'=len_132^post60, i_167^0'=i_167^post60, a_116^0'=a_116^post60, r_39^0'=r_39^post60, nondet_12^0'=nondet_12^post60, x_SLAM_f_18^0'=x_SLAM_f_18^post60, a_353^0'=a_353^post60, temp0_31^0'=temp0_31^post60, a_277^0'=a_277^post60, head_32^0'=head_32^post60, head_14^0'=head_14^post60, r_163^0'=r_163^post60, len_226^0'=len_226^post60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post60, a_184^0'=a_184^post60, rcd_88^0'=rcd_88^post60, head_223^0'=head_223^post60, f_170^0'=f_170^post60, tmp_34^0'=tmp_34^post60, i_94^0'=i_94^post60, i_108^0'=i_108^post60, r_260^0'=r_260^post60, length_29^0'=length_29^post60, x_20^0'=x_20^post60, a_330^0'=a_330^post60, (0 == 0 /\ len_276^0-len_276^post60 == 0 /\ -a_308^post60+a_308^0 == 0 /\ head_129^0-head_129^post60 == 0 /\ -i_108^post60+i_108^0 == 0 /\ -1+a_147^0-a_184^post60 <= 0 /\ -rcd_88^post60+rcd_88^0 == 0 /\ -r_39^post60+r_39^0 == 0 /\ -r_218^post60+r_218^0 == 0 /\ temp0_15^0-temp0_15^post60 == 0 /\ -x_20^post60+x_20^0 == 0 /\ head_175^0-head_175^post60 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post60 == 0 /\ -head_27^0+f_170^0 <= 0 /\ i_167^0-i_167^post60 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post60+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1-len_132^0+len_183^post60 <= 0 /\ -x_SLAM_f_18^post60+x_SLAM_f_18^0 == 0 /\ -a_330^post60+a_330^0 == 0 /\ a_241^0-a_241^post60 == 0 /\ -t_23^post60+t_23^0 == 0 /\ -tmp_34^post60+tmp_34^0 == 0 /\ a_210^0-a_210^post60 == 0 /\ y_19^0-y_19^post60 == 0 /\ -a_353^post60+a_353^0 == 0 /\ -len_226^post60+len_226^0 == 0 /\ rcd_58^0-rcd_58^post60 == 0 /\ head_27^0-f_170^0 <= 0 /\ -temp0_31^post60+temp0_31^0 == 0 /\ -r_260^post60+r_260^0 == 0 /\ f_263^0-f_263^post60 == 0 /\ -head_223^post60+head_223^0 == 0 /\ -head_32^post60+head_32^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60 == 0 /\ -len_132^post60+len_132^0 == 0 /\ 1-a_147^0+a_184^post60 <= 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ -i_94^post60+i_94^0 == 0 /\ ct_17^0-ct_17^post60 == 0 /\ a_277^0-a_277^post60 == 0 /\ -a_116^post60+a_116^0 == 0 /\ nondet_12^0-nondet_12^post60 == 0 /\ -head_268^post60+head_268^0 == 0 /\ head_27^0-head_27^post60 == 0 /\ -r_124^post60+r_124^0 == 0 /\ 1+len_132^0-len_183^post60 <= 0 /\ result_11^0-result_11^post60 == 0 /\ temp_35^0-temp_35^post60 == 0 /\ a_147^0-a_147^post60 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ -i_30^post60+i_30^0 == 0 /\ -f_170^post60+f_170^0 == 0 /\ -length_29^post60+length_29^0 == 0 /\ x_16^0-x_16^post60 == 0 /\ head_14^0-head_14^post60 == 0 /\ r_163^0-r_163^post60 == 0), cost: 1 61: l42 -> l43 : temp0_15^0'=temp0_15^post61, a_241^0'=a_241^post61, head_27^0'=head_27^post61, head_129^0'=head_129^post61, r_124^0'=r_124^post61, len_183^0'=len_183^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61, a_147^0'=a_147^post61, rcd_58^0'=rcd_58^post61, head_175^0'=head_175^post61, y_19^0'=y_19^post61, ct_17^0'=ct_17^post61, temp_35^0'=temp_35^post61, i_30^0'=i_30^post61, head_SLAM_f_26^0'=head_SLAM_f_26^post61, r_218^0'=r_218^post61, len_276^0'=len_276^post61, a_308^0'=a_308^post61, t_23^0'=t_23^post61, a_210^0'=a_210^post61, result_11^0'=result_11^post61, head_268^0'=head_268^post61, f_263^0'=f_263^post61, x_16^0'=x_16^post61, len_132^0'=len_132^post61, i_167^0'=i_167^post61, a_116^0'=a_116^post61, r_39^0'=r_39^post61, nondet_12^0'=nondet_12^post61, x_SLAM_f_18^0'=x_SLAM_f_18^post61, a_353^0'=a_353^post61, temp0_31^0'=temp0_31^post61, a_277^0'=a_277^post61, head_32^0'=head_32^post61, head_14^0'=head_14^post61, r_163^0'=r_163^post61, len_226^0'=len_226^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, a_184^0'=a_184^post61, rcd_88^0'=rcd_88^post61, head_223^0'=head_223^post61, f_170^0'=f_170^post61, tmp_34^0'=tmp_34^post61, i_94^0'=i_94^post61, i_108^0'=i_108^post61, r_260^0'=r_260^post61, length_29^0'=length_29^post61, x_20^0'=x_20^post61, a_330^0'=a_330^post61, (head_268^0-head_268^post61 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 == 0 /\ -i_30^post61+i_30^0 == 0 /\ r_124^0-r_124^post61 == 0 /\ -a_308^post61+a_308^0 == 0 /\ -a_330^post61+a_330^0 == 0 /\ r_218^0-r_218^post61 == 0 /\ -a_116^post61+a_116^0 == 0 /\ -head_175^post61+head_175^0 == 0 /\ -a_184^post61+a_184^0 == 0 /\ -x_16^post61+x_16^0 == 0 /\ nondet_12^0-nondet_12^post61 == 0 /\ temp0_15^0-temp0_15^post61 == 0 /\ -i_94^post61+i_94^0 == 0 /\ -rcd_88^post61+rcd_88^0 == 0 /\ -x_SLAM_f_18^post61+x_SLAM_f_18^0 == 0 /\ rcd_58^0-rcd_58^post61 == 0 /\ -a_353^post61+a_353^0 == 0 /\ -length_29^post61+length_29^0 == 0 /\ -t_23^post61+t_23^0 == 0 /\ -len_226^post61+len_226^0 == 0 /\ -f_170^post61+f_170^0 == 0 /\ a_241^0-a_241^post61 == 0 /\ head_129^0-head_129^post61 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61 == 0 /\ temp0_31^0-temp0_31^post61 == 0 /\ y_19^0-y_19^post61 == 0 /\ a_147^0-a_147^post61 == 0 /\ head_27^0-head_27^post61 == 0 /\ 1-head_14^0 <= 0 /\ len_276^0-len_276^post61 == 0 /\ -x_20^post61+x_20^0 == 0 /\ len_132^0-len_132^post61 == 0 /\ -head_32^post61+head_32^0 == 0 /\ ct_17^0-ct_17^post61 == 0 /\ -tmp_34^post61+tmp_34^0 == 0 /\ -r_260^post61+r_260^0 == 0 /\ -head_14^post61+head_14^0 == 0 /\ len_183^0-len_183^post61 == 0 /\ -result_11^post61+result_11^0 == 0 /\ r_163^0-r_163^post61 == 0 /\ a_277^0-a_277^post61 == 0 /\ -r_39^post61+r_39^0 == 0 /\ a_210^0-a_210^post61 == 0 /\ -i_167^post61+i_167^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post61 == 0 /\ -head_223^post61+head_223^0 == 0 /\ i_108^0-i_108^post61 == 0 /\ f_263^0-f_263^post61 == 0 /\ temp_35^0-temp_35^post61 == 0), cost: 1 62: l42 -> l43 : temp0_15^0'=temp0_15^post62, a_241^0'=a_241^post62, head_27^0'=head_27^post62, head_129^0'=head_129^post62, r_124^0'=r_124^post62, len_183^0'=len_183^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62, a_147^0'=a_147^post62, rcd_58^0'=rcd_58^post62, head_175^0'=head_175^post62, y_19^0'=y_19^post62, ct_17^0'=ct_17^post62, temp_35^0'=temp_35^post62, i_30^0'=i_30^post62, head_SLAM_f_26^0'=head_SLAM_f_26^post62, r_218^0'=r_218^post62, len_276^0'=len_276^post62, a_308^0'=a_308^post62, t_23^0'=t_23^post62, a_210^0'=a_210^post62, result_11^0'=result_11^post62, head_268^0'=head_268^post62, f_263^0'=f_263^post62, x_16^0'=x_16^post62, len_132^0'=len_132^post62, i_167^0'=i_167^post62, a_116^0'=a_116^post62, r_39^0'=r_39^post62, nondet_12^0'=nondet_12^post62, x_SLAM_f_18^0'=x_SLAM_f_18^post62, a_353^0'=a_353^post62, temp0_31^0'=temp0_31^post62, a_277^0'=a_277^post62, head_32^0'=head_32^post62, head_14^0'=head_14^post62, r_163^0'=r_163^post62, len_226^0'=len_226^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, a_184^0'=a_184^post62, rcd_88^0'=rcd_88^post62, head_223^0'=head_223^post62, f_170^0'=f_170^post62, tmp_34^0'=tmp_34^post62, i_94^0'=i_94^post62, i_108^0'=i_108^post62, r_260^0'=r_260^post62, length_29^0'=length_29^post62, x_20^0'=x_20^post62, a_330^0'=a_330^post62, (y_19^0-y_19^post62 == 0 /\ -x_20^post62+x_20^0 == 0 /\ -x_16^post62+x_16^0 == 0 /\ head_27^0-head_27^post62 == 0 /\ head_268^0-head_268^post62 == 0 /\ -i_167^post62+i_167^0 == 0 /\ -a_330^post62+a_330^0 == 0 /\ nondet_12^0-nondet_12^post62 == 0 /\ -r_260^post62+r_260^0 == 0 /\ -x_SLAM_f_18^post62+x_SLAM_f_18^0 == 0 /\ -a_116^post62+a_116^0 == 0 /\ -rcd_88^post62+rcd_88^0 == 0 /\ -a_308^post62+a_308^0 == 0 /\ i_30^0-i_30^post62 == 0 /\ -head_14^post62+head_14^0 == 0 /\ -f_170^post62+f_170^0 == 0 /\ len_183^0-len_183^post62 == 0 /\ -a_353^post62+a_353^0 == 0 /\ -len_226^post62+len_226^0 == 0 /\ 1+head_14^0 <= 0 /\ -i_94^post62+i_94^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post62+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_276^0-len_276^post62 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post62 == 0 /\ a_147^0-a_147^post62 == 0 /\ -t_23^post62+t_23^0 == 0 /\ ct_17^0-ct_17^post62 == 0 /\ temp0_31^0-temp0_31^post62 == 0 /\ -a_277^post62+a_277^0 == 0 /\ head_175^0-head_175^post62 == 0 /\ r_124^0-r_124^post62 == 0 /\ -tmp_34^post62+tmp_34^0 == 0 /\ head_32^0-head_32^post62 == 0 /\ -length_29^post62+length_29^0 == 0 /\ len_132^0-len_132^post62 == 0 /\ -temp_35^post62+temp_35^0 == 0 /\ temp0_15^0-temp0_15^post62 == 0 /\ -head_129^post62+head_129^0 == 0 /\ i_108^0-i_108^post62 == 0 /\ -r_39^post62+r_39^0 == 0 /\ -a_184^post62+a_184^0 == 0 /\ rcd_58^0-rcd_58^post62 == 0 /\ f_263^0-f_263^post62 == 0 /\ -head_223^post62+head_223^0 == 0 /\ -r_163^post62+r_163^0 == 0 /\ -r_218^post62+r_218^0 == 0 /\ a_241^0-a_241^post62 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62 == 0 /\ a_210^0-a_210^post62 == 0 /\ -result_11^post62+result_11^0 == 0), cost: 1 63: l43 -> l44 : temp0_15^0'=temp0_15^post63, a_241^0'=a_241^post63, head_27^0'=head_27^post63, head_129^0'=head_129^post63, r_124^0'=r_124^post63, len_183^0'=len_183^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63, a_147^0'=a_147^post63, rcd_58^0'=rcd_58^post63, head_175^0'=head_175^post63, y_19^0'=y_19^post63, ct_17^0'=ct_17^post63, temp_35^0'=temp_35^post63, i_30^0'=i_30^post63, head_SLAM_f_26^0'=head_SLAM_f_26^post63, r_218^0'=r_218^post63, len_276^0'=len_276^post63, a_308^0'=a_308^post63, t_23^0'=t_23^post63, a_210^0'=a_210^post63, result_11^0'=result_11^post63, head_268^0'=head_268^post63, f_263^0'=f_263^post63, x_16^0'=x_16^post63, len_132^0'=len_132^post63, i_167^0'=i_167^post63, a_116^0'=a_116^post63, r_39^0'=r_39^post63, nondet_12^0'=nondet_12^post63, x_SLAM_f_18^0'=x_SLAM_f_18^post63, a_353^0'=a_353^post63, temp0_31^0'=temp0_31^post63, a_277^0'=a_277^post63, head_32^0'=head_32^post63, head_14^0'=head_14^post63, r_163^0'=r_163^post63, len_226^0'=len_226^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, a_184^0'=a_184^post63, rcd_88^0'=rcd_88^post63, head_223^0'=head_223^post63, f_170^0'=f_170^post63, tmp_34^0'=tmp_34^post63, i_94^0'=i_94^post63, i_108^0'=i_108^post63, r_260^0'=r_260^post63, length_29^0'=length_29^post63, x_20^0'=x_20^post63, a_330^0'=a_330^post63, (len_183^0-len_183^post63 == 0 /\ tmp_34^0-tmp_34^post63 == 0 /\ r_39^0-r_39^post63 == 0 /\ -len_276^post63+len_276^0 == 0 /\ -head_268^post63+head_268^0 == 0 /\ -a_210^post63+a_210^0 == 0 /\ result_11^0-result_11^post63 == 0 /\ r_218^0-r_218^post63 == 0 /\ -temp_35^post63+temp_35^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63 == 0 /\ a_241^0-a_241^post63 == 0 /\ -f_170^post63+f_170^0 == 0 /\ -r_260^post63+r_260^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post63 == 0 /\ head_175^0-head_175^post63 == 0 /\ a_308^0-a_308^post63 == 0 /\ -i_94^post63+i_94^0 == 0 /\ r_124^0-r_124^post63 == 0 /\ a_184^0-a_184^post63 == 0 /\ t_23^0-t_23^post63 == 0 /\ len_132^0-len_132^post63 == 0 /\ i_30^0-i_30^post63 == 0 /\ -x_16^post63+x_16^0 == 0 /\ -i_167^post63+i_167^0 == 0 /\ -nondet_12^post63+nondet_12^0 == 0 /\ -a_330^post63+a_330^0 == 0 /\ -temp0_31^post63+temp0_31^0 == 0 /\ 1-head_175^0 <= 0 /\ rcd_58^0-rcd_58^post63 == 0 /\ -a_277^post63+a_277^0 == 0 /\ -head_14^post63+head_14^0 == 0 /\ head_129^0-head_129^post63 == 0 /\ -r_163^post63+r_163^0 == 0 /\ -rcd_88^post63+rcd_88^0 == 0 /\ -length_29^post63+length_29^0 == 0 /\ a_147^0-a_147^post63 == 0 /\ -a_353^post63+a_353^0 == 0 /\ -i_108^post63+i_108^0 == 0 /\ -head_223^post63+head_223^0 == 0 /\ len_226^0-len_226^post63 == 0 /\ y_19^0-y_19^post63 == 0 /\ head_32^0-head_32^post63 == 0 /\ -head_27^post63+head_27^0 == 0 /\ -head_SLAM_f_26^post63+head_SLAM_f_26^0 == 0 /\ -f_263^post63+f_263^0 == 0 /\ temp0_15^0-temp0_15^post63 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post63+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ ct_17^0-ct_17^post63 == 0 /\ -x_20^post63+x_20^0 == 0 /\ a_116^0-a_116^post63 == 0), cost: 1 64: l43 -> l44 : temp0_15^0'=temp0_15^post64, a_241^0'=a_241^post64, head_27^0'=head_27^post64, head_129^0'=head_129^post64, r_124^0'=r_124^post64, len_183^0'=len_183^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64, a_147^0'=a_147^post64, rcd_58^0'=rcd_58^post64, head_175^0'=head_175^post64, y_19^0'=y_19^post64, ct_17^0'=ct_17^post64, temp_35^0'=temp_35^post64, i_30^0'=i_30^post64, head_SLAM_f_26^0'=head_SLAM_f_26^post64, r_218^0'=r_218^post64, len_276^0'=len_276^post64, a_308^0'=a_308^post64, t_23^0'=t_23^post64, a_210^0'=a_210^post64, result_11^0'=result_11^post64, head_268^0'=head_268^post64, f_263^0'=f_263^post64, x_16^0'=x_16^post64, len_132^0'=len_132^post64, i_167^0'=i_167^post64, a_116^0'=a_116^post64, r_39^0'=r_39^post64, nondet_12^0'=nondet_12^post64, x_SLAM_f_18^0'=x_SLAM_f_18^post64, a_353^0'=a_353^post64, temp0_31^0'=temp0_31^post64, a_277^0'=a_277^post64, head_32^0'=head_32^post64, head_14^0'=head_14^post64, r_163^0'=r_163^post64, len_226^0'=len_226^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, a_184^0'=a_184^post64, rcd_88^0'=rcd_88^post64, head_223^0'=head_223^post64, f_170^0'=f_170^post64, tmp_34^0'=tmp_34^post64, i_94^0'=i_94^post64, i_108^0'=i_108^post64, r_260^0'=r_260^post64, length_29^0'=length_29^post64, x_20^0'=x_20^post64, a_330^0'=a_330^post64, (x_SLAM_f_18^0-x_SLAM_f_18^post64 == 0 /\ result_11^0-result_11^post64 == 0 /\ -rcd_58^post64+rcd_58^0 == 0 /\ -tmp_34^post64+tmp_34^0 == 0 /\ r_39^0-r_39^post64 == 0 /\ -a_277^post64+a_277^0 == 0 /\ -a_210^post64+a_210^0 == 0 /\ head_129^0-head_129^post64 == 0 /\ -f_170^post64+f_170^0 == 0 /\ -len_226^post64+len_226^0 == 0 /\ 1+head_175^0 <= 0 /\ a_353^0-a_353^post64 == 0 /\ -head_32^post64+head_32^0 == 0 /\ head_27^0-head_27^post64 == 0 /\ -head_223^post64+head_223^0 == 0 /\ a_308^0-a_308^post64 == 0 /\ -head_268^post64+head_268^0 == 0 /\ -nondet_12^post64+nondet_12^0 == 0 /\ -i_108^post64+i_108^0 == 0 /\ a_116^0-a_116^post64 == 0 /\ -a_184^post64+a_184^0 == 0 /\ len_132^0-len_132^post64 == 0 /\ -head_SLAM_f_26^post64+head_SLAM_f_26^0 == 0 /\ -head_14^post64+head_14^0 == 0 /\ len_183^0-len_183^post64 == 0 /\ i_167^0-i_167^post64 == 0 /\ -a_330^post64+a_330^0 == 0 /\ -temp0_31^post64+temp0_31^0 == 0 /\ t_23^0-t_23^post64 == 0 /\ -r_163^post64+r_163^0 == 0 /\ -rcd_88^post64+rcd_88^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64 == 0 /\ -r_260^post64+r_260^0 == 0 /\ temp_35^0-temp_35^post64 == 0 /\ a_241^0-a_241^post64 == 0 /\ -length_29^post64+length_29^0 == 0 /\ ct_17^0-ct_17^post64 == 0 /\ -temp0_15^post64+temp0_15^0 == 0 /\ -f_263^post64+f_263^0 == 0 /\ head_175^0-head_175^post64 == 0 /\ r_218^0-r_218^post64 == 0 /\ r_124^0-r_124^post64 == 0 /\ -len_276^post64+len_276^0 == 0 /\ a_147^0-a_147^post64 == 0 /\ -x_16^post64+x_16^0 == 0 /\ -i_94^post64+i_94^0 == 0 /\ -y_19^post64+y_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post64+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_20^post64+x_20^0 == 0 /\ i_30^0-i_30^post64 == 0), cost: 1 65: l44 -> l39 : temp0_15^0'=temp0_15^post65, a_241^0'=a_241^post65, head_27^0'=head_27^post65, head_129^0'=head_129^post65, r_124^0'=r_124^post65, len_183^0'=len_183^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, a_147^0'=a_147^post65, rcd_58^0'=rcd_58^post65, head_175^0'=head_175^post65, y_19^0'=y_19^post65, ct_17^0'=ct_17^post65, temp_35^0'=temp_35^post65, i_30^0'=i_30^post65, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_218^0'=r_218^post65, len_276^0'=len_276^post65, a_308^0'=a_308^post65, t_23^0'=t_23^post65, a_210^0'=a_210^post65, result_11^0'=result_11^post65, head_268^0'=head_268^post65, f_263^0'=f_263^post65, x_16^0'=x_16^post65, len_132^0'=len_132^post65, i_167^0'=i_167^post65, a_116^0'=a_116^post65, r_39^0'=r_39^post65, nondet_12^0'=nondet_12^post65, x_SLAM_f_18^0'=x_SLAM_f_18^post65, a_353^0'=a_353^post65, temp0_31^0'=temp0_31^post65, a_277^0'=a_277^post65, head_32^0'=head_32^post65, head_14^0'=head_14^post65, r_163^0'=r_163^post65, len_226^0'=len_226^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, a_184^0'=a_184^post65, rcd_88^0'=rcd_88^post65, head_223^0'=head_223^post65, f_170^0'=f_170^post65, tmp_34^0'=tmp_34^post65, i_94^0'=i_94^post65, i_108^0'=i_108^post65, r_260^0'=r_260^post65, length_29^0'=length_29^post65, x_20^0'=x_20^post65, a_330^0'=a_330^post65, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_16^0-x_16^post65 == 0 /\ -tmp_34^post65+tmp_34^0 == 0 /\ -r_163^post65+r_163^0 == 0 /\ a_116^0-a_116^post65 == 0 /\ -f_170^post65+f_170^0 == 0 /\ -r_260^post65+r_260^0 == 0 /\ -t_23^post65+t_23^0 == 0 /\ len_276^0-len_276^post65 == 0 /\ i_30^0-i_30^post65 == 0 /\ rcd_58^0-rcd_58^post65 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post65+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post65 == 0 /\ -len_183^0+len_132^post65 <= 0 /\ a_210^0-a_210^post65 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post65 == 0 /\ -temp0_31^post65+temp0_31^0 == 0 /\ a_277^0-a_277^post65 == 0 /\ r_218^0-r_218^post65 == 0 /\ -r_39^post65+r_39^0 == 0 /\ -head_223^post65+head_223^0 == 0 /\ head_27^0-head_27^post65 == 0 /\ -head_268^post65+head_268^0 == 0 /\ len_183^0-len_183^post65 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_108^post65+i_108^0 == 0 /\ len_183^0-len_132^post65 <= 0 /\ -a_184^post65+a_184^0 == 0 /\ a_241^0-a_241^post65 == 0 /\ a_353^0-a_353^post65 == 0 /\ -len_226^post65+len_226^0 == 0 /\ result_11^0-result_11^post65 == 0 /\ f_263^0-f_263^post65 == 0 /\ temp0_15^0-temp0_15^post65 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ -length_29^post65+length_29^0 == 0 /\ temp_35^0-temp_35^post65 == 0 /\ r_124^0-r_124^post65 == 0 /\ a_147^post65-a_184^0 <= 0 /\ -y_19^post65+y_19^0 == 0 /\ -i_167^post65+i_167^0 == 0 /\ -x_20^post65+x_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65 == 0 /\ head_129^0-head_129^post65 == 0 /\ -head_14^post65+head_14^0 == 0 /\ a_308^0-a_308^post65 == 0 /\ -head_32^post65+head_32^0 == 0 /\ -ct_17^post65+ct_17^0 == 0 /\ -a_330^post65+a_330^0 == 0 /\ -rcd_88^post65+rcd_88^0 == 0 /\ -a_147^post65+a_184^0 <= 0 /\ i_94^0-i_94^post65 == 0 /\ head_175^0-head_175^post65 == 0), cost: 1 66: l39 -> l36 : temp0_15^0'=temp0_15^post66, a_241^0'=a_241^post66, head_27^0'=head_27^post66, head_129^0'=head_129^post66, r_124^0'=r_124^post66, len_183^0'=len_183^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66, a_147^0'=a_147^post66, rcd_58^0'=rcd_58^post66, head_175^0'=head_175^post66, y_19^0'=y_19^post66, ct_17^0'=ct_17^post66, temp_35^0'=temp_35^post66, i_30^0'=i_30^post66, head_SLAM_f_26^0'=head_SLAM_f_26^post66, r_218^0'=r_218^post66, len_276^0'=len_276^post66, a_308^0'=a_308^post66, t_23^0'=t_23^post66, a_210^0'=a_210^post66, result_11^0'=result_11^post66, head_268^0'=head_268^post66, f_263^0'=f_263^post66, x_16^0'=x_16^post66, len_132^0'=len_132^post66, i_167^0'=i_167^post66, a_116^0'=a_116^post66, r_39^0'=r_39^post66, nondet_12^0'=nondet_12^post66, x_SLAM_f_18^0'=x_SLAM_f_18^post66, a_353^0'=a_353^post66, temp0_31^0'=temp0_31^post66, a_277^0'=a_277^post66, head_32^0'=head_32^post66, head_14^0'=head_14^post66, r_163^0'=r_163^post66, len_226^0'=len_226^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, a_184^0'=a_184^post66, rcd_88^0'=rcd_88^post66, head_223^0'=head_223^post66, f_170^0'=f_170^post66, tmp_34^0'=tmp_34^post66, i_94^0'=i_94^post66, i_108^0'=i_108^post66, r_260^0'=r_260^post66, length_29^0'=length_29^post66, x_20^0'=x_20^post66, a_330^0'=a_330^post66, (-length_29^post66+length_29^0 == 0 /\ a_353^0-a_353^post66 == 0 /\ -r_163^post66+r_163^0 == 0 /\ i_30^0-i_30^post66 == 0 /\ -head_32^post66+head_32^0 == 0 /\ i_167^0-i_167^post66 == 0 /\ head_223^0-head_223^post66 == 0 /\ x_16^0-x_16^post66 == 0 /\ len_183^0-len_183^post66 == 0 /\ -len_276^post66+len_276^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post66+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_27^0-head_27^post66 == 0 /\ -x_20^post66+x_20^0 == 0 /\ -temp0_31^post66+temp0_31^0 == 0 /\ -a_330^post66+a_330^0 == 0 /\ -tmp_34^post66+tmp_34^0 == 0 /\ rcd_88^0-rcd_88^post66 == 0 /\ f_263^0-f_263^post66 == 0 /\ r_124^0-r_124^post66 == 0 /\ -len_132^post66+len_132^0 == 0 /\ -f_170^post66+f_170^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post66 == 0 /\ -x_SLAM_f_18^post66+x_SLAM_f_18^0 == 0 /\ -r_39^post66+r_39^0 == 0 /\ -a_184^post66+a_184^0 == 0 /\ -len_226^post66+len_226^0 == 0 /\ head_129^0-head_129^post66 == 0 /\ -i_108^post66+i_108^0 == 0 /\ temp_35^0-temp_35^post66 == 0 /\ -a_116^post66+a_116^0 == 0 /\ result_11^0-result_11^post66 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_175^0-head_175^post66 == 0 /\ -ct_17^post66+ct_17^0 == 0 /\ r_218^0-r_218^post66 == 0 /\ a_308^0-a_308^post66 == 0 /\ i_94^0-i_94^post66 == 0 /\ -a_147^post66+a_147^0 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ a_210^0-a_210^post66 == 0 /\ temp0_15^0-temp0_15^post66 == 0 /\ a_241^0-a_241^post66 == 0 /\ -head_268^post66+head_268^0 == 0 /\ -r_260^post66+r_260^0 == 0 /\ -a_277^post66+a_277^0 == 0 /\ rcd_58^0-rcd_58^post66 == 0 /\ y_19^0-y_19^post66 == 0 /\ t_23^0-t_23^post66 == 0 /\ head_14^0-head_14^post66 == 0), cost: 1 67: l45 -> l46 : temp0_15^0'=temp0_15^post67, a_241^0'=a_241^post67, head_27^0'=head_27^post67, head_129^0'=head_129^post67, r_124^0'=r_124^post67, len_183^0'=len_183^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67, a_147^0'=a_147^post67, rcd_58^0'=rcd_58^post67, head_175^0'=head_175^post67, y_19^0'=y_19^post67, ct_17^0'=ct_17^post67, temp_35^0'=temp_35^post67, i_30^0'=i_30^post67, head_SLAM_f_26^0'=head_SLAM_f_26^post67, r_218^0'=r_218^post67, len_276^0'=len_276^post67, a_308^0'=a_308^post67, t_23^0'=t_23^post67, a_210^0'=a_210^post67, result_11^0'=result_11^post67, head_268^0'=head_268^post67, f_263^0'=f_263^post67, x_16^0'=x_16^post67, len_132^0'=len_132^post67, i_167^0'=i_167^post67, a_116^0'=a_116^post67, r_39^0'=r_39^post67, nondet_12^0'=nondet_12^post67, x_SLAM_f_18^0'=x_SLAM_f_18^post67, a_353^0'=a_353^post67, temp0_31^0'=temp0_31^post67, a_277^0'=a_277^post67, head_32^0'=head_32^post67, head_14^0'=head_14^post67, r_163^0'=r_163^post67, len_226^0'=len_226^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, a_184^0'=a_184^post67, rcd_88^0'=rcd_88^post67, head_223^0'=head_223^post67, f_170^0'=f_170^post67, tmp_34^0'=tmp_34^post67, i_94^0'=i_94^post67, i_108^0'=i_108^post67, r_260^0'=r_260^post67, length_29^0'=length_29^post67, x_20^0'=x_20^post67, a_330^0'=a_330^post67, (0 == 0 /\ r_124^0-r_124^post67 == 0 /\ head_129^0-head_129^post67 == 0 /\ head_27^0 <= 0 /\ a_353^0-a_353^post67 == 0 /\ a_241^0-a_241^post67 == 0 /\ -tmp_34^post67+tmp_34^0 == 0 /\ -head_27^post67+head_14^0 <= 0 /\ -a_277^post67+a_277^0 == 0 /\ result_11^0-result_11^post67 == 0 /\ -f_170^post67+f_170^0 == 0 /\ head_175^0-head_175^post67 == 0 /\ -r_260^post67+r_260^0 == 0 /\ -a_330^post67+a_330^0 == 0 /\ -r_163^post67+r_163^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67 == 0 /\ -head_14^post67+head_14^0 == 0 /\ -i_167^post67+i_167^0 == 0 /\ -head_223^post67+head_223^0 == 0 /\ -head_268^post67+head_268^0 == 0 /\ -nondet_12^post67+nondet_12^0 == 0 /\ head_27^post67-head_14^0 <= 0 /\ x_16^0-x_16^post67 == 0 /\ -i_94^post67+i_94^0 == 0 /\ r_39^0-r_39^post67 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post67 == 0 /\ rcd_88^0-rcd_88^post67 == 0 /\ a_308^0-a_308^post67 == 0 /\ -head_32^post67+head_32^0 == 0 /\ temp0_15^0-temp0_15^post67 == 0 /\ head_27^post67-head_SLAM_f_26^post67 <= 0 /\ head_27^post67-head_SLAM_f_26^post67 == 0 /\ t_23^0-t_23^post67 == 0 /\ -f_263^post67+f_263^0 == 0 /\ -head_SLAM_f_26^post67+head_14^0 <= 0 /\ ct_17^0-ct_17^post67 == 0 /\ -y_19^post67+y_19^0 == 0 /\ -length_29^post67+length_29^0 == 0 /\ -len_276^post67+len_276^0 == 0 /\ -len_226^post67+len_226^0 == 0 /\ rcd_58^0-rcd_58^post67 == 0 /\ -a_116^0 <= 0 /\ -len_183^post67+len_183^0 == 0 /\ -head_27^post67+head_SLAM_f_26^post67 <= 0 /\ temp_35^0-temp_35^post67 == 0 /\ a_116^0-a_116^post67 == 0 /\ i_108^0-i_108^post67 == 0 /\ a_147^0-a_147^post67 == 0 /\ i_30^0-i_30^post67 == 0 /\ head_SLAM_f_26^post67-head_14^0 <= 0 /\ head_SLAM_f_26^post67-head_14^0 == 0 /\ -temp0_31^post67+temp0_31^0 == 0 /\ -len_132^post67+len_132^0 == 0 /\ -x_20^post67+x_20^0 == 0 /\ -a_210^post67+a_210^0 == 0 /\ -a_184^post67+a_184^0 == 0 /\ r_218^0-r_218^post67 == 0 /\ 1-len_132^0 <= 0 /\ -1+len_132^0 <= 0 /\ -head_27^0 <= 0), cost: 1 77: l45 -> l52 : temp0_15^0'=temp0_15^post77, a_241^0'=a_241^post77, head_27^0'=head_27^post77, head_129^0'=head_129^post77, r_124^0'=r_124^post77, len_183^0'=len_183^post77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post77, a_147^0'=a_147^post77, rcd_58^0'=rcd_58^post77, head_175^0'=head_175^post77, y_19^0'=y_19^post77, ct_17^0'=ct_17^post77, temp_35^0'=temp_35^post77, i_30^0'=i_30^post77, head_SLAM_f_26^0'=head_SLAM_f_26^post77, r_218^0'=r_218^post77, len_276^0'=len_276^post77, a_308^0'=a_308^post77, t_23^0'=t_23^post77, a_210^0'=a_210^post77, result_11^0'=result_11^post77, head_268^0'=head_268^post77, f_263^0'=f_263^post77, x_16^0'=x_16^post77, len_132^0'=len_132^post77, i_167^0'=i_167^post77, a_116^0'=a_116^post77, r_39^0'=r_39^post77, nondet_12^0'=nondet_12^post77, x_SLAM_f_18^0'=x_SLAM_f_18^post77, a_353^0'=a_353^post77, temp0_31^0'=temp0_31^post77, a_277^0'=a_277^post77, head_32^0'=head_32^post77, head_14^0'=head_14^post77, r_163^0'=r_163^post77, len_226^0'=len_226^post77, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post77, a_184^0'=a_184^post77, rcd_88^0'=rcd_88^post77, head_223^0'=head_223^post77, f_170^0'=f_170^post77, tmp_34^0'=tmp_34^post77, i_94^0'=i_94^post77, i_108^0'=i_108^post77, r_260^0'=r_260^post77, length_29^0'=length_29^post77, x_20^0'=x_20^post77, a_330^0'=a_330^post77, (0 == 0 /\ -result_11^post77+result_11^0 == 0 /\ -r_163^post77+r_163^0 == 0 /\ -length_29^post77+length_29^0 == 0 /\ -a_353^post77+a_353^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post77 == 0 /\ a_147^0-a_147^post77 == 0 /\ -i_108^post77+i_108^0 == 0 /\ i_30^0-i_30^post77 == 0 /\ -i_167^post77+i_167^0 == 0 /\ head_27^0-head_27^post77 == 0 /\ len_183^0-len_183^post77 == 0 /\ head_268^0-head_268^post77 == 0 /\ -x_16^post77+x_16^0 == 0 /\ -x_20^post77+x_20^0 == 0 /\ -a_330^post77+a_330^0 == 0 /\ -r_260^post77+r_260^0 == 0 /\ -tmp_34^post77+tmp_34^0 == 0 /\ -a_308^post77+a_308^0 == 0 /\ len_276^0-len_276^post77 == 0 /\ head_32^0-head_32^post77 == 0 /\ -f_170^post77+f_170^0 == 0 /\ -i_94^post77+i_94^0 == 0 /\ ct_17^0-ct_17^post77 == 0 /\ -a_184^post77+a_184^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post77 == 0 /\ -r_218^post77+r_218^0 == 0 /\ f_263^0-f_263^post77 == 0 /\ -head_223^post77+head_223^0 == 0 /\ head_175^0-head_175^post77 == 0 /\ -a_116^0 <= 0 /\ -nondet_12^post77+nondet_12^0 == 0 /\ t_23^0-t_23^post77 == 0 /\ a_241^0-a_241^post77 == 0 /\ a_210^0-a_210^post77 == 0 /\ len_132^0-len_132^post77 == 0 /\ temp0_31^0-temp0_31^post77 == 0 /\ temp0_15^0-temp0_15^post77 == 0 /\ -a_277^post77+a_277^0 == 0 /\ y_19^0-y_19^post77 == 0 /\ r_39^0-r_39^post77 == 0 /\ len_226^0-len_226^post77 == 0 /\ -a_116^post77+a_116^0 == 0 /\ rcd_58^0-rcd_58^post77 == 0 /\ -rcd_88^post77+rcd_88^0 == 0 /\ -temp_35^post77+temp_35^0 == 0), cost: 1 68: l46 -> l47 : temp0_15^0'=temp0_15^post68, a_241^0'=a_241^post68, head_27^0'=head_27^post68, head_129^0'=head_129^post68, r_124^0'=r_124^post68, len_183^0'=len_183^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68, a_147^0'=a_147^post68, rcd_58^0'=rcd_58^post68, head_175^0'=head_175^post68, y_19^0'=y_19^post68, ct_17^0'=ct_17^post68, temp_35^0'=temp_35^post68, i_30^0'=i_30^post68, head_SLAM_f_26^0'=head_SLAM_f_26^post68, r_218^0'=r_218^post68, len_276^0'=len_276^post68, a_308^0'=a_308^post68, t_23^0'=t_23^post68, a_210^0'=a_210^post68, result_11^0'=result_11^post68, head_268^0'=head_268^post68, f_263^0'=f_263^post68, x_16^0'=x_16^post68, len_132^0'=len_132^post68, i_167^0'=i_167^post68, a_116^0'=a_116^post68, r_39^0'=r_39^post68, nondet_12^0'=nondet_12^post68, x_SLAM_f_18^0'=x_SLAM_f_18^post68, a_353^0'=a_353^post68, temp0_31^0'=temp0_31^post68, a_277^0'=a_277^post68, head_32^0'=head_32^post68, head_14^0'=head_14^post68, r_163^0'=r_163^post68, len_226^0'=len_226^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, a_184^0'=a_184^post68, rcd_88^0'=rcd_88^post68, head_223^0'=head_223^post68, f_170^0'=f_170^post68, tmp_34^0'=tmp_34^post68, i_94^0'=i_94^post68, i_108^0'=i_108^post68, r_260^0'=r_260^post68, length_29^0'=length_29^post68, x_20^0'=x_20^post68, a_330^0'=a_330^post68, (-head_175^post68+head_175^0 == 0 /\ -t_23^post68+t_23^0 == 0 /\ -tmp_34^post68+tmp_34^0 == 0 /\ -i_30^post68+i_30^0 == 0 /\ -length_29^post68+length_29^0 == 0 /\ -x_SLAM_f_18^post68+x_SLAM_f_18^0 == 0 /\ -a_308^post68+a_308^0 == 0 /\ -head_14^post68+head_14^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ temp0_15^0-temp0_15^post68 == 0 /\ -i_108^post68+i_108^0 == 0 /\ -a_116^post68+a_116^0 == 0 /\ head_32^0-head_32^post68 == 0 /\ -head_223^post68+head_223^0 == 0 /\ rcd_58^0-rcd_58^post68 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68 == 0 /\ nondet_12^0-nondet_12^post68 == 0 /\ head_129^0-head_129^post68 == 0 /\ -x_20^post68+x_20^0 == 0 /\ head_268^0-head_268^post68 == 0 /\ -a_184^post68+a_184^0 == 0 /\ -a_330^post68+a_330^0 == 0 /\ a_241^0-a_241^post68 == 0 /\ -r_218^post68+r_218^0 == 0 /\ x_16^0-x_16^post68 == 0 /\ temp0_31^0-temp0_31^post68 == 0 /\ y_19^0-y_19^post68 == 0 /\ 1-head_14^0 <= 0 /\ -i_167^post68+i_167^0 == 0 /\ head_27^0-head_27^post68 == 0 /\ -r_163^post68+r_163^0 == 0 /\ len_276^0-len_276^post68 == 0 /\ -f_170^post68+f_170^0 == 0 /\ -r_260^post68+r_260^0 == 0 /\ len_132^0-len_132^post68 == 0 /\ -a_353^post68+a_353^0 == 0 /\ -r_39^post68+r_39^0 == 0 /\ -len_226^post68+len_226^0 == 0 /\ ct_17^0-ct_17^post68 == 0 /\ len_183^0-len_183^post68 == 0 /\ a_277^0-a_277^post68 == 0 /\ f_263^0-f_263^post68 == 0 /\ -rcd_88^post68+rcd_88^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post68 == 0 /\ -i_94^post68+i_94^0 == 0 /\ temp_35^0-temp_35^post68 == 0 /\ a_210^0-a_210^post68 == 0 /\ -r_124^post68+r_124^0 == 0 /\ -result_11^post68+result_11^0 == 0 /\ a_147^0-a_147^post68 == 0), cost: 1 69: l46 -> l47 : temp0_15^0'=temp0_15^post69, a_241^0'=a_241^post69, head_27^0'=head_27^post69, head_129^0'=head_129^post69, r_124^0'=r_124^post69, len_183^0'=len_183^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69, a_147^0'=a_147^post69, rcd_58^0'=rcd_58^post69, head_175^0'=head_175^post69, y_19^0'=y_19^post69, ct_17^0'=ct_17^post69, temp_35^0'=temp_35^post69, i_30^0'=i_30^post69, head_SLAM_f_26^0'=head_SLAM_f_26^post69, r_218^0'=r_218^post69, len_276^0'=len_276^post69, a_308^0'=a_308^post69, t_23^0'=t_23^post69, a_210^0'=a_210^post69, result_11^0'=result_11^post69, head_268^0'=head_268^post69, f_263^0'=f_263^post69, x_16^0'=x_16^post69, len_132^0'=len_132^post69, i_167^0'=i_167^post69, a_116^0'=a_116^post69, r_39^0'=r_39^post69, nondet_12^0'=nondet_12^post69, x_SLAM_f_18^0'=x_SLAM_f_18^post69, a_353^0'=a_353^post69, temp0_31^0'=temp0_31^post69, a_277^0'=a_277^post69, head_32^0'=head_32^post69, head_14^0'=head_14^post69, r_163^0'=r_163^post69, len_226^0'=len_226^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, a_184^0'=a_184^post69, rcd_88^0'=rcd_88^post69, head_223^0'=head_223^post69, f_170^0'=f_170^post69, tmp_34^0'=tmp_34^post69, i_94^0'=i_94^post69, i_108^0'=i_108^post69, r_260^0'=r_260^post69, length_29^0'=length_29^post69, x_20^0'=x_20^post69, a_330^0'=a_330^post69, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post69+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_260^post69+r_260^0 == 0 /\ -x_SLAM_f_18^post69+x_SLAM_f_18^0 == 0 /\ t_23^0-t_23^post69 == 0 /\ -f_170^post69+f_170^0 == 0 /\ -head_14^post69+head_14^0 == 0 /\ y_19^0-y_19^post69 == 0 /\ -result_11^post69+result_11^0 == 0 /\ len_276^0-len_276^post69 == 0 /\ i_30^0-i_30^post69 == 0 /\ -len_226^post69+len_226^0 == 0 /\ ct_17^0-ct_17^post69 == 0 /\ -a_308^post69+a_308^0 == 0 /\ head_32^0-head_32^post69 == 0 /\ 1+head_14^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post69 == 0 /\ head_27^0-head_27^post69 == 0 /\ -r_218^post69+r_218^0 == 0 /\ -a_116^post69+a_116^0 == 0 /\ -i_94^post69+i_94^0 == 0 /\ a_147^0-a_147^post69 == 0 /\ len_183^0-len_183^post69 == 0 /\ -tmp_34^post69+tmp_34^0 == 0 /\ temp0_15^0-temp0_15^post69 == 0 /\ -r_163^post69+r_163^0 == 0 /\ head_175^0-head_175^post69 == 0 /\ -length_29^post69+length_29^0 == 0 /\ -temp_35^post69+temp_35^0 == 0 /\ temp0_31^0-temp0_31^post69 == 0 /\ -a_353^post69+a_353^0 == 0 /\ r_124^0-r_124^post69 == 0 /\ -a_277^post69+a_277^0 == 0 /\ -i_167^post69+i_167^0 == 0 /\ a_210^0-a_210^post69 == 0 /\ len_132^0-len_132^post69 == 0 /\ -head_223^post69+head_223^0 == 0 /\ f_263^0-f_263^post69 == 0 /\ rcd_58^0-rcd_58^post69 == 0 /\ -r_39^post69+r_39^0 == 0 /\ i_108^0-i_108^post69 == 0 /\ -rcd_88^post69+rcd_88^0 == 0 /\ -x_20^post69+x_20^0 == 0 /\ -a_184^post69+a_184^0 == 0 /\ head_129^0-head_129^post69 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69 == 0 /\ -a_330^post69+a_330^0 == 0 /\ head_268^0-head_268^post69 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ a_241^0-a_241^post69 == 0 /\ -x_16^post69+x_16^0 == 0), cost: 1 70: l47 -> l48 : temp0_15^0'=temp0_15^post70, a_241^0'=a_241^post70, head_27^0'=head_27^post70, head_129^0'=head_129^post70, r_124^0'=r_124^post70, len_183^0'=len_183^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70, a_147^0'=a_147^post70, rcd_58^0'=rcd_58^post70, head_175^0'=head_175^post70, y_19^0'=y_19^post70, ct_17^0'=ct_17^post70, temp_35^0'=temp_35^post70, i_30^0'=i_30^post70, head_SLAM_f_26^0'=head_SLAM_f_26^post70, r_218^0'=r_218^post70, len_276^0'=len_276^post70, a_308^0'=a_308^post70, t_23^0'=t_23^post70, a_210^0'=a_210^post70, result_11^0'=result_11^post70, head_268^0'=head_268^post70, f_263^0'=f_263^post70, x_16^0'=x_16^post70, len_132^0'=len_132^post70, i_167^0'=i_167^post70, a_116^0'=a_116^post70, r_39^0'=r_39^post70, nondet_12^0'=nondet_12^post70, x_SLAM_f_18^0'=x_SLAM_f_18^post70, a_353^0'=a_353^post70, temp0_31^0'=temp0_31^post70, a_277^0'=a_277^post70, head_32^0'=head_32^post70, head_14^0'=head_14^post70, r_163^0'=r_163^post70, len_226^0'=len_226^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, a_184^0'=a_184^post70, rcd_88^0'=rcd_88^post70, head_223^0'=head_223^post70, f_170^0'=f_170^post70, tmp_34^0'=tmp_34^post70, i_94^0'=i_94^post70, i_108^0'=i_108^post70, r_260^0'=r_260^post70, length_29^0'=length_29^post70, x_20^0'=x_20^post70, a_330^0'=a_330^post70, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ t_23^0-t_23^post70 == 0 /\ temp0_15^0-temp0_15^post70 == 0 /\ -len_226^post70+len_226^0 == 0 /\ tmp_34^0-tmp_34^post70 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70 == 0 /\ r_124^0-r_124^post70 == 0 /\ a_308^0-a_308^post70 == 0 /\ len_276^0-len_276^post70 == 0 /\ result_11^0-result_11^post70 == 0 /\ len_183^0-len_183^post70 == 0 /\ len_132^0-len_132^post70 == 0 /\ -f_263^post70+f_263^0 == 0 /\ ct_17^0-ct_17^post70 == 0 /\ i_30^0-i_30^post70 == 0 /\ f_170^0-f_170^post70 == 0 /\ -r_218^post70+r_218^0 == 0 /\ a_147^0-a_147^post70 == 0 /\ -rcd_88^post70+rcd_88^0 == 0 /\ a_184^0-a_184^post70 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_94^post70+i_94^0 == 0 /\ -r_163^post70+r_163^0 == 0 /\ -length_29^post70+length_29^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post70 == 0 /\ head_129^0-head_129^post70 == 0 /\ -a_353^post70+a_353^0 == 0 /\ head_268^0-head_268^post70 == 0 /\ -i_167^post70+i_167^0 == 0 /\ -head_223^post70+head_223^0 == 0 /\ -temp0_31^post70+temp0_31^0 == 0 /\ -a_277^post70+a_277^0 == 0 /\ head_175^0-head_175^post70 == 0 /\ a_241^0-a_241^post70 == 0 /\ head_32^0-head_32^post70 == 0 /\ -x_20^post70+x_20^0 == 0 /\ -a_210^post70+a_210^0 == 0 /\ -x_16^post70+x_16^0 == 0 /\ -len_132^0 <= 0 /\ -i_108^post70+i_108^0 == 0 /\ y_19^0-y_19^post70 == 0 /\ head_27^0-head_27^post70 == 0 /\ rcd_58^0-rcd_58^post70 == 0 /\ -a_330^post70+a_330^0 == 0 /\ a_116^0-a_116^post70 == 0 /\ -temp_35^post70+temp_35^0 == 0 /\ -nondet_12^post70+nondet_12^0 == 0), cost: 1 71: l48 -> l49 : temp0_15^0'=temp0_15^post71, a_241^0'=a_241^post71, head_27^0'=head_27^post71, head_129^0'=head_129^post71, r_124^0'=r_124^post71, len_183^0'=len_183^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71, a_147^0'=a_147^post71, rcd_58^0'=rcd_58^post71, head_175^0'=head_175^post71, y_19^0'=y_19^post71, ct_17^0'=ct_17^post71, temp_35^0'=temp_35^post71, i_30^0'=i_30^post71, head_SLAM_f_26^0'=head_SLAM_f_26^post71, r_218^0'=r_218^post71, len_276^0'=len_276^post71, a_308^0'=a_308^post71, t_23^0'=t_23^post71, a_210^0'=a_210^post71, result_11^0'=result_11^post71, head_268^0'=head_268^post71, f_263^0'=f_263^post71, x_16^0'=x_16^post71, len_132^0'=len_132^post71, i_167^0'=i_167^post71, a_116^0'=a_116^post71, r_39^0'=r_39^post71, nondet_12^0'=nondet_12^post71, x_SLAM_f_18^0'=x_SLAM_f_18^post71, a_353^0'=a_353^post71, temp0_31^0'=temp0_31^post71, a_277^0'=a_277^post71, head_32^0'=head_32^post71, head_14^0'=head_14^post71, r_163^0'=r_163^post71, len_226^0'=len_226^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, a_184^0'=a_184^post71, rcd_88^0'=rcd_88^post71, head_223^0'=head_223^post71, f_170^0'=f_170^post71, tmp_34^0'=tmp_34^post71, i_94^0'=i_94^post71, i_108^0'=i_108^post71, r_260^0'=r_260^post71, length_29^0'=length_29^post71, x_20^0'=x_20^post71, a_330^0'=a_330^post71, (a_308^0-a_308^post71 == 0 /\ a_241^0-a_241^post71 == 0 /\ a_184^0-a_184^post71 == 0 /\ len_132^0-len_132^post71 == 0 /\ -f_263^post71+f_263^0 == 0 /\ -head_223^post71+head_223^0 == 0 /\ tmp_34^0-tmp_34^post71 == 0 /\ -i_94^post71+i_94^0 == 0 /\ -nondet_12^post71+nondet_12^0 == 0 /\ t_23^0-t_23^post71 == 0 /\ -len_276^post71+len_276^0 == 0 /\ r_218^0-r_218^post71 == 0 /\ r_124^0-r_124^post71 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71 == 0 /\ head_129^0-head_129^post71 == 0 /\ -temp_35^post71+temp_35^0 == 0 /\ -length_29^post71+length_29^0 == 0 /\ -rcd_88^post71+rcd_88^0 == 0 /\ -a_277^post71+a_277^0 == 0 /\ head_175^0-head_175^post71 == 0 /\ -f_170^post71+f_170^0 == 0 /\ -a_210^post71+a_210^0 == 0 /\ -r_163^post71+r_163^0 == 0 /\ head_268^0-head_268^post71 == 0 /\ len_226^0-len_226^post71 == 0 /\ a_116^0-a_116^post71 == 0 /\ a_147^0-a_147^post71 == 0 /\ i_30^0-i_30^post71 == 0 /\ y_19^0-y_19^post71 == 0 /\ -x_20^post71+x_20^0 == 0 /\ rcd_58^0-rcd_58^post71 == 0 /\ -i_108^post71+i_108^0 == 0 /\ -x_16^post71+x_16^0 == 0 /\ a_353^0-a_353^post71 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post71+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ r_39^0-r_39^post71 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post71 == 0 /\ -head_14^post71+head_14^0 == 0 /\ -len_183^post71+len_183^0 == 0 /\ -a_330^post71+a_330^0 == 0 /\ -head_SLAM_f_26^post71+head_SLAM_f_26^0 == 0 /\ 1-head_27^0 <= 0 /\ temp0_15^0-temp0_15^post71 == 0 /\ result_11^0-result_11^post71 == 0 /\ ct_17^0-ct_17^post71 == 0 /\ -head_27^post71+head_27^0 == 0 /\ -r_260^post71+r_260^0 == 0 /\ head_32^0-head_32^post71 == 0 /\ temp0_31^0-temp0_31^post71 == 0 /\ -i_167^post71+i_167^0 == 0), cost: 1 72: l48 -> l49 : temp0_15^0'=temp0_15^post72, a_241^0'=a_241^post72, head_27^0'=head_27^post72, head_129^0'=head_129^post72, r_124^0'=r_124^post72, len_183^0'=len_183^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72, a_147^0'=a_147^post72, rcd_58^0'=rcd_58^post72, head_175^0'=head_175^post72, y_19^0'=y_19^post72, ct_17^0'=ct_17^post72, temp_35^0'=temp_35^post72, i_30^0'=i_30^post72, head_SLAM_f_26^0'=head_SLAM_f_26^post72, r_218^0'=r_218^post72, len_276^0'=len_276^post72, a_308^0'=a_308^post72, t_23^0'=t_23^post72, a_210^0'=a_210^post72, result_11^0'=result_11^post72, head_268^0'=head_268^post72, f_263^0'=f_263^post72, x_16^0'=x_16^post72, len_132^0'=len_132^post72, i_167^0'=i_167^post72, a_116^0'=a_116^post72, r_39^0'=r_39^post72, nondet_12^0'=nondet_12^post72, x_SLAM_f_18^0'=x_SLAM_f_18^post72, a_353^0'=a_353^post72, temp0_31^0'=temp0_31^post72, a_277^0'=a_277^post72, head_32^0'=head_32^post72, head_14^0'=head_14^post72, r_163^0'=r_163^post72, len_226^0'=len_226^post72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post72, a_184^0'=a_184^post72, rcd_88^0'=rcd_88^post72, head_223^0'=head_223^post72, f_170^0'=f_170^post72, tmp_34^0'=tmp_34^post72, i_94^0'=i_94^post72, i_108^0'=i_108^post72, r_260^0'=r_260^post72, length_29^0'=length_29^post72, x_20^0'=x_20^post72, a_330^0'=a_330^post72, (-rcd_88^post72+rcd_88^0 == 0 /\ -f_263^post72+f_263^0 == 0 /\ -head_32^post72+head_32^0 == 0 /\ a_116^0-a_116^post72 == 0 /\ r_124^0-r_124^post72 == 0 /\ -len_276^post72+len_276^0 == 0 /\ head_175^0-head_175^post72 == 0 /\ 1+head_27^0 <= 0 /\ r_218^0-r_218^post72 == 0 /\ -i_94^post72+i_94^0 == 0 /\ -nondet_12^post72+nondet_12^0 == 0 /\ -a_330^post72+a_330^0 == 0 /\ r_39^0-r_39^post72 == 0 /\ -a_184^post72+a_184^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post72 == 0 /\ head_27^0-head_27^post72 == 0 /\ -temp_35^post72+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post72+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_16^0-x_16^post72 == 0 /\ -temp0_31^post72+temp0_31^0 == 0 /\ a_241^0-a_241^post72 == 0 /\ -a_277^post72+a_277^0 == 0 /\ temp0_15^0-temp0_15^post72 == 0 /\ -a_210^post72+a_210^0 == 0 /\ -f_170^post72+f_170^0 == 0 /\ result_11^0-result_11^post72 == 0 /\ -length_29^post72+length_29^0 == 0 /\ head_223^0-head_223^post72 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72 == 0 /\ head_129^0-head_129^post72 == 0 /\ len_226^0-len_226^post72 == 0 /\ a_308^0-a_308^post72 == 0 /\ -len_132^post72+len_132^0 == 0 /\ a_147^0-a_147^post72 == 0 /\ i_30^0-i_30^post72 == 0 /\ a_353^0-a_353^post72 == 0 /\ -rcd_58^post72+rcd_58^0 == 0 /\ -x_20^post72+x_20^0 == 0 /\ -len_183^post72+len_183^0 == 0 /\ -head_268^post72+head_268^0 == 0 /\ t_23^0-t_23^post72 == 0 /\ -i_108^post72+i_108^0 == 0 /\ y_19^0-y_19^post72 == 0 /\ -head_14^post72+head_14^0 == 0 /\ -tmp_34^post72+tmp_34^0 == 0 /\ -r_163^post72+r_163^0 == 0 /\ -r_260^post72+r_260^0 == 0 /\ -head_SLAM_f_26^post72+head_SLAM_f_26^0 == 0 /\ -i_167^post72+i_167^0 == 0 /\ ct_17^0-ct_17^post72 == 0), cost: 1 73: l49 -> l50 : temp0_15^0'=temp0_15^post73, a_241^0'=a_241^post73, head_27^0'=head_27^post73, head_129^0'=head_129^post73, r_124^0'=r_124^post73, len_183^0'=len_183^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73, a_147^0'=a_147^post73, rcd_58^0'=rcd_58^post73, head_175^0'=head_175^post73, y_19^0'=y_19^post73, ct_17^0'=ct_17^post73, temp_35^0'=temp_35^post73, i_30^0'=i_30^post73, head_SLAM_f_26^0'=head_SLAM_f_26^post73, r_218^0'=r_218^post73, len_276^0'=len_276^post73, a_308^0'=a_308^post73, t_23^0'=t_23^post73, a_210^0'=a_210^post73, result_11^0'=result_11^post73, head_268^0'=head_268^post73, f_263^0'=f_263^post73, x_16^0'=x_16^post73, len_132^0'=len_132^post73, i_167^0'=i_167^post73, a_116^0'=a_116^post73, r_39^0'=r_39^post73, nondet_12^0'=nondet_12^post73, x_SLAM_f_18^0'=x_SLAM_f_18^post73, a_353^0'=a_353^post73, temp0_31^0'=temp0_31^post73, a_277^0'=a_277^post73, head_32^0'=head_32^post73, head_14^0'=head_14^post73, r_163^0'=r_163^post73, len_226^0'=len_226^post73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post73, a_184^0'=a_184^post73, rcd_88^0'=rcd_88^post73, head_223^0'=head_223^post73, f_170^0'=f_170^post73, tmp_34^0'=tmp_34^post73, i_94^0'=i_94^post73, i_108^0'=i_108^post73, r_260^0'=r_260^post73, length_29^0'=length_29^post73, x_20^0'=x_20^post73, a_330^0'=a_330^post73, (0 == 0 /\ -head_32^post73+head_32^0 == 0 /\ i_30^0-i_30^post73 == 0 /\ -len_132^post73+len_132^0 == 0 /\ head_27^0-head_27^post73 == 0 /\ -len_276^post73+len_276^0 == 0 /\ head_223^0-head_223^post73 == 0 /\ -a_330^post73+a_330^0 == 0 /\ head_14^0-head_14^post73 == 0 /\ -r_260^post73+r_260^0 == 0 /\ -head_268^post73+head_268^0 == 0 /\ x_16^0-x_16^post73 == 0 /\ -i_94^post73+i_94^0 == 0 /\ -f_170^post73+f_170^0 == 0 /\ -length_29^post73+length_29^0 == 0 /\ a_116^0-a_116^post73 == 0 /\ len_183^0-len_183^post73 == 0 /\ rcd_88^0-rcd_88^post73 == 0 /\ -r_39^post73+r_39^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post73 == 0 /\ -r_163^post73+r_163^0 == 0 /\ temp0_15^0-temp0_15^post73 == 0 /\ -y_19^post73+y_19^0 == 0 /\ 1-len_226^0 <= 0 /\ -1+len_226^0 <= 0 /\ -a_277^post73+a_277^0 == 0 /\ temp_35^0-temp_35^post73 == 0 /\ -x_20^post73+x_20^0 == 0 /\ r_124^0-r_124^post73 == 0 /\ result_11^0-result_11^post73 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ -ct_17^post73+ct_17^0 == 0 /\ head_175^0-head_175^post73 == 0 /\ a_241^0-a_210^post73 <= 0 /\ r_218^0-r_218^post73 == 0 /\ -tmp_34^post73+tmp_34^0 == 0 /\ -nondet_12^post73+nondet_12^0 == 0 /\ rcd_58^0-rcd_58^post73 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post73+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_18^post73+x_SLAM_f_18^0 == 0 /\ a_308^0-a_308^post73 == 0 /\ -i_108^post73+i_108^0 == 0 /\ -a_184^post73+a_184^0 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ -a_241^0+a_210^post73 <= 0 /\ -a_353^post73+a_353^0 == 0 /\ -a_147^post73+a_147^0 == 0 /\ -len_226^post73+len_226^0 == 0 /\ a_241^0-a_241^post73 == 0 /\ -temp0_31^post73+temp0_31^0 == 0 /\ -f_263^post73+f_263^0 == 0 /\ i_167^0-i_167^post73 == 0 /\ t_23^0-t_23^post73 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73 == 0 /\ head_129^0-head_129^post73 == 0), cost: 1 74: l50 -> l51 : temp0_15^0'=temp0_15^post74, a_241^0'=a_241^post74, head_27^0'=head_27^post74, head_129^0'=head_129^post74, r_124^0'=r_124^post74, len_183^0'=len_183^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post74, a_147^0'=a_147^post74, rcd_58^0'=rcd_58^post74, head_175^0'=head_175^post74, y_19^0'=y_19^post74, ct_17^0'=ct_17^post74, temp_35^0'=temp_35^post74, i_30^0'=i_30^post74, head_SLAM_f_26^0'=head_SLAM_f_26^post74, r_218^0'=r_218^post74, len_276^0'=len_276^post74, a_308^0'=a_308^post74, t_23^0'=t_23^post74, a_210^0'=a_210^post74, result_11^0'=result_11^post74, head_268^0'=head_268^post74, f_263^0'=f_263^post74, x_16^0'=x_16^post74, len_132^0'=len_132^post74, i_167^0'=i_167^post74, a_116^0'=a_116^post74, r_39^0'=r_39^post74, nondet_12^0'=nondet_12^post74, x_SLAM_f_18^0'=x_SLAM_f_18^post74, a_353^0'=a_353^post74, temp0_31^0'=temp0_31^post74, a_277^0'=a_277^post74, head_32^0'=head_32^post74, head_14^0'=head_14^post74, r_163^0'=r_163^post74, len_226^0'=len_226^post74, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post74, a_184^0'=a_184^post74, rcd_88^0'=rcd_88^post74, head_223^0'=head_223^post74, f_170^0'=f_170^post74, tmp_34^0'=tmp_34^post74, i_94^0'=i_94^post74, i_108^0'=i_108^post74, r_260^0'=r_260^post74, length_29^0'=length_29^post74, x_20^0'=x_20^post74, a_330^0'=a_330^post74, (f_263^0-f_263^post74 == 0 /\ len_183^0-len_183^post74 == 0 /\ -len_132^post74+len_132^0 == 0 /\ -x_20^post74+x_20^0 == 0 /\ -i_108^post74+i_108^0 == 0 /\ -head_32^post74+head_32^0 == 0 /\ r_163^0-r_163^post74 == 0 /\ a_241^0-a_241^post74 == 0 /\ -tmp_34^post74+tmp_34^0 == 0 /\ temp_35^0-temp_35^post74 == 0 /\ head_268^0-head_268^post74 == 0 /\ rcd_88^0-rcd_88^post74 == 0 /\ -result_11^post74+result_11^0 == 0 /\ r_124^0-r_124^post74 == 0 /\ -a_116^post74+a_116^0 == 0 /\ -r_260^post74+r_260^0 == 0 /\ r_218^0-r_218^post74 == 0 /\ -r_39^post74+r_39^0 == 0 /\ -head_223^post74+head_223^0 == 0 /\ i_30^0-i_30^post74 == 0 /\ nondet_12^0-nondet_12^post74 == 0 /\ i_167^0-i_167^post74 == 0 /\ rcd_58^0-rcd_58^post74 == 0 /\ -a_308^post74+a_308^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post74 == 0 /\ 1-head_14^0 <= 0 /\ -a_330^post74+a_330^0 == 0 /\ a_210^0-a_210^post74 == 0 /\ -a_184^post74+a_184^0 == 0 /\ -head_14^post74+head_14^0 == 0 /\ a_147^0-a_147^post74 == 0 /\ head_129^0-head_129^post74 == 0 /\ -head_175^post74+head_175^0 == 0 /\ x_16^0-x_16^post74 == 0 /\ -i_94^post74+i_94^0 == 0 /\ y_19^0-y_19^post74 == 0 /\ -a_353^post74+a_353^0 == 0 /\ -x_SLAM_f_18^post74+x_SLAM_f_18^0 == 0 /\ -len_226^post74+len_226^0 == 0 /\ head_27^0-head_27^post74 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post74+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -f_170^post74+f_170^0 == 0 /\ len_276^0-len_276^post74 == 0 /\ a_277^0-a_277^post74 == 0 /\ -length_29^post74+length_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post74+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -t_23^post74+t_23^0 == 0 /\ temp0_15^0-temp0_15^post74 == 0 /\ -temp0_31^post74+temp0_31^0 == 0 /\ ct_17^0-ct_17^post74 == 0), cost: 1 75: l50 -> l51 : temp0_15^0'=temp0_15^post75, a_241^0'=a_241^post75, head_27^0'=head_27^post75, head_129^0'=head_129^post75, r_124^0'=r_124^post75, len_183^0'=len_183^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post75, a_147^0'=a_147^post75, rcd_58^0'=rcd_58^post75, head_175^0'=head_175^post75, y_19^0'=y_19^post75, ct_17^0'=ct_17^post75, temp_35^0'=temp_35^post75, i_30^0'=i_30^post75, head_SLAM_f_26^0'=head_SLAM_f_26^post75, r_218^0'=r_218^post75, len_276^0'=len_276^post75, a_308^0'=a_308^post75, t_23^0'=t_23^post75, a_210^0'=a_210^post75, result_11^0'=result_11^post75, head_268^0'=head_268^post75, f_263^0'=f_263^post75, x_16^0'=x_16^post75, len_132^0'=len_132^post75, i_167^0'=i_167^post75, a_116^0'=a_116^post75, r_39^0'=r_39^post75, nondet_12^0'=nondet_12^post75, x_SLAM_f_18^0'=x_SLAM_f_18^post75, a_353^0'=a_353^post75, temp0_31^0'=temp0_31^post75, a_277^0'=a_277^post75, head_32^0'=head_32^post75, head_14^0'=head_14^post75, r_163^0'=r_163^post75, len_226^0'=len_226^post75, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post75, a_184^0'=a_184^post75, rcd_88^0'=rcd_88^post75, head_223^0'=head_223^post75, f_170^0'=f_170^post75, tmp_34^0'=tmp_34^post75, i_94^0'=i_94^post75, i_108^0'=i_108^post75, r_260^0'=r_260^post75, length_29^0'=length_29^post75, x_20^0'=x_20^post75, a_330^0'=a_330^post75, (rcd_58^0-rcd_58^post75 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post75 == 0 /\ f_263^0-f_263^post75 == 0 /\ -tmp_34^post75+tmp_34^0 == 0 /\ head_129^0-head_129^post75 == 0 /\ a_147^0-a_147^post75 == 0 /\ -len_132^post75+len_132^0 == 0 /\ -length_29^post75+length_29^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post75 == 0 /\ -r_39^post75+r_39^0 == 0 /\ -i_108^post75+i_108^0 == 0 /\ y_19^0-y_19^post75 == 0 /\ -head_223^post75+head_223^0 == 0 /\ -a_184^post75+a_184^0 == 0 /\ temp0_31^0-temp0_31^post75 == 0 /\ head_268^0-head_268^post75 == 0 /\ 1+head_14^0 <= 0 /\ -a_116^post75+a_116^0 == 0 /\ head_27^0-head_27^post75 == 0 /\ -r_218^post75+r_218^0 == 0 /\ nondet_12^0-nondet_12^post75 == 0 /\ head_32^0-head_32^post75 == 0 /\ temp0_15^0-temp0_15^post75 == 0 /\ -result_11^post75+result_11^0 == 0 /\ -i_30^post75+i_30^0 == 0 /\ -x_20^post75+x_20^0 == 0 /\ x_16^0-x_16^post75 == 0 /\ len_183^0-len_183^post75 == 0 /\ -a_330^post75+a_330^0 == 0 /\ -i_167^post75+i_167^0 == 0 /\ r_163^0-r_163^post75 == 0 /\ -x_SLAM_f_18^post75+x_SLAM_f_18^0 == 0 /\ len_276^0-len_276^post75 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post75 == 0 /\ -a_308^post75+a_308^0 == 0 /\ -head_14^post75+head_14^0 == 0 /\ a_210^0-a_210^post75 == 0 /\ a_241^0-a_241^post75 == 0 /\ -rcd_88^post75+rcd_88^0 == 0 /\ -f_170^post75+f_170^0 == 0 /\ -r_260^post75+r_260^0 == 0 /\ temp_35^0-temp_35^post75 == 0 /\ -a_353^post75+a_353^0 == 0 /\ -len_226^post75+len_226^0 == 0 /\ ct_17^0-ct_17^post75 == 0 /\ a_277^0-a_277^post75 == 0 /\ r_124^0-r_124^post75 == 0 /\ head_175^0-head_175^post75 == 0 /\ -i_94^post75+i_94^0 == 0 /\ -t_23^post75+t_23^0 == 0), cost: 1 76: l51 -> l4 : temp0_15^0'=temp0_15^post76, a_241^0'=a_241^post76, head_27^0'=head_27^post76, head_129^0'=head_129^post76, r_124^0'=r_124^post76, len_183^0'=len_183^post76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post76, a_147^0'=a_147^post76, rcd_58^0'=rcd_58^post76, head_175^0'=head_175^post76, y_19^0'=y_19^post76, ct_17^0'=ct_17^post76, temp_35^0'=temp_35^post76, i_30^0'=i_30^post76, head_SLAM_f_26^0'=head_SLAM_f_26^post76, r_218^0'=r_218^post76, len_276^0'=len_276^post76, a_308^0'=a_308^post76, t_23^0'=t_23^post76, a_210^0'=a_210^post76, result_11^0'=result_11^post76, head_268^0'=head_268^post76, f_263^0'=f_263^post76, x_16^0'=x_16^post76, len_132^0'=len_132^post76, i_167^0'=i_167^post76, a_116^0'=a_116^post76, r_39^0'=r_39^post76, nondet_12^0'=nondet_12^post76, x_SLAM_f_18^0'=x_SLAM_f_18^post76, a_353^0'=a_353^post76, temp0_31^0'=temp0_31^post76, a_277^0'=a_277^post76, head_32^0'=head_32^post76, head_14^0'=head_14^post76, r_163^0'=r_163^post76, len_226^0'=len_226^post76, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post76, a_184^0'=a_184^post76, rcd_88^0'=rcd_88^post76, head_223^0'=head_223^post76, f_170^0'=f_170^post76, tmp_34^0'=tmp_34^post76, i_94^0'=i_94^post76, i_108^0'=i_108^post76, r_260^0'=r_260^post76, length_29^0'=length_29^post76, x_20^0'=x_20^post76, a_330^0'=a_330^post76, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_SLAM_f_18^post76+x_SLAM_f_18^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post76 == 0 /\ -a_353^post76+a_353^0 == 0 /\ -tmp_34^post76+tmp_34^0 == 0 /\ head_129^0-head_129^post76 == 0 /\ -length_29^post76+length_29^0 == 0 /\ -head_14^post76+head_14^0 == 0 /\ head_268^0-head_268^post76 == 0 /\ -a_277^post76+a_277^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post76 == 0 /\ -i_30^post76+i_30^0 == 0 /\ -head_223^post76+head_223^0 == 0 /\ -i_108^post76+i_108^0 == 0 /\ -a_308^post76+a_308^0 == 0 /\ a_241^0-a_241^post76 == 0 /\ -a_184^post76+a_184^0 == 0 /\ -x_20^post76+x_20^0 == 0 /\ i_167^0-i_167^post76 == 0 /\ temp0_31^0-temp0_31^post76 == 0 /\ temp0_15^0-temp0_15^post76 == 0 /\ rcd_58^0-rcd_58^post76 == 0 /\ -a_330^post76+a_330^0 == 0 /\ y_19^0-y_19^post76 == 0 /\ -x_16^post76+x_16^0 == 0 /\ len_276^0-len_276^post76 == 0 /\ -head_175^post76+head_175^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+a_210^0-len_132^post76 <= 0 /\ ct_17^0-ct_17^post76 == 0 /\ r_163^0-r_163^post76 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post76 == 0 /\ -len_226^post76+len_226^0 == 0 /\ -f_170^post76+f_170^0 == 0 /\ len_183^0-len_183^post76 == 0 /\ head_27^0-head_27^post76 == 0 /\ -r_260^post76+r_260^0 == 0 /\ a_210^0-a_210^post76 == 0 /\ -rcd_88^post76+rcd_88^0 == 0 /\ -r_218^post76+r_218^0 == 0 /\ -r_39^post76+r_39^0 == 0 /\ -i_94^post76+i_94^0 == 0 /\ f_263^0-f_263^post76 == 0 /\ t_23^0-t_23^post76 == 0 /\ -result_11^post76+result_11^0 == 0 /\ -nondet_12^post76+nondet_12^0 == 0 /\ temp_35^0-temp_35^post76 == 0 /\ -r_124^post76+r_124^0 == 0 /\ -a_116^post76+a_116^0 == 0 /\ a_147^0-a_147^post76 == 0 /\ -head_32^post76+head_32^0 == 0 /\ -1-a_210^0+len_132^post76 <= 0), cost: 1 78: l52 -> l53 : temp0_15^0'=temp0_15^post78, a_241^0'=a_241^post78, head_27^0'=head_27^post78, head_129^0'=head_129^post78, r_124^0'=r_124^post78, len_183^0'=len_183^post78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post78, a_147^0'=a_147^post78, rcd_58^0'=rcd_58^post78, head_175^0'=head_175^post78, y_19^0'=y_19^post78, ct_17^0'=ct_17^post78, temp_35^0'=temp_35^post78, i_30^0'=i_30^post78, head_SLAM_f_26^0'=head_SLAM_f_26^post78, r_218^0'=r_218^post78, len_276^0'=len_276^post78, a_308^0'=a_308^post78, t_23^0'=t_23^post78, a_210^0'=a_210^post78, result_11^0'=result_11^post78, head_268^0'=head_268^post78, f_263^0'=f_263^post78, x_16^0'=x_16^post78, len_132^0'=len_132^post78, i_167^0'=i_167^post78, a_116^0'=a_116^post78, r_39^0'=r_39^post78, nondet_12^0'=nondet_12^post78, x_SLAM_f_18^0'=x_SLAM_f_18^post78, a_353^0'=a_353^post78, temp0_31^0'=temp0_31^post78, a_277^0'=a_277^post78, head_32^0'=head_32^post78, head_14^0'=head_14^post78, r_163^0'=r_163^post78, len_226^0'=len_226^post78, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post78, a_184^0'=a_184^post78, rcd_88^0'=rcd_88^post78, head_223^0'=head_223^post78, f_170^0'=f_170^post78, tmp_34^0'=tmp_34^post78, i_94^0'=i_94^post78, i_108^0'=i_108^post78, r_260^0'=r_260^post78, length_29^0'=length_29^post78, x_20^0'=x_20^post78, a_330^0'=a_330^post78, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post78 == 0 /\ -head_32^post78+head_32^0 == 0 /\ -i_108^post78+i_108^0 == 0 /\ a_116^0-a_116^post78 == 0 /\ result_11^0-result_11^post78 == 0 /\ len_183^0-len_183^post78 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post78 == 0 /\ a_308^0-a_308^post78 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post78+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ r_218^0-r_218^post78 == 0 /\ r_124^0-r_124^post78 == 0 /\ -a_330^post78+a_330^0 == 0 /\ -x_16^post78+x_16^0 == 0 /\ a_184^0-a_184^post78 == 0 /\ -len_276^post78+len_276^0 == 0 /\ t_23^0-t_23^post78 == 0 /\ -temp0_31^post78+temp0_31^0 == 0 /\ len_132^0-len_132^post78 == 0 /\ r_39^0-r_39^post78 == 0 /\ -tmp_34^post78+tmp_34^0 == 0 /\ -f_170^post78+f_170^0 == 0 /\ -r_163^post78+r_163^0 == 0 /\ a_353^0-a_353^post78 == 0 /\ -length_29^post78+length_29^0 == 0 /\ -len_226^post78+len_226^0 == 0 /\ head_129^0-head_129^post78 == 0 /\ -i_94^post78+i_94^0 == 0 /\ i_30^0-i_30^post78 == 0 /\ a_147^0-a_147^post78 == 0 /\ head_175^0-head_175^post78 == 0 /\ -f_263^post78+f_263^0 == 0 /\ -head_223^post78+head_223^0 == 0 /\ -x_20^post78+x_20^0 == 0 /\ head_268^0-head_268^post78 == 0 /\ -nondet_12^post78+nondet_12^0 == 0 /\ -i_167^post78+i_167^0 == 0 /\ -head_SLAM_f_26^post78+head_SLAM_f_26^0 == 0 /\ -temp_35^post78+temp_35^0 == 0 /\ -a_277^post78+a_277^0 == 0 /\ 1-head_27^0 <= 0 /\ a_241^0-a_241^post78 == 0 /\ -head_27^post78+head_27^0 == 0 /\ ct_17^0-ct_17^post78 == 0 /\ temp0_15^0-temp0_15^post78 == 0 /\ -rcd_88^post78+rcd_88^0 == 0 /\ y_19^0-y_19^post78 == 0 /\ rcd_58^0-rcd_58^post78 == 0 /\ -a_210^post78+a_210^0 == 0 /\ -head_14^post78+head_14^0 == 0 /\ -r_260^post78+r_260^0 == 0), cost: 1 79: l52 -> l53 : temp0_15^0'=temp0_15^post79, a_241^0'=a_241^post79, head_27^0'=head_27^post79, head_129^0'=head_129^post79, r_124^0'=r_124^post79, len_183^0'=len_183^post79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post79, a_147^0'=a_147^post79, rcd_58^0'=rcd_58^post79, head_175^0'=head_175^post79, y_19^0'=y_19^post79, ct_17^0'=ct_17^post79, temp_35^0'=temp_35^post79, i_30^0'=i_30^post79, head_SLAM_f_26^0'=head_SLAM_f_26^post79, r_218^0'=r_218^post79, len_276^0'=len_276^post79, a_308^0'=a_308^post79, t_23^0'=t_23^post79, a_210^0'=a_210^post79, result_11^0'=result_11^post79, head_268^0'=head_268^post79, f_263^0'=f_263^post79, x_16^0'=x_16^post79, len_132^0'=len_132^post79, i_167^0'=i_167^post79, a_116^0'=a_116^post79, r_39^0'=r_39^post79, nondet_12^0'=nondet_12^post79, x_SLAM_f_18^0'=x_SLAM_f_18^post79, a_353^0'=a_353^post79, temp0_31^0'=temp0_31^post79, a_277^0'=a_277^post79, head_32^0'=head_32^post79, head_14^0'=head_14^post79, r_163^0'=r_163^post79, len_226^0'=len_226^post79, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post79, a_184^0'=a_184^post79, rcd_88^0'=rcd_88^post79, head_223^0'=head_223^post79, f_170^0'=f_170^post79, tmp_34^0'=tmp_34^post79, i_94^0'=i_94^post79, i_108^0'=i_108^post79, r_260^0'=r_260^post79, length_29^0'=length_29^post79, x_20^0'=x_20^post79, a_330^0'=a_330^post79, (i_30^0-i_30^post79 == 0 /\ -head_32^post79+head_32^0 == 0 /\ 1+head_27^0 <= 0 /\ x_16^0-x_16^post79 == 0 /\ len_183^0-len_183^post79 == 0 /\ -len_276^post79+len_276^0 == 0 /\ i_167^0-i_167^post79 == 0 /\ -head_268^post79+head_268^0 == 0 /\ head_223^0-head_223^post79 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post79+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_27^0-head_27^post79 == 0 /\ -a_330^post79+a_330^0 == 0 /\ -tmp_34^post79+tmp_34^0 == 0 /\ -temp0_31^post79+temp0_31^0 == 0 /\ -r_163^post79+r_163^0 == 0 /\ rcd_88^0-rcd_88^post79 == 0 /\ -x_SLAM_f_18^post79+x_SLAM_f_18^0 == 0 /\ f_263^0-f_263^post79 == 0 /\ -f_170^post79+f_170^0 == 0 /\ -len_132^post79+len_132^0 == 0 /\ -length_29^post79+length_29^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post79 == 0 /\ r_124^0-r_124^post79 == 0 /\ -i_108^post79+i_108^0 == 0 /\ -a_116^post79+a_116^0 == 0 /\ temp_35^0-temp_35^post79 == 0 /\ head_129^0-head_129^post79 == 0 /\ -r_39^post79+r_39^0 == 0 /\ -ct_17^post79+ct_17^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post79+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ result_11^0-result_11^post79 == 0 /\ head_175^0-head_175^post79 == 0 /\ -nondet_12^post79+nondet_12^0 == 0 /\ r_218^0-r_218^post79 == 0 /\ -a_184^post79+a_184^0 == 0 /\ -x_20^post79+x_20^0 == 0 /\ a_308^0-a_308^post79 == 0 /\ i_94^0-i_94^post79 == 0 /\ a_241^0-a_241^post79 == 0 /\ a_210^0-a_210^post79 == 0 /\ -a_277^post79+a_277^0 == 0 /\ y_19^0-y_19^post79 == 0 /\ temp0_15^0-temp0_15^post79 == 0 /\ rcd_58^0-rcd_58^post79 == 0 /\ t_23^0-t_23^post79 == 0 /\ -a_353^post79+a_353^0 == 0 /\ head_14^0-head_14^post79 == 0 /\ -len_226^post79+len_226^0 == 0 /\ -a_147^post79+a_147^0 == 0 /\ -r_260^post79+r_260^0 == 0), cost: 1 80: l53 -> l54 : temp0_15^0'=temp0_15^post80, a_241^0'=a_241^post80, head_27^0'=head_27^post80, head_129^0'=head_129^post80, r_124^0'=r_124^post80, len_183^0'=len_183^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post80, a_147^0'=a_147^post80, rcd_58^0'=rcd_58^post80, head_175^0'=head_175^post80, y_19^0'=y_19^post80, ct_17^0'=ct_17^post80, temp_35^0'=temp_35^post80, i_30^0'=i_30^post80, head_SLAM_f_26^0'=head_SLAM_f_26^post80, r_218^0'=r_218^post80, len_276^0'=len_276^post80, a_308^0'=a_308^post80, t_23^0'=t_23^post80, a_210^0'=a_210^post80, result_11^0'=result_11^post80, head_268^0'=head_268^post80, f_263^0'=f_263^post80, x_16^0'=x_16^post80, len_132^0'=len_132^post80, i_167^0'=i_167^post80, a_116^0'=a_116^post80, r_39^0'=r_39^post80, nondet_12^0'=nondet_12^post80, x_SLAM_f_18^0'=x_SLAM_f_18^post80, a_353^0'=a_353^post80, temp0_31^0'=temp0_31^post80, a_277^0'=a_277^post80, head_32^0'=head_32^post80, head_14^0'=head_14^post80, r_163^0'=r_163^post80, len_226^0'=len_226^post80, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post80, a_184^0'=a_184^post80, rcd_88^0'=rcd_88^post80, head_223^0'=head_223^post80, f_170^0'=f_170^post80, tmp_34^0'=tmp_34^post80, i_94^0'=i_94^post80, i_108^0'=i_108^post80, r_260^0'=r_260^post80, length_29^0'=length_29^post80, x_20^0'=x_20^post80, a_330^0'=a_330^post80, (-len_132^post80+len_132^0 == 0 /\ temp_35^0-temp_35^post80 == 0 /\ len_183^0-len_183^post80 == 0 /\ -result_11^post80+result_11^0 == 0 /\ -a_184^post80+a_184^0 == 0 /\ a_241^0-a_241^post80 == 0 /\ r_163^0-r_163^post80 == 0 /\ r_218^0-r_218^post80 == 0 /\ -head_32^post80+head_32^0 == 0 /\ i_167^0-i_167^post80 == 0 /\ f_263^0-f_263^post80 == 0 /\ head_268^0-head_268^post80 == 0 /\ -x_SLAM_f_18^post80+x_SLAM_f_18^0 == 0 /\ -tmp_34^post80+tmp_34^0 == 0 /\ r_124^0-r_124^post80 == 0 /\ rcd_88^0-rcd_88^post80 == 0 /\ -f_170^post80+f_170^0 == 0 /\ a_210^0-a_210^post80 == 0 /\ -length_29^post80+length_29^0 == 0 /\ -i_30^post80+i_30^0 == 0 /\ -temp0_31^post80+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post80 == 0 /\ -a_308^post80+a_308^0 == 0 /\ rcd_58^0-rcd_58^post80 == 0 /\ a_147^0-a_147^post80 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ -x_20^post80+x_20^0 == 0 /\ -head_223^post80+head_223^0 == 0 /\ x_16^0-x_16^post80 == 0 /\ -i_108^post80+i_108^0 == 0 /\ a_277^0-a_277^post80 == 0 /\ -head_175^post80+head_175^0 == 0 /\ -i_94^post80+i_94^0 == 0 /\ r_260^0-r_260^post80 == 0 /\ -a_330^post80+a_330^0 == 0 /\ -a_116^post80+a_116^0 == 0 /\ y_19^0-y_19^post80 == 0 /\ head_129^0-head_129^post80 == 0 /\ len_276^0-len_276^post80 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_27^0-head_27^post80 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post80+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ -a_353^post80+a_353^0 == 0 /\ -t_23^post80+t_23^0 == 0 /\ -len_226^post80+len_226^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post80 == 0 /\ -r_39^post80+r_39^0 == 0 /\ ct_17^0-ct_17^post80 == 0 /\ head_14^0-head_14^post80 == 0 /\ temp0_15^0-temp0_15^post80 == 0), cost: 1 81: l54 -> l55 : temp0_15^0'=temp0_15^post81, a_241^0'=a_241^post81, head_27^0'=head_27^post81, head_129^0'=head_129^post81, r_124^0'=r_124^post81, len_183^0'=len_183^post81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post81, a_147^0'=a_147^post81, rcd_58^0'=rcd_58^post81, head_175^0'=head_175^post81, y_19^0'=y_19^post81, ct_17^0'=ct_17^post81, temp_35^0'=temp_35^post81, i_30^0'=i_30^post81, head_SLAM_f_26^0'=head_SLAM_f_26^post81, r_218^0'=r_218^post81, len_276^0'=len_276^post81, a_308^0'=a_308^post81, t_23^0'=t_23^post81, a_210^0'=a_210^post81, result_11^0'=result_11^post81, head_268^0'=head_268^post81, f_263^0'=f_263^post81, x_16^0'=x_16^post81, len_132^0'=len_132^post81, i_167^0'=i_167^post81, a_116^0'=a_116^post81, r_39^0'=r_39^post81, nondet_12^0'=nondet_12^post81, x_SLAM_f_18^0'=x_SLAM_f_18^post81, a_353^0'=a_353^post81, temp0_31^0'=temp0_31^post81, a_277^0'=a_277^post81, head_32^0'=head_32^post81, head_14^0'=head_14^post81, r_163^0'=r_163^post81, len_226^0'=len_226^post81, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post81, a_184^0'=a_184^post81, rcd_88^0'=rcd_88^post81, head_223^0'=head_223^post81, f_170^0'=f_170^post81, tmp_34^0'=tmp_34^post81, i_94^0'=i_94^post81, i_108^0'=i_108^post81, r_260^0'=r_260^post81, length_29^0'=length_29^post81, x_20^0'=x_20^post81, a_330^0'=a_330^post81, (rcd_58^0-rcd_58^post81 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post81 == 0 /\ f_263^0-f_263^post81 == 0 /\ r_218^0-r_218^post81 == 0 /\ -a_184^post81+a_184^0 == 0 /\ -tmp_34^post81+tmp_34^0 == 0 /\ -a_308^post81+a_308^0 == 0 /\ temp_35^0-temp_35^post81 == 0 /\ -rcd_88^post81+rcd_88^0 == 0 /\ head_129^0-head_129^post81 == 0 /\ -i_94^post81+i_94^0 == 0 /\ i_167^0-i_167^post81 == 0 /\ temp0_31^0-temp0_31^post81 == 0 /\ -result_11^post81+result_11^0 == 0 /\ -f_170^post81+f_170^0 == 0 /\ -a_353^post81+a_353^0 == 0 /\ -len_226^post81+len_226^0 == 0 /\ head_27^0-head_27^post81 == 0 /\ -length_29^post81+length_29^0 == 0 /\ a_210^0-a_210^post81 == 0 /\ -r_39^post81+r_39^0 == 0 /\ -ct_17^post81+ct_17^0 == 0 /\ i_30^0-i_30^post81 == 0 /\ -head_223^post81+head_223^0 == 0 /\ temp0_15^0-temp0_15^post81 == 0 /\ -t_23^post81+t_23^0 == 0 /\ -head_175^post81+head_175^0 == 0 /\ len_183^0-len_183^post81 == 0 /\ -x_20^post81+x_20^0 == 0 /\ 1-head_14^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post81 == 0 /\ -head_268^post81+head_268^0 == 0 /\ -a_330^post81+a_330^0 == 0 /\ nondet_12^0-nondet_12^post81 == 0 /\ -r_124^post81+r_124^0 == 0 /\ -len_132^post81+len_132^0 == 0 /\ a_147^0-a_147^post81 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post81 == 0 /\ -x_SLAM_f_18^post81+x_SLAM_f_18^0 == 0 /\ -head_14^post81+head_14^0 == 0 /\ -a_241^post81+a_241^0 == 0 /\ x_16^0-x_16^post81 == 0 /\ y_19^0-y_19^post81 == 0 /\ -head_32^post81+head_32^0 == 0 /\ a_277^0-a_277^post81 == 0 /\ -a_116^post81+a_116^0 == 0 /\ -r_260^post81+r_260^0 == 0 /\ r_163^0-r_163^post81 == 0 /\ len_276^0-len_276^post81 == 0 /\ i_108^0-i_108^post81 == 0), cost: 1 82: l54 -> l55 : temp0_15^0'=temp0_15^post82, a_241^0'=a_241^post82, head_27^0'=head_27^post82, head_129^0'=head_129^post82, r_124^0'=r_124^post82, len_183^0'=len_183^post82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post82, a_147^0'=a_147^post82, rcd_58^0'=rcd_58^post82, head_175^0'=head_175^post82, y_19^0'=y_19^post82, ct_17^0'=ct_17^post82, temp_35^0'=temp_35^post82, i_30^0'=i_30^post82, head_SLAM_f_26^0'=head_SLAM_f_26^post82, r_218^0'=r_218^post82, len_276^0'=len_276^post82, a_308^0'=a_308^post82, t_23^0'=t_23^post82, a_210^0'=a_210^post82, result_11^0'=result_11^post82, head_268^0'=head_268^post82, f_263^0'=f_263^post82, x_16^0'=x_16^post82, len_132^0'=len_132^post82, i_167^0'=i_167^post82, a_116^0'=a_116^post82, r_39^0'=r_39^post82, nondet_12^0'=nondet_12^post82, x_SLAM_f_18^0'=x_SLAM_f_18^post82, a_353^0'=a_353^post82, temp0_31^0'=temp0_31^post82, a_277^0'=a_277^post82, head_32^0'=head_32^post82, head_14^0'=head_14^post82, r_163^0'=r_163^post82, len_226^0'=len_226^post82, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post82, a_184^0'=a_184^post82, rcd_88^0'=rcd_88^post82, head_223^0'=head_223^post82, f_170^0'=f_170^post82, tmp_34^0'=tmp_34^post82, i_94^0'=i_94^post82, i_108^0'=i_108^post82, r_260^0'=r_260^post82, length_29^0'=length_29^post82, x_20^0'=x_20^post82, a_330^0'=a_330^post82, (head_SLAM_f_26^0-head_SLAM_f_26^post82 == 0 /\ f_263^0-f_263^post82 == 0 /\ nondet_12^0-nondet_12^post82 == 0 /\ -a_353^post82+a_353^0 == 0 /\ head_129^0-head_129^post82 == 0 /\ -length_29^post82+length_29^0 == 0 /\ head_268^0-head_268^post82 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post82 == 0 /\ -a_308^post82+a_308^0 == 0 /\ a_147^0-a_147^post82 == 0 /\ temp0_15^0-temp0_15^post82 == 0 /\ a_241^0-a_241^post82 == 0 /\ i_167^0-i_167^post82 == 0 /\ temp0_31^0-temp0_31^post82 == 0 /\ y_19^0-y_19^post82 == 0 /\ 1+head_14^0 <= 0 /\ rcd_58^0-rcd_58^post82 == 0 /\ -r_39^post82+r_39^0 == 0 /\ -result_11^post82+result_11^0 == 0 /\ -x_20^post82+x_20^0 == 0 /\ len_276^0-len_276^post82 == 0 /\ -a_330^post82+a_330^0 == 0 /\ -i_108^post82+i_108^0 == 0 /\ -x_16^post82+x_16^0 == 0 /\ -a_184^post82+a_184^0 == 0 /\ ct_17^0-ct_17^post82 == 0 /\ -t_23^post82+t_23^0 == 0 /\ -r_260^post82+r_260^0 == 0 /\ -i_30^post82+i_30^0 == 0 /\ r_163^0-r_163^post82 == 0 /\ -f_170^post82+f_170^0 == 0 /\ -tmp_34^post82+tmp_34^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post82 == 0 /\ -x_SLAM_f_18^post82+x_SLAM_f_18^0 == 0 /\ -head_14^post82+head_14^0 == 0 /\ temp_35^0-temp_35^post82 == 0 /\ -len_226^post82+len_226^0 == 0 /\ head_27^0-head_27^post82 == 0 /\ len_183^0-len_183^post82 == 0 /\ a_210^0-a_210^post82 == 0 /\ len_132^0-len_132^post82 == 0 /\ -head_32^post82+head_32^0 == 0 /\ a_277^0-a_277^post82 == 0 /\ -head_223^post82+head_223^0 == 0 /\ head_175^0-head_175^post82 == 0 /\ -rcd_88^post82+rcd_88^0 == 0 /\ -i_94^post82+i_94^0 == 0 /\ -r_124^post82+r_124^0 == 0 /\ -a_116^post82+a_116^0 == 0 /\ -r_218^post82+r_218^0 == 0), cost: 1 83: l55 -> l56 : temp0_15^0'=temp0_15^post83, a_241^0'=a_241^post83, head_27^0'=head_27^post83, head_129^0'=head_129^post83, r_124^0'=r_124^post83, len_183^0'=len_183^post83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83, a_147^0'=a_147^post83, rcd_58^0'=rcd_58^post83, head_175^0'=head_175^post83, y_19^0'=y_19^post83, ct_17^0'=ct_17^post83, temp_35^0'=temp_35^post83, i_30^0'=i_30^post83, head_SLAM_f_26^0'=head_SLAM_f_26^post83, r_218^0'=r_218^post83, len_276^0'=len_276^post83, a_308^0'=a_308^post83, t_23^0'=t_23^post83, a_210^0'=a_210^post83, result_11^0'=result_11^post83, head_268^0'=head_268^post83, f_263^0'=f_263^post83, x_16^0'=x_16^post83, len_132^0'=len_132^post83, i_167^0'=i_167^post83, a_116^0'=a_116^post83, r_39^0'=r_39^post83, nondet_12^0'=nondet_12^post83, x_SLAM_f_18^0'=x_SLAM_f_18^post83, a_353^0'=a_353^post83, temp0_31^0'=temp0_31^post83, a_277^0'=a_277^post83, head_32^0'=head_32^post83, head_14^0'=head_14^post83, r_163^0'=r_163^post83, len_226^0'=len_226^post83, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post83, a_184^0'=a_184^post83, rcd_88^0'=rcd_88^post83, head_223^0'=head_223^post83, f_170^0'=f_170^post83, tmp_34^0'=tmp_34^post83, i_94^0'=i_94^post83, i_108^0'=i_108^post83, r_260^0'=r_260^post83, length_29^0'=length_29^post83, x_20^0'=x_20^post83, a_330^0'=a_330^post83, (len_132^0-len_132^post83 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post83 == 0 /\ -length_29^post83+length_29^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post83+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_58^0-rcd_58^post83 == 0 /\ head_268^0-head_268^post83 == 0 /\ -a_353^post83+a_353^0 == 0 /\ y_19^0-y_19^post83 == 0 /\ head_27^0-head_27^post83 == 0 /\ a_147^0-a_147^post83 == 0 /\ -r_163^post83+r_163^0 == 0 /\ -a_277^post83+a_277^0 == 0 /\ -i_167^post83+i_167^0 == 0 /\ len_183^0-len_183^post83 == 0 /\ tmp_34^0-tmp_34^post83 == 0 /\ -a_210^post83+a_210^0 == 0 /\ -x_16^post83+x_16^0 == 0 /\ -a_308^post83+a_308^0 == 0 /\ -result_11^post83+result_11^0 == 0 /\ -x_20^post83+x_20^0 == 0 /\ r_124^0-r_124^post83 == 0 /\ -a_330^post83+a_330^0 == 0 /\ -i_108^post83+i_108^0 == 0 /\ -a_184^post83+a_184^0 == 0 /\ len_276^0-len_276^post83 == 0 /\ head_32^0-head_32^post83 == 0 /\ -r_260^post83+r_260^0 == 0 /\ r_39^0-r_39^post83 == 0 /\ -f_170^post83+f_170^0 == 0 /\ -head_14^post83+head_14^0 == 0 /\ f_263^0-f_263^post83 == 0 /\ ct_17^0-ct_17^post83 == 0 /\ -head_223^post83+head_223^0 == 0 /\ temp_35^0-temp_35^post83 == 0 /\ -i_30^post83+i_30^0 == 0 /\ temp0_15^0-temp0_15^post83 == 0 /\ t_23^0-t_23^post83 == 0 /\ a_241^0-a_241^post83 == 0 /\ -rcd_88^post83+rcd_88^0 == 0 /\ temp0_31^0-temp0_31^post83 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post83 == 0 /\ 1-head_129^0 <= 0 /\ -r_218^post83+r_218^0 == 0 /\ -head_129^post83+head_129^0 == 0 /\ -i_94^post83+i_94^0 == 0 /\ -nondet_12^post83+nondet_12^0 == 0 /\ -a_116^post83+a_116^0 == 0 /\ len_226^0-len_226^post83 == 0 /\ head_175^0-head_175^post83 == 0), cost: 1 84: l55 -> l56 : temp0_15^0'=temp0_15^post84, a_241^0'=a_241^post84, head_27^0'=head_27^post84, head_129^0'=head_129^post84, r_124^0'=r_124^post84, len_183^0'=len_183^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, a_147^0'=a_147^post84, rcd_58^0'=rcd_58^post84, head_175^0'=head_175^post84, y_19^0'=y_19^post84, ct_17^0'=ct_17^post84, temp_35^0'=temp_35^post84, i_30^0'=i_30^post84, head_SLAM_f_26^0'=head_SLAM_f_26^post84, r_218^0'=r_218^post84, len_276^0'=len_276^post84, a_308^0'=a_308^post84, t_23^0'=t_23^post84, a_210^0'=a_210^post84, result_11^0'=result_11^post84, head_268^0'=head_268^post84, f_263^0'=f_263^post84, x_16^0'=x_16^post84, len_132^0'=len_132^post84, i_167^0'=i_167^post84, a_116^0'=a_116^post84, r_39^0'=r_39^post84, nondet_12^0'=nondet_12^post84, x_SLAM_f_18^0'=x_SLAM_f_18^post84, a_353^0'=a_353^post84, temp0_31^0'=temp0_31^post84, a_277^0'=a_277^post84, head_32^0'=head_32^post84, head_14^0'=head_14^post84, r_163^0'=r_163^post84, len_226^0'=len_226^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, a_184^0'=a_184^post84, rcd_88^0'=rcd_88^post84, head_223^0'=head_223^post84, f_170^0'=f_170^post84, tmp_34^0'=tmp_34^post84, i_94^0'=i_94^post84, i_108^0'=i_108^post84, r_260^0'=r_260^post84, length_29^0'=length_29^post84, x_20^0'=x_20^post84, a_330^0'=a_330^post84, (head_175^0-head_175^post84 == 0 /\ a_241^0-a_241^post84 == 0 /\ 1+head_129^0 <= 0 /\ -r_260^post84+r_260^0 == 0 /\ temp0_15^0-temp0_15^post84 == 0 /\ a_308^0-a_308^post84 == 0 /\ r_124^0-r_124^post84 == 0 /\ result_11^0-result_11^post84 == 0 /\ len_132^0-len_132^post84 == 0 /\ f_170^0-f_170^post84 == 0 /\ head_129^0-head_129^post84 == 0 /\ -nondet_12^post84+nondet_12^0 == 0 /\ r_39^0-r_39^post84 == 0 /\ -head_14^post84+head_14^0 == 0 /\ -head_268^post84+head_268^0 == 0 /\ a_184^0-a_184^post84 == 0 /\ -tmp_34^post84+tmp_34^0 == 0 /\ -i_94^post84+i_94^0 == 0 /\ -r_163^post84+r_163^0 == 0 /\ -a_353^post84+a_353^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post84 == 0 /\ y_19^0-y_19^post84 == 0 /\ -length_29^post84+length_29^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84 == 0 /\ t_23^0-t_23^post84 == 0 /\ i_30^0-i_30^post84 == 0 /\ len_226^0-len_226^post84 == 0 /\ -head_223^post84+head_223^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post84+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_167^post84+i_167^0 == 0 /\ -f_263^post84+f_263^0 == 0 /\ -head_SLAM_f_26^post84+head_SLAM_f_26^0 == 0 /\ -temp0_31^post84+temp0_31^0 == 0 /\ head_32^0-head_32^post84 == 0 /\ -a_210^post84+a_210^0 == 0 /\ -rcd_88^post84+rcd_88^0 == 0 /\ -a_277^post84+a_277^0 == 0 /\ r_218^0-r_218^post84 == 0 /\ -x_20^post84+x_20^0 == 0 /\ ct_17^0-ct_17^post84 == 0 /\ temp_35^0-temp_35^post84 == 0 /\ -len_183^post84+len_183^0 == 0 /\ a_116^0-a_116^post84 == 0 /\ a_147^0-a_147^post84 == 0 /\ -rcd_58^post84+rcd_58^0 == 0 /\ -a_330^post84+a_330^0 == 0 /\ -x_16^post84+x_16^0 == 0 /\ -i_108^post84+i_108^0 == 0 /\ -len_276^post84+len_276^0 == 0 /\ head_27^0-head_27^post84 == 0), cost: 1 85: l56 -> l36 : temp0_15^0'=temp0_15^post85, a_241^0'=a_241^post85, head_27^0'=head_27^post85, head_129^0'=head_129^post85, r_124^0'=r_124^post85, len_183^0'=len_183^post85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post85, a_147^0'=a_147^post85, rcd_58^0'=rcd_58^post85, head_175^0'=head_175^post85, y_19^0'=y_19^post85, ct_17^0'=ct_17^post85, temp_35^0'=temp_35^post85, i_30^0'=i_30^post85, head_SLAM_f_26^0'=head_SLAM_f_26^post85, r_218^0'=r_218^post85, len_276^0'=len_276^post85, a_308^0'=a_308^post85, t_23^0'=t_23^post85, a_210^0'=a_210^post85, result_11^0'=result_11^post85, head_268^0'=head_268^post85, f_263^0'=f_263^post85, x_16^0'=x_16^post85, len_132^0'=len_132^post85, i_167^0'=i_167^post85, a_116^0'=a_116^post85, r_39^0'=r_39^post85, nondet_12^0'=nondet_12^post85, x_SLAM_f_18^0'=x_SLAM_f_18^post85, a_353^0'=a_353^post85, temp0_31^0'=temp0_31^post85, a_277^0'=a_277^post85, head_32^0'=head_32^post85, head_14^0'=head_14^post85, r_163^0'=r_163^post85, len_226^0'=len_226^post85, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post85, a_184^0'=a_184^post85, rcd_88^0'=rcd_88^post85, head_223^0'=head_223^post85, f_170^0'=f_170^post85, tmp_34^0'=tmp_34^post85, i_94^0'=i_94^post85, i_108^0'=i_108^post85, r_260^0'=r_260^post85, length_29^0'=length_29^post85, x_20^0'=x_20^post85, a_330^0'=a_330^post85, (2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -f_170^post85+f_170^0 == 0 /\ head_129^0-head_129^post85 == 0 /\ -r_260^post85+r_260^0 == 0 /\ -len_226^post85+len_226^0 == 0 /\ head_175^0-head_175^post85 == 0 /\ head_223^0-head_223^post85 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post85+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_353^0-a_353^post85 == 0 /\ -head_268^post85+head_268^0 == 0 /\ a_241^0-a_241^post85 == 0 /\ -head_SLAM_f_26^post85+head_SLAM_f_26^0 == 0 /\ -len_132^post85+len_132^0 == 0 /\ a_116^0-a_116^post85 == 0 /\ -head_14^post85+head_14^0 == 0 /\ -head_32^post85+head_32^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -tmp_34^post85+tmp_34^0 == 0 /\ head_27^0-head_27^post85 == 0 /\ len_183^0-len_183^post85 == 0 /\ -i_94^post85+i_94^0 == 0 /\ -length_29^post85+length_29^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post85 == 0 /\ t_23^0-t_23^post85 == 0 /\ x_16^0-x_16^post85 == 0 /\ -r_163^post85+r_163^0 == 0 /\ temp0_15^0-temp0_15^post85 == 0 /\ i_167^0-i_167^post85 == 0 /\ -y_19^post85+y_19^0 == 0 /\ a_308^0-a_308^post85 == 0 /\ -r_39^post85+r_39^0 == 0 /\ r_124^0-r_124^post85 == 0 /\ result_11^0-result_11^post85 == 0 /\ -temp0_31^post85+temp0_31^0 == 0 /\ -f_263^post85+f_263^0 == 0 /\ -len_276^post85+len_276^0 == 0 /\ a_210^0-a_210^post85 == 0 /\ -a_277^post85+a_277^0 == 0 /\ temp_35^0-temp_35^post85 == 0 /\ -x_20^post85+x_20^0 == 0 /\ i_30^0-i_30^post85 == 0 /\ a_147^0-a_147^post85 == 0 /\ ct_17^0-ct_17^post85 == 0 /\ -a_330^post85+a_330^0 == 0 /\ -rcd_88^post85+rcd_88^0 == 0 /\ -a_184^post85+a_184^0 == 0 /\ -i_108^post85+i_108^0 == 0 /\ -x_SLAM_f_18^post85+x_SLAM_f_18^0 == 0 /\ -nondet_12^post85+nondet_12^0 == 0 /\ -rcd_58^post85+rcd_58^0 == 0 /\ r_218^0-r_218^post85 == 0), cost: 1 86: l57 -> l58 : temp0_15^0'=temp0_15^post86, a_241^0'=a_241^post86, head_27^0'=head_27^post86, head_129^0'=head_129^post86, r_124^0'=r_124^post86, len_183^0'=len_183^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post86, a_147^0'=a_147^post86, rcd_58^0'=rcd_58^post86, head_175^0'=head_175^post86, y_19^0'=y_19^post86, ct_17^0'=ct_17^post86, temp_35^0'=temp_35^post86, i_30^0'=i_30^post86, head_SLAM_f_26^0'=head_SLAM_f_26^post86, r_218^0'=r_218^post86, len_276^0'=len_276^post86, a_308^0'=a_308^post86, t_23^0'=t_23^post86, a_210^0'=a_210^post86, result_11^0'=result_11^post86, head_268^0'=head_268^post86, f_263^0'=f_263^post86, x_16^0'=x_16^post86, len_132^0'=len_132^post86, i_167^0'=i_167^post86, a_116^0'=a_116^post86, r_39^0'=r_39^post86, nondet_12^0'=nondet_12^post86, x_SLAM_f_18^0'=x_SLAM_f_18^post86, a_353^0'=a_353^post86, temp0_31^0'=temp0_31^post86, a_277^0'=a_277^post86, head_32^0'=head_32^post86, head_14^0'=head_14^post86, r_163^0'=r_163^post86, len_226^0'=len_226^post86, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post86, a_184^0'=a_184^post86, rcd_88^0'=rcd_88^post86, head_223^0'=head_223^post86, f_170^0'=f_170^post86, tmp_34^0'=tmp_34^post86, i_94^0'=i_94^post86, i_108^0'=i_108^post86, r_260^0'=r_260^post86, length_29^0'=length_29^post86, x_20^0'=x_20^post86, a_330^0'=a_330^post86, (0 == 0 /\ head_27^0-head_27^post86 == 0 /\ a_116^0-a_116^post86 == 0 /\ -f_263^post86+f_263^0 == 0 /\ x_16^0-x_16^post86 == 0 /\ rcd_88^0-rcd_88^post86 == 0 /\ head_223^0-head_223^post86 == 0 /\ -nondet_12^post86+nondet_12^0 == 0 /\ len_183^0-len_183^post86 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post86 == 0 /\ -ct_17^post86+ct_17^0 == 0 /\ -x_20^post86+x_20^0 == 0 /\ len_276^0-len_276^post86 == 0 /\ -t_23^post86+t_23^0 == 0 /\ -head_32^post86+head_32^0 == 0 /\ result_11^0-result_11^post86 == 0 /\ temp_35^0-temp_35^post86 == 0 /\ -i_30^0 <= 0 /\ -tmp_34^post86+tmp_34^0 == 0 /\ a_147^0-a_147^post86 == 0 /\ i_30^0-i_30^post86 == 0 /\ -temp0_31^post86+temp0_31^0 == 0 /\ -len_226^post86+len_226^0 == 0 /\ -r_260^post86+r_260^0 == 0 /\ r_218^0-r_218^post86 == 0 /\ a_353^0-a_353^post86 == 0 /\ a_308^0-a_308^post86 == 0 /\ r_124^0-r_124^post86 == 0 /\ a_330^0-a_330^post86 == 0 /\ -len_132^post86+len_132^0 == 0 /\ -a_184^post86+a_184^0 == 0 /\ head_129^0-head_129^post86 == 0 /\ -a_210^post86+a_210^0 == 0 /\ temp0_15^0-temp0_15^post86 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post86+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_175^0-head_175^post86 == 0 /\ -head_268^post86+head_268^0 == 0 /\ i_167^0-i_167^post86 == 0 /\ a_241^0-a_241^post86 == 0 /\ i_94^0-i_94^post86 == 0 /\ -f_170^post86+f_170^0 == 0 /\ -length_29^post86+length_29^0 == 0 /\ y_19^0-y_19^post86 == 0 /\ -a_277^post86+a_277^0 == 0 /\ rcd_58^0-rcd_58^post86 == 0), cost: 1 87: l58 -> l59 : temp0_15^0'=temp0_15^post87, a_241^0'=a_241^post87, head_27^0'=head_27^post87, head_129^0'=head_129^post87, r_124^0'=r_124^post87, len_183^0'=len_183^post87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post87, a_147^0'=a_147^post87, rcd_58^0'=rcd_58^post87, head_175^0'=head_175^post87, y_19^0'=y_19^post87, ct_17^0'=ct_17^post87, temp_35^0'=temp_35^post87, i_30^0'=i_30^post87, head_SLAM_f_26^0'=head_SLAM_f_26^post87, r_218^0'=r_218^post87, len_276^0'=len_276^post87, a_308^0'=a_308^post87, t_23^0'=t_23^post87, a_210^0'=a_210^post87, result_11^0'=result_11^post87, head_268^0'=head_268^post87, f_263^0'=f_263^post87, x_16^0'=x_16^post87, len_132^0'=len_132^post87, i_167^0'=i_167^post87, a_116^0'=a_116^post87, r_39^0'=r_39^post87, nondet_12^0'=nondet_12^post87, x_SLAM_f_18^0'=x_SLAM_f_18^post87, a_353^0'=a_353^post87, temp0_31^0'=temp0_31^post87, a_277^0'=a_277^post87, head_32^0'=head_32^post87, head_14^0'=head_14^post87, r_163^0'=r_163^post87, len_226^0'=len_226^post87, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post87, a_184^0'=a_184^post87, rcd_88^0'=rcd_88^post87, head_223^0'=head_223^post87, f_170^0'=f_170^post87, tmp_34^0'=tmp_34^post87, i_94^0'=i_94^post87, i_108^0'=i_108^post87, r_260^0'=r_260^post87, length_29^0'=length_29^post87, x_20^0'=x_20^post87, a_330^0'=a_330^post87, (-a_308^post87+a_308^0 == 0 /\ rcd_88^0-rcd_88^post87 == 0 /\ -a_330^post87+a_330^0 == 0 /\ -a_184^post87+a_184^0 == 0 /\ a_353^0-a_353^post87 == 0 /\ r_163^0-r_163^post87 == 0 /\ -head_32^post87+head_32^0 == 0 /\ i_30^0-i_30^post87 == 0 /\ i_167^0-i_167^post87 == 0 /\ -i_94^post87+i_94^0 == 0 /\ x_16^0-x_16^post87 == 0 /\ -x_SLAM_f_18^post87+x_SLAM_f_18^0 == 0 /\ r_124^0-r_124^post87 == 0 /\ -length_29^post87+length_29^0 == 0 /\ -len_226^post87+len_226^0 == 0 /\ -t_23^post87+t_23^0 == 0 /\ len_183^0-len_183^post87 == 0 /\ len_276^0-len_276^post87 == 0 /\ -f_170^post87+f_170^0 == 0 /\ a_277^0-a_277^post87 == 0 /\ a_210^0-a_210^post87 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post87 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post87+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp0_31^post87+temp0_31^0 == 0 /\ f_263^0-f_263^post87 == 0 /\ temp_35^0-temp_35^post87 == 0 /\ -y_19^post87+y_19^0 == 0 /\ -ct_17^post87+ct_17^0 == 0 /\ -len_132^post87+len_132^0 == 0 /\ head_175^0-head_175^post87 == 0 /\ -x_20^post87+x_20^0 == 0 /\ r_260^0-r_260^post87 == 0 /\ r_218^0-r_218^post87 == 0 /\ -a_116^post87+a_116^0 == 0 /\ nondet_12^0-nondet_12^post87 == 0 /\ -head_268^post87+head_268^0 == 0 /\ -i_108^post87+i_108^0 == 0 /\ -tmp_34^post87+tmp_34^0 == 0 /\ head_27^0-head_27^post87 == 0 /\ rcd_58^0-rcd_58^post87 == 0 /\ result_11^0-result_11^post87 == 0 /\ 1-head_27^0 <= 0 /\ temp0_15^0-temp0_15^post87 == 0 /\ -r_39^post87+r_39^0 == 0 /\ -a_147^post87+a_147^0 == 0 /\ a_241^0-a_241^post87 == 0 /\ head_14^0-head_14^post87 == 0 /\ -head_223^post87+head_223^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post87 == 0 /\ head_129^0-head_129^post87 == 0), cost: 1 88: l58 -> l59 : temp0_15^0'=temp0_15^post88, a_241^0'=a_241^post88, head_27^0'=head_27^post88, head_129^0'=head_129^post88, r_124^0'=r_124^post88, len_183^0'=len_183^post88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post88, a_147^0'=a_147^post88, rcd_58^0'=rcd_58^post88, head_175^0'=head_175^post88, y_19^0'=y_19^post88, ct_17^0'=ct_17^post88, temp_35^0'=temp_35^post88, i_30^0'=i_30^post88, head_SLAM_f_26^0'=head_SLAM_f_26^post88, r_218^0'=r_218^post88, len_276^0'=len_276^post88, a_308^0'=a_308^post88, t_23^0'=t_23^post88, a_210^0'=a_210^post88, result_11^0'=result_11^post88, head_268^0'=head_268^post88, f_263^0'=f_263^post88, x_16^0'=x_16^post88, len_132^0'=len_132^post88, i_167^0'=i_167^post88, a_116^0'=a_116^post88, r_39^0'=r_39^post88, nondet_12^0'=nondet_12^post88, x_SLAM_f_18^0'=x_SLAM_f_18^post88, a_353^0'=a_353^post88, temp0_31^0'=temp0_31^post88, a_277^0'=a_277^post88, head_32^0'=head_32^post88, head_14^0'=head_14^post88, r_163^0'=r_163^post88, len_226^0'=len_226^post88, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post88, a_184^0'=a_184^post88, rcd_88^0'=rcd_88^post88, head_223^0'=head_223^post88, f_170^0'=f_170^post88, tmp_34^0'=tmp_34^post88, i_94^0'=i_94^post88, i_108^0'=i_108^post88, r_260^0'=r_260^post88, length_29^0'=length_29^post88, x_20^0'=x_20^post88, a_330^0'=a_330^post88, (i_167^0-i_167^post88 == 0 /\ -i_30^post88+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post88 == 0 /\ r_124^0-r_124^post88 == 0 /\ -a_330^post88+a_330^0 == 0 /\ 1+head_27^0 <= 0 /\ r_218^0-r_218^post88 == 0 /\ -head_175^post88+head_175^0 == 0 /\ -r_260^post88+r_260^0 == 0 /\ -x_SLAM_f_18^post88+x_SLAM_f_18^0 == 0 /\ -a_308^post88+a_308^0 == 0 /\ -f_170^post88+f_170^0 == 0 /\ -rcd_88^post88+rcd_88^0 == 0 /\ f_263^0-f_263^post88 == 0 /\ -a_353^post88+a_353^0 == 0 /\ rcd_58^0-rcd_58^post88 == 0 /\ -a_116^post88+a_116^0 == 0 /\ -len_226^post88+len_226^0 == 0 /\ -i_94^post88+i_94^0 == 0 /\ -head_32^post88+head_32^0 == 0 /\ a_241^0-a_241^post88 == 0 /\ a_210^0-a_210^post88 == 0 /\ head_129^0-head_129^post88 == 0 /\ -t_23^post88+t_23^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post88 == 0 /\ y_19^0-y_19^post88 == 0 /\ a_277^0-a_277^post88 == 0 /\ -head_268^post88+head_268^0 == 0 /\ -temp0_31^post88+temp0_31^0 == 0 /\ head_14^0-head_14^post88 == 0 /\ nondet_12^0-nondet_12^post88 == 0 /\ -tmp_34^post88+tmp_34^0 == 0 /\ -len_132^post88+len_132^0 == 0 /\ -length_29^post88+length_29^0 == 0 /\ -r_39^post88+r_39^0 == 0 /\ result_11^0-result_11^post88 == 0 /\ -a_184^post88+a_184^0 == 0 /\ len_183^0-len_183^post88 == 0 /\ -head_223^post88+head_223^0 == 0 /\ len_276^0-len_276^post88 == 0 /\ head_27^0-head_27^post88 == 0 /\ -i_108^post88+i_108^0 == 0 /\ r_163^0-r_163^post88 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post88 == 0 /\ temp0_15^0-temp0_15^post88 == 0 /\ ct_17^0-ct_17^post88 == 0 /\ a_147^0-a_147^post88 == 0 /\ x_16^0-x_16^post88 == 0 /\ temp_35^0-temp_35^post88 == 0 /\ -x_20^post88+x_20^0 == 0), cost: 1 89: l59 -> l60 : temp0_15^0'=temp0_15^post89, a_241^0'=a_241^post89, head_27^0'=head_27^post89, head_129^0'=head_129^post89, r_124^0'=r_124^post89, len_183^0'=len_183^post89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post89, a_147^0'=a_147^post89, rcd_58^0'=rcd_58^post89, head_175^0'=head_175^post89, y_19^0'=y_19^post89, ct_17^0'=ct_17^post89, temp_35^0'=temp_35^post89, i_30^0'=i_30^post89, head_SLAM_f_26^0'=head_SLAM_f_26^post89, r_218^0'=r_218^post89, len_276^0'=len_276^post89, a_308^0'=a_308^post89, t_23^0'=t_23^post89, a_210^0'=a_210^post89, result_11^0'=result_11^post89, head_268^0'=head_268^post89, f_263^0'=f_263^post89, x_16^0'=x_16^post89, len_132^0'=len_132^post89, i_167^0'=i_167^post89, a_116^0'=a_116^post89, r_39^0'=r_39^post89, nondet_12^0'=nondet_12^post89, x_SLAM_f_18^0'=x_SLAM_f_18^post89, a_353^0'=a_353^post89, temp0_31^0'=temp0_31^post89, a_277^0'=a_277^post89, head_32^0'=head_32^post89, head_14^0'=head_14^post89, r_163^0'=r_163^post89, len_226^0'=len_226^post89, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post89, a_184^0'=a_184^post89, rcd_88^0'=rcd_88^post89, head_223^0'=head_223^post89, f_170^0'=f_170^post89, tmp_34^0'=tmp_34^post89, i_94^0'=i_94^post89, i_108^0'=i_108^post89, r_260^0'=r_260^post89, length_29^0'=length_29^post89, x_20^0'=x_20^post89, a_330^0'=a_330^post89, (0 == 0 /\ -a_210^post89+a_210^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post89 == 0 /\ rcd_58^0-rcd_58^post89 == 0 /\ -i_167^post89+i_167^0 == 0 /\ -r_260^post89+r_260^0 == 0 /\ head_129^0-head_129^post89 == 0 /\ a_147^0-a_147^post89 == 0 /\ -f_170^post89+f_170^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post89 == 0 /\ -result_11^post89+result_11^0 == 0 /\ y_19^0-y_19^post89 == 0 /\ len_276^0-len_276^post89 == 0 /\ -i_94^post89+i_94^0 == 0 /\ head_27^0-head_27^post89 == 0 /\ head_32^0-head_32^post89 == 0 /\ f_263^0-f_263^post89 == 0 /\ r_39^0-r_39^post89 == 0 /\ ct_17^0-ct_17^post89 == 0 /\ -a_330^post89+a_330^0 == 0 /\ temp0_15^0-temp0_15^post89 == 0 /\ -nondet_12^post89+nondet_12^0 == 0 /\ -a_147^0+a_116^post89 <= 0 /\ len_183^0-len_183^post89 == 0 /\ -a_277^post89+a_277^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ -x_16^post89+x_16^0 == 0 /\ -i_30^post89+i_30^0 == 0 /\ -tmp_34^post89+tmp_34^0 == 0 /\ -head_14^post89+head_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post89 == 0 /\ -r_163^post89+r_163^0 == 0 /\ -rcd_88^post89+rcd_88^0 == 0 /\ -length_29^post89+length_29^0 == 0 /\ a_241^0-a_241^post89 == 0 /\ temp_35^0-temp_35^post89 == 0 /\ -x_SLAM_f_18^post89+x_SLAM_f_18^0 == 0 /\ -a_353^post89+a_353^0 == 0 /\ i_108^0-i_108^post89 == 0 /\ -len_226^post89+len_226^0 == 0 /\ temp0_31^0-temp0_31^post89 == 0 /\ -a_184^post89+a_184^0 == 0 /\ a_147^0-a_116^post89 <= 0 /\ -head_223^post89+head_223^0 == 0 /\ head_175^0-head_175^post89 == 0 /\ a_308^0-a_308^post89 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ r_124^0-r_124^post89 == 0 /\ head_268^0-head_268^post89 == 0 /\ t_23^0-t_23^post89 == 0 /\ len_132^0-len_132^post89 == 0 /\ -r_218^post89+r_218^0 == 0 /\ -x_20^post89+x_20^0 == 0 /\ 1-len_132^0 <= 0 /\ -1+len_132^0 <= 0), cost: 1 90: l60 -> l61 : temp0_15^0'=temp0_15^post90, a_241^0'=a_241^post90, head_27^0'=head_27^post90, head_129^0'=head_129^post90, r_124^0'=r_124^post90, len_183^0'=len_183^post90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90, a_147^0'=a_147^post90, rcd_58^0'=rcd_58^post90, head_175^0'=head_175^post90, y_19^0'=y_19^post90, ct_17^0'=ct_17^post90, temp_35^0'=temp_35^post90, i_30^0'=i_30^post90, head_SLAM_f_26^0'=head_SLAM_f_26^post90, r_218^0'=r_218^post90, len_276^0'=len_276^post90, a_308^0'=a_308^post90, t_23^0'=t_23^post90, a_210^0'=a_210^post90, result_11^0'=result_11^post90, head_268^0'=head_268^post90, f_263^0'=f_263^post90, x_16^0'=x_16^post90, len_132^0'=len_132^post90, i_167^0'=i_167^post90, a_116^0'=a_116^post90, r_39^0'=r_39^post90, nondet_12^0'=nondet_12^post90, x_SLAM_f_18^0'=x_SLAM_f_18^post90, a_353^0'=a_353^post90, temp0_31^0'=temp0_31^post90, a_277^0'=a_277^post90, head_32^0'=head_32^post90, head_14^0'=head_14^post90, r_163^0'=r_163^post90, len_226^0'=len_226^post90, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post90, a_184^0'=a_184^post90, rcd_88^0'=rcd_88^post90, head_223^0'=head_223^post90, f_170^0'=f_170^post90, tmp_34^0'=tmp_34^post90, i_94^0'=i_94^post90, i_108^0'=i_108^post90, r_260^0'=r_260^post90, length_29^0'=length_29^post90, x_20^0'=x_20^post90, a_330^0'=a_330^post90, (len_183^0-len_183^post90 == 0 /\ -i_167^post90+i_167^0 == 0 /\ temp0_15^0-temp0_15^post90 == 0 /\ -tmp_34^post90+tmp_34^0 == 0 /\ -head_SLAM_f_26^post90+head_SLAM_f_26^0 == 0 /\ t_23^0-t_23^post90 == 0 /\ r_218^0-r_218^post90 == 0 /\ -a_277^post90+a_277^0 == 0 /\ len_276^0-len_276^post90 == 0 /\ -length_29^post90+length_29^0 == 0 /\ -temp_35^post90+temp_35^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90 == 0 /\ -a_210^post90+a_210^0 == 0 /\ a_241^0-a_241^post90 == 0 /\ ct_17^0-ct_17^post90 == 0 /\ head_175^0-head_175^post90 == 0 /\ -head_223^post90+head_223^0 == 0 /\ r_124^0-r_124^post90 == 0 /\ -nondet_12^post90+nondet_12^0 == 0 /\ -result_11^post90+result_11^0 == 0 /\ -x_20^post90+x_20^0 == 0 /\ -a_184^post90+a_184^0 == 0 /\ -i_108^post90+i_108^0 == 0 /\ i_30^0-i_30^post90 == 0 /\ -head_14^post90+head_14^0 == 0 /\ -a_330^post90+a_330^0 == 0 /\ f_263^0-f_263^post90 == 0 /\ -x_SLAM_f_18^post90+x_SLAM_f_18^0 == 0 /\ rcd_58^0-rcd_58^post90 == 0 /\ 1-head_14^0 <= 0 /\ r_39^0-r_39^post90 == 0 /\ -rcd_88^post90+rcd_88^0 == 0 /\ -r_163^post90+r_163^0 == 0 /\ head_129^0-head_129^post90 == 0 /\ -f_170^post90+f_170^0 == 0 /\ -r_260^post90+r_260^0 == 0 /\ len_226^0-len_226^post90 == 0 /\ a_147^0-a_147^post90 == 0 /\ -a_353^post90+a_353^0 == 0 /\ y_19^0-y_19^post90 == 0 /\ temp0_31^0-temp0_31^post90 == 0 /\ a_308^0-a_308^post90 == 0 /\ -head_27^post90+head_27^0 == 0 /\ head_32^0-head_32^post90 == 0 /\ -i_94^post90+i_94^0 == 0 /\ head_268^0-head_268^post90 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post90+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_132^0-len_132^post90 == 0 /\ -x_16^post90+x_16^0 == 0 /\ a_116^0-a_116^post90 == 0), cost: 1 91: l60 -> l61 : temp0_15^0'=temp0_15^post91, a_241^0'=a_241^post91, head_27^0'=head_27^post91, head_129^0'=head_129^post91, r_124^0'=r_124^post91, len_183^0'=len_183^post91, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post91, a_147^0'=a_147^post91, rcd_58^0'=rcd_58^post91, head_175^0'=head_175^post91, y_19^0'=y_19^post91, ct_17^0'=ct_17^post91, temp_35^0'=temp_35^post91, i_30^0'=i_30^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, r_218^0'=r_218^post91, len_276^0'=len_276^post91, a_308^0'=a_308^post91, t_23^0'=t_23^post91, a_210^0'=a_210^post91, result_11^0'=result_11^post91, head_268^0'=head_268^post91, f_263^0'=f_263^post91, x_16^0'=x_16^post91, len_132^0'=len_132^post91, i_167^0'=i_167^post91, a_116^0'=a_116^post91, r_39^0'=r_39^post91, nondet_12^0'=nondet_12^post91, x_SLAM_f_18^0'=x_SLAM_f_18^post91, a_353^0'=a_353^post91, temp0_31^0'=temp0_31^post91, a_277^0'=a_277^post91, head_32^0'=head_32^post91, head_14^0'=head_14^post91, r_163^0'=r_163^post91, len_226^0'=len_226^post91, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post91, a_184^0'=a_184^post91, rcd_88^0'=rcd_88^post91, head_223^0'=head_223^post91, f_170^0'=f_170^post91, tmp_34^0'=tmp_34^post91, i_94^0'=i_94^post91, i_108^0'=i_108^post91, r_260^0'=r_260^post91, length_29^0'=length_29^post91, x_20^0'=x_20^post91, a_330^0'=a_330^post91, (temp0_15^0-temp0_15^post91 == 0 /\ a_241^0-a_241^post91 == 0 /\ -temp_35^post91+temp_35^0 == 0 /\ result_11^0-result_11^post91 == 0 /\ -a_353^post91+a_353^0 == 0 /\ f_170^0-f_170^post91 == 0 /\ -tmp_34^post91+tmp_34^0 == 0 /\ r_39^0-r_39^post91 == 0 /\ -r_163^post91+r_163^0 == 0 /\ -temp0_31^post91+temp0_31^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post91+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_277^post91+a_277^0 == 0 /\ -a_210^post91+a_210^0 == 0 /\ r_124^0-r_124^post91 == 0 /\ -length_29^post91+length_29^0 == 0 /\ -head_SLAM_f_26^post91+head_SLAM_f_26^0 == 0 /\ head_175^0-head_175^post91 == 0 /\ 1+head_14^0 <= 0 /\ -head_223^post91+head_223^0 == 0 /\ head_129^0-head_129^post91 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post91 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post91 == 0 /\ a_308^0-a_308^post91 == 0 /\ -head_268^post91+head_268^0 == 0 /\ -nondet_12^post91+nondet_12^0 == 0 /\ i_30^0-i_30^post91 == 0 /\ -i_108^post91+i_108^0 == 0 /\ -a_184^post91+a_184^0 == 0 /\ len_132^0-len_132^post91 == 0 /\ -head_14^post91+head_14^0 == 0 /\ head_32^0-head_32^post91 == 0 /\ t_23^0-t_23^post91 == 0 /\ rcd_58^0-rcd_58^post91 == 0 /\ a_116^0-a_116^post91 == 0 /\ a_147^0-a_147^post91 == 0 /\ -r_260^post91+r_260^0 == 0 /\ -f_263^post91+f_263^0 == 0 /\ ct_17^0-ct_17^post91 == 0 /\ r_218^0-r_218^post91 == 0 /\ -i_167^post91+i_167^0 == 0 /\ -x_20^post91+x_20^0 == 0 /\ y_19^0-y_19^post91 == 0 /\ -x_16^post91+x_16^0 == 0 /\ -len_276^post91+len_276^0 == 0 /\ head_27^0-head_27^post91 == 0 /\ len_226^0-len_226^post91 == 0 /\ -i_94^post91+i_94^0 == 0 /\ -len_183^post91+len_183^0 == 0 /\ -a_330^post91+a_330^0 == 0 /\ -rcd_88^post91+rcd_88^0 == 0), cost: 1 92: l61 -> l36 : temp0_15^0'=temp0_15^post92, a_241^0'=a_241^post92, head_27^0'=head_27^post92, head_129^0'=head_129^post92, r_124^0'=r_124^post92, len_183^0'=len_183^post92, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post92, a_147^0'=a_147^post92, rcd_58^0'=rcd_58^post92, head_175^0'=head_175^post92, y_19^0'=y_19^post92, ct_17^0'=ct_17^post92, temp_35^0'=temp_35^post92, i_30^0'=i_30^post92, head_SLAM_f_26^0'=head_SLAM_f_26^post92, r_218^0'=r_218^post92, len_276^0'=len_276^post92, a_308^0'=a_308^post92, t_23^0'=t_23^post92, a_210^0'=a_210^post92, result_11^0'=result_11^post92, head_268^0'=head_268^post92, f_263^0'=f_263^post92, x_16^0'=x_16^post92, len_132^0'=len_132^post92, i_167^0'=i_167^post92, a_116^0'=a_116^post92, r_39^0'=r_39^post92, nondet_12^0'=nondet_12^post92, x_SLAM_f_18^0'=x_SLAM_f_18^post92, a_353^0'=a_353^post92, temp0_31^0'=temp0_31^post92, a_277^0'=a_277^post92, head_32^0'=head_32^post92, head_14^0'=head_14^post92, r_163^0'=r_163^post92, len_226^0'=len_226^post92, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post92, a_184^0'=a_184^post92, rcd_88^0'=rcd_88^post92, head_223^0'=head_223^post92, f_170^0'=f_170^post92, tmp_34^0'=tmp_34^post92, i_94^0'=i_94^post92, i_108^0'=i_108^post92, r_260^0'=r_260^post92, length_29^0'=length_29^post92, x_20^0'=x_20^post92, a_330^0'=a_330^post92, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -length_29^post92+length_29^0 == 0 /\ -r_163^post92+r_163^0 == 0 /\ head_129^0-head_129^post92 == 0 /\ a_116^0-a_116^post92 == 0 /\ result_11^0-result_11^post92 == 0 /\ f_170^0-f_170^post92 == 0 /\ head_175^0-head_175^post92 == 0 /\ -len_276^post92+len_276^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post92+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ r_218^0-r_218^post92 == 0 /\ a_308^0-a_308^post92 == 0 /\ a_184^0-a_184^post92 == 0 /\ -x_20^post92+x_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_108^0 <= 0 /\ t_23^0-t_23^post92 == 0 /\ -temp0_31^post92+temp0_31^0 == 0 /\ len_132^0-len_132^post92 == 0 /\ -a_330^post92+a_330^0 == 0 /\ temp0_15^0-temp0_15^post92 == 0 /\ a_241^0-a_241^post92 == 0 /\ -tmp_34^post92+tmp_34^0 == 0 /\ -1+i_108^post92-a_116^0 <= 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post92 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_14^post92+head_14^0 == 0 /\ r_39^0-r_39^post92 == 0 /\ -r_260^post92+r_260^0 == 0 /\ -head_223^post92+head_223^0 == 0 /\ a_353^0-a_353^post92 == 0 /\ -len_226^post92+len_226^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post92 == 0 /\ -f_263^post92+f_263^0 == 0 /\ -i_94^post92+i_94^0 == 0 /\ -y_19^post92+y_19^0 == 0 /\ len_183^0-len_183^post92 == 0 /\ head_268^0-head_268^post92 == 0 /\ -x_16^post92+x_16^0 == 0 /\ head_27^0-head_27^post92 == 0 /\ i_30^0-i_30^post92 == 0 /\ -head_SLAM_f_26^post92+head_SLAM_f_26^0 == 0 /\ -i_167^post92+i_167^0 == 0 /\ a_147^0-a_147^post92 == 0 /\ -a_277^post92+a_277^0 == 0 /\ -nondet_12^post92+nondet_12^0 == 0 /\ temp_35^0-temp_35^post92 == 0 /\ 1-i_108^post92+a_116^0 <= 0 /\ -head_32^post92+head_32^0 == 0 /\ ct_17^0-ct_17^post92 == 0 /\ r_124^0-r_124^post92 == 0 /\ -rcd_88^post92+rcd_88^0 == 0 /\ -a_210^post92+a_210^0 == 0 /\ -rcd_58^post92+rcd_58^0 == 0), cost: 1 93: l62 -> l63 : temp0_15^0'=temp0_15^post93, a_241^0'=a_241^post93, head_27^0'=head_27^post93, head_129^0'=head_129^post93, r_124^0'=r_124^post93, len_183^0'=len_183^post93, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post93, a_147^0'=a_147^post93, rcd_58^0'=rcd_58^post93, head_175^0'=head_175^post93, y_19^0'=y_19^post93, ct_17^0'=ct_17^post93, temp_35^0'=temp_35^post93, i_30^0'=i_30^post93, head_SLAM_f_26^0'=head_SLAM_f_26^post93, r_218^0'=r_218^post93, len_276^0'=len_276^post93, a_308^0'=a_308^post93, t_23^0'=t_23^post93, a_210^0'=a_210^post93, result_11^0'=result_11^post93, head_268^0'=head_268^post93, f_263^0'=f_263^post93, x_16^0'=x_16^post93, len_132^0'=len_132^post93, i_167^0'=i_167^post93, a_116^0'=a_116^post93, r_39^0'=r_39^post93, nondet_12^0'=nondet_12^post93, x_SLAM_f_18^0'=x_SLAM_f_18^post93, a_353^0'=a_353^post93, temp0_31^0'=temp0_31^post93, a_277^0'=a_277^post93, head_32^0'=head_32^post93, head_14^0'=head_14^post93, r_163^0'=r_163^post93, len_226^0'=len_226^post93, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post93, a_184^0'=a_184^post93, rcd_88^0'=rcd_88^post93, head_223^0'=head_223^post93, f_170^0'=f_170^post93, tmp_34^0'=tmp_34^post93, i_94^0'=i_94^post93, i_108^0'=i_108^post93, r_260^0'=r_260^post93, length_29^0'=length_29^post93, x_20^0'=x_20^post93, a_330^0'=a_330^post93, (0 == 0 /\ -r_218^post93+r_218^0 == 0 /\ rcd_58^0-rcd_58^post93 == 0 /\ head_27^post93-head_14^10 <= 0 /\ t_23^0-t_23^post93 == 0 /\ -head_32^0+temp0_31^10 == 0 /\ -head_27^post93+head_SLAM_f_26^120 <= 0 /\ len_132^0-len_132^post93 == 0 /\ -f_170^post93+f_170^0 == 0 /\ -r_260^post93+r_260^0 == 0 /\ -i_108^post93+i_108^0 == 0 /\ head_SLAM_f_26^120-head_14^10 <= 0 /\ head_SLAM_f_26^120-head_14^10 == 0 /\ head_175^0-head_175^post93 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -i_167^post93+i_167^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^10 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^10 <= 0 /\ -f_263^post93+f_263^0 == 0 /\ head_129^0-head_129^post93 == 0 /\ len_276^0-len_276^post93 == 0 /\ -a_210^post93+a_210^0 == 0 /\ -head_27^post93+head_14^10 <= 0 /\ head_27^post93-head_SLAM_f_26^120 <= 0 /\ head_27^post93-head_SLAM_f_26^120 == 0 /\ -head_SLAM_f_26^120+head_14^10 <= 0 /\ result_11^10-temp0_31^10 == 0 /\ -len_226^post93+len_226^0 == 0 /\ -a_330^post93+a_330^0 == 0 /\ -nondet_12^post93+nondet_12^0 == 0 /\ y_19^0-y_19^post93 == 0 /\ -i_94^post93+i_94^0 == 0 /\ -r_163^post93+r_163^0 == 0 /\ -a_184^post93+a_184^0 == 0 /\ temp0_15^0-temp0_15^post93 == 0 /\ len_183^0-len_183^post93 == 0 /\ -a_353^post93+a_353^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post93 == 0 /\ r_39^0-r_39^post93 == 0 /\ r_124^0-r_124^post93 == 0 /\ ct_17^0-ct_17^post93 == 0 /\ -result_11^10+head_14^10 == 0 /\ -a_277^post93+a_277^0 == 0 /\ a_147^0-a_147^post93 == 0 /\ -x_20^post93+x_20^0 == 0 /\ -rcd_88^post93+rcd_88^0 == 0 /\ -a_241^post93+a_241^0 == 0 /\ -x_16^post93+x_16^0 == 0 /\ a_308^0-a_308^post93 == 0 /\ -a_116^post93+a_116^0 == 0 /\ -head_223^post93+head_223^0 == 0 /\ head_268^0-head_268^post93 == 0), cost: 1 122: l62 -> l81 : temp0_15^0'=temp0_15^post122, a_241^0'=a_241^post122, head_27^0'=head_27^post122, head_129^0'=head_129^post122, r_124^0'=r_124^post122, len_183^0'=len_183^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post122, a_147^0'=a_147^post122, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post122, y_19^0'=y_19^post122, ct_17^0'=ct_17^post122, temp_35^0'=temp_35^post122, i_30^0'=i_30^post122, head_SLAM_f_26^0'=head_SLAM_f_26^post122, r_218^0'=r_218^post122, len_276^0'=len_276^post122, a_308^0'=a_308^post122, t_23^0'=t_23^post122, a_210^0'=a_210^post122, result_11^0'=result_11^post122, head_268^0'=head_268^post122, f_263^0'=f_263^post122, x_16^0'=x_16^post122, len_132^0'=len_132^post122, i_167^0'=i_167^post122, a_116^0'=a_116^post122, r_39^0'=r_39^post122, nondet_12^0'=nondet_12^post122, x_SLAM_f_18^0'=x_SLAM_f_18^post122, a_353^0'=a_353^post122, temp0_31^0'=temp0_31^post122, a_277^0'=a_277^post122, head_32^0'=head_32^post122, head_14^0'=head_14^post122, r_163^0'=r_163^post122, len_226^0'=len_226^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post122, a_184^0'=a_184^post122, rcd_88^0'=rcd_88^post122, head_223^0'=head_223^post122, f_170^0'=f_170^post122, tmp_34^0'=tmp_34^post122, i_94^0'=i_94^post122, i_108^0'=i_108^post122, r_260^0'=r_260^post122, length_29^0'=length_29^post122, x_20^0'=x_20^post122, a_330^0'=a_330^post122, (0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post122+length_29^0 <= 0 /\ a_147^0-a_147^post122 == 0 /\ f_263^0-f_263^post122 == 0 /\ 1-length_29^0 <= 0 /\ 2-i_30^post122 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post122+head_32^post122 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post122-tmp_34^post122 <= 0 /\ -len_132^post122+len_132^0 == 0 /\ -a_184^post122+a_184^0 == 0 /\ y_19^0-y_19^post122 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post122-length_29^0 <= 0 /\ -a_353^post122+a_353^0 == 0 /\ -i_94^post122+i_94^0 == 0 /\ -f_170^post122+f_170^0 == 0 /\ i_167^0-i_167^post122 == 0 /\ -len_226^post122+len_226^0 == 0 /\ len_276^0-len_276^post122 == 0 /\ -length_29^post122+length_29^0 == 0 /\ temp0_31^0-temp0_31^post122 == 0 /\ head_27^0-head_27^post122 == 0 /\ -temp_35^0+tmp_34^post122 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post122-head_32^post122 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post122 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post122+tmp_34^post122 <= 0 /\ 1+i_30^0-length_29^0 <= 0 /\ temp0_15^0-temp0_15^post122 == 0 /\ ct_17^0-ct_17^post122 == 0 /\ -result_11^post122+result_11^0 == 0 /\ -r_39^post122+r_39^0 == 0 /\ 2-length_29^0 <= 0 /\ -r_218^post122+r_218^0 == 0 /\ -a_277^post122+a_277^0 == 0 /\ -x_20^post122+x_20^0 == 0 /\ -2+i_30^post122 <= 0 /\ -r_124^post122+r_124^0 == 0 /\ len_183^0-len_183^post122 == 0 /\ r_163^0-r_163^post122 == 0 /\ -1-i_30^0+i_30^post122 == 0 /\ -x_SLAM_f_18^post122+x_SLAM_f_18^0 == 0 /\ head_32^post122-tmp_34^post122 <= 0 /\ head_32^post122-tmp_34^post122 == 0 /\ -a_330^post122+a_330^0 == 0 /\ -x_16^post122+x_16^0 == 0 /\ -a_308^post122+a_308^0 == 0 /\ a_210^0-a_210^post122 == 0 /\ -nondet_12^post122+nondet_12^0 == 0 /\ -head_14^post122+head_14^0 == 0 /\ -rcd_88^post122+rcd_88^0 == 0 /\ head_268^0-head_268^post122 == 0 /\ -a_241^post122+a_241^0 == 0 /\ -a_116^post122+a_116^0 == 0 /\ -r_260^post122+r_260^0 == 0 /\ -head_129^post122+head_129^0 == 0 /\ -head_223^post122+head_223^0 == 0 /\ head_175^0-head_175^post122 == 0 /\ -head_32^post122+tmp_34^post122 <= 0 /\ i_108^0-i_108^post122 == 0 /\ t_23^0-t_23^post122 == 0), cost: 1 94: l63 -> l64 : temp0_15^0'=temp0_15^post94, a_241^0'=a_241^post94, head_27^0'=head_27^post94, head_129^0'=head_129^post94, r_124^0'=r_124^post94, len_183^0'=len_183^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post94, a_147^0'=a_147^post94, rcd_58^0'=rcd_58^post94, head_175^0'=head_175^post94, y_19^0'=y_19^post94, ct_17^0'=ct_17^post94, temp_35^0'=temp_35^post94, i_30^0'=i_30^post94, head_SLAM_f_26^0'=head_SLAM_f_26^post94, r_218^0'=r_218^post94, len_276^0'=len_276^post94, a_308^0'=a_308^post94, t_23^0'=t_23^post94, a_210^0'=a_210^post94, result_11^0'=result_11^post94, head_268^0'=head_268^post94, f_263^0'=f_263^post94, x_16^0'=x_16^post94, len_132^0'=len_132^post94, i_167^0'=i_167^post94, a_116^0'=a_116^post94, r_39^0'=r_39^post94, nondet_12^0'=nondet_12^post94, x_SLAM_f_18^0'=x_SLAM_f_18^post94, a_353^0'=a_353^post94, temp0_31^0'=temp0_31^post94, a_277^0'=a_277^post94, head_32^0'=head_32^post94, head_14^0'=head_14^post94, r_163^0'=r_163^post94, len_226^0'=len_226^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, a_184^0'=a_184^post94, rcd_88^0'=rcd_88^post94, head_223^0'=head_223^post94, f_170^0'=f_170^post94, tmp_34^0'=tmp_34^post94, i_94^0'=i_94^post94, i_108^0'=i_108^post94, r_260^0'=r_260^post94, length_29^0'=length_29^post94, x_20^0'=x_20^post94, a_330^0'=a_330^post94, (len_132^0-len_132^post94 == 0 /\ t_23^0-t_23^post94 == 0 /\ -f_170^post94+f_170^0 == 0 /\ -len_226^post94+len_226^0 == 0 /\ -r_260^post94+r_260^0 == 0 /\ len_276^0-len_276^post94 == 0 /\ rcd_58^0-rcd_58^post94 == 0 /\ a_147^0-a_147^post94 == 0 /\ -a_210^post94+a_210^0 == 0 /\ -rcd_88^post94+rcd_88^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post94 == 0 /\ ct_17^0-ct_17^post94 == 0 /\ head_32^0-head_32^post94 == 0 /\ y_19^0-y_19^post94 == 0 /\ -nondet_12^post94+nondet_12^0 == 0 /\ -result_11^post94+result_11^0 == 0 /\ head_27^0-head_27^post94 == 0 /\ len_183^0-len_183^post94 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 == 0 /\ -a_116^post94+a_116^0 == 0 /\ -r_218^post94+r_218^0 == 0 /\ -tmp_34^post94+tmp_34^0 == 0 /\ -i_94^post94+i_94^0 == 0 /\ -head_14^post94+head_14^0 == 0 /\ -r_163^post94+r_163^0 == 0 /\ a_241^0-a_241^post94 == 0 /\ r_39^0-r_39^post94 == 0 /\ -a_353^post94+a_353^0 == 0 /\ temp0_31^0-temp0_31^post94 == 0 /\ f_263^0-f_263^post94 == 0 /\ -x_SLAM_f_18^post94+x_SLAM_f_18^0 == 0 /\ temp0_15^0-temp0_15^post94 == 0 /\ -length_29^post94+length_29^0 == 0 /\ -head_223^post94+head_223^0 == 0 /\ -i_167^post94+i_167^0 == 0 /\ temp_35^0-temp_35^post94 == 0 /\ r_124^0-r_124^post94 == 0 /\ -i_30^post94+i_30^0 == 0 /\ -a_277^post94+a_277^0 == 0 /\ i_108^0-i_108^post94 == 0 /\ -x_20^post94+x_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post94 == 0 /\ 1-head_27^0 <= 0 /\ -x_16^post94+x_16^0 == 0 /\ a_308^0-a_308^post94 == 0 /\ head_268^0-head_268^post94 == 0 /\ -a_184^post94+a_184^0 == 0 /\ -a_330^post94+a_330^0 == 0 /\ -head_129^post94+head_129^0 == 0 /\ head_175^0-head_175^post94 == 0), cost: 1 95: l63 -> l64 : temp0_15^0'=temp0_15^post95, a_241^0'=a_241^post95, head_27^0'=head_27^post95, head_129^0'=head_129^post95, r_124^0'=r_124^post95, len_183^0'=len_183^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, a_147^0'=a_147^post95, rcd_58^0'=rcd_58^post95, head_175^0'=head_175^post95, y_19^0'=y_19^post95, ct_17^0'=ct_17^post95, temp_35^0'=temp_35^post95, i_30^0'=i_30^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post95, r_218^0'=r_218^post95, len_276^0'=len_276^post95, a_308^0'=a_308^post95, t_23^0'=t_23^post95, a_210^0'=a_210^post95, result_11^0'=result_11^post95, head_268^0'=head_268^post95, f_263^0'=f_263^post95, x_16^0'=x_16^post95, len_132^0'=len_132^post95, i_167^0'=i_167^post95, a_116^0'=a_116^post95, r_39^0'=r_39^post95, nondet_12^0'=nondet_12^post95, x_SLAM_f_18^0'=x_SLAM_f_18^post95, a_353^0'=a_353^post95, temp0_31^0'=temp0_31^post95, a_277^0'=a_277^post95, head_32^0'=head_32^post95, head_14^0'=head_14^post95, r_163^0'=r_163^post95, len_226^0'=len_226^post95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, a_184^0'=a_184^post95, rcd_88^0'=rcd_88^post95, head_223^0'=head_223^post95, f_170^0'=f_170^post95, tmp_34^0'=tmp_34^post95, i_94^0'=i_94^post95, i_108^0'=i_108^post95, r_260^0'=r_260^post95, length_29^0'=length_29^post95, x_20^0'=x_20^post95, a_330^0'=a_330^post95, (t_23^0-t_23^post95 == 0 /\ -temp_35^post95+temp_35^0 == 0 /\ -i_94^post95+i_94^0 == 0 /\ a_241^0-a_241^post95 == 0 /\ a_184^0-a_184^post95 == 0 /\ len_132^0-len_132^post95 == 0 /\ temp0_15^0-temp0_15^post95 == 0 /\ 1+head_27^0 <= 0 /\ -f_263^post95+f_263^0 == 0 /\ r_124^0-r_124^post95 == 0 /\ len_276^0-len_276^post95 == 0 /\ tmp_34^0-tmp_34^post95 == 0 /\ -head_223^post95+head_223^0 == 0 /\ -rcd_88^post95+rcd_88^0 == 0 /\ -a_277^post95+a_277^0 == 0 /\ -a_210^post95+a_210^0 == 0 /\ -nondet_12^post95+nondet_12^0 == 0 /\ a_147^0-a_147^post95 == 0 /\ f_170^0-f_170^post95 == 0 /\ -r_218^post95+r_218^0 == 0 /\ ct_17^0-ct_17^post95 == 0 /\ head_129^0-head_129^post95 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95 == 0 /\ -head_SLAM_f_26^post95+head_SLAM_f_26^0 == 0 /\ i_30^0-i_30^post95 == 0 /\ head_175^0-head_175^post95 == 0 /\ -r_163^post95+r_163^0 == 0 /\ -result_11^post95+result_11^0 == 0 /\ -i_108^post95+i_108^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post95 == 0 /\ -a_353^post95+a_353^0 == 0 /\ -length_29^post95+length_29^0 == 0 /\ -i_167^post95+i_167^0 == 0 /\ y_19^0-y_19^post95 == 0 /\ rcd_58^0-rcd_58^post95 == 0 /\ len_226^0-len_226^post95 == 0 /\ r_39^0-r_39^post95 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp0_31^post95+temp0_31^0 == 0 /\ -x_16^post95+x_16^0 == 0 /\ head_32^0-head_32^post95 == 0 /\ -x_20^post95+x_20^0 == 0 /\ -a_330^post95+a_330^0 == 0 /\ a_116^0-a_116^post95 == 0 /\ -head_14^post95+head_14^0 == 0 /\ -len_183^post95+len_183^0 == 0 /\ -r_260^post95+r_260^0 == 0 /\ a_308^0-a_308^post95 == 0 /\ head_27^0-head_27^post95 == 0 /\ head_268^0-head_268^post95 == 0), cost: 1 96: l64 -> l65 : temp0_15^0'=temp0_15^post96, a_241^0'=a_241^post96, head_27^0'=head_27^post96, head_129^0'=head_129^post96, r_124^0'=r_124^post96, len_183^0'=len_183^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96, a_147^0'=a_147^post96, rcd_58^0'=rcd_58^post96, head_175^0'=head_175^post96, y_19^0'=y_19^post96, ct_17^0'=ct_17^post96, temp_35^0'=temp_35^post96, i_30^0'=i_30^post96, head_SLAM_f_26^0'=head_SLAM_f_26^post96, r_218^0'=r_218^post96, len_276^0'=len_276^post96, a_308^0'=a_308^post96, t_23^0'=t_23^post96, a_210^0'=a_210^post96, result_11^0'=result_11^post96, head_268^0'=head_268^post96, f_263^0'=f_263^post96, x_16^0'=x_16^post96, len_132^0'=len_132^post96, i_167^0'=i_167^post96, a_116^0'=a_116^post96, r_39^0'=r_39^post96, nondet_12^0'=nondet_12^post96, x_SLAM_f_18^0'=x_SLAM_f_18^post96, a_353^0'=a_353^post96, temp0_31^0'=temp0_31^post96, a_277^0'=a_277^post96, head_32^0'=head_32^post96, head_14^0'=head_14^post96, r_163^0'=r_163^post96, len_226^0'=len_226^post96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post96, a_184^0'=a_184^post96, rcd_88^0'=rcd_88^post96, head_223^0'=head_223^post96, f_170^0'=f_170^post96, tmp_34^0'=tmp_34^post96, i_94^0'=i_94^post96, i_108^0'=i_108^post96, r_260^0'=r_260^post96, length_29^0'=length_29^post96, x_20^0'=x_20^post96, a_330^0'=a_330^post96, (-i_94^post96+i_94^0 == 0 /\ head_27^0 <= 0 /\ -a_184^post96+a_184^0 == 0 /\ a_241^0-a_241^post96 == 0 /\ -f_263^post96+f_263^0 == 0 /\ r_39^0-r_39^post96 == 0 /\ f_170^0-f_170^post96 == 0 /\ temp0_15^0-temp0_15^post96 == 0 /\ -x_20^post96+x_20^0 == 0 /\ r_124^0-r_124^post96 == 0 /\ -nondet_12^post96+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96 == 0 /\ head_129^0-head_129^post96 == 0 /\ -head_268^post96+head_268^0 == 0 /\ -head_SLAM_f_26^post96+head_SLAM_f_26^0 == 0 /\ -a_277^post96+a_277^0 == 0 /\ -temp_35^post96+temp_35^0 == 0 /\ head_175^0-head_175^post96 == 0 /\ -r_163^post96+r_163^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_308^0-a_308^post96 == 0 /\ -a_210^post96+a_210^0 == 0 /\ head_223^0-head_223^post96 == 0 /\ -r_260^post96+r_260^0 == 0 /\ result_11^0-result_11^post96 == 0 /\ head_27^0-head_27^post96 == 0 /\ a_116^0-a_116^post96 == 0 /\ t_23^0-t_23^post96 == 0 /\ x_16^0-x_16^post96 == 0 /\ -rcd_88^post96+rcd_88^0 == 0 /\ -i_108^post96+i_108^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ y_19^0-y_19^post96 == 0 /\ rcd_58^0-rcd_58^post96 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post96 == 0 /\ -a_330^post96+a_330^0 == 0 /\ -len_276^post96+len_276^0 == 0 /\ -len_183^post96+len_183^0 == 0 /\ i_30^0-i_30^post96 == 0 /\ a_147^0-a_147^post96 == 0 /\ ct_17^0-ct_17^post96 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post96+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ len_226^0-len_226^post96 == 0 /\ -head_14^post96+head_14^0 == 0 /\ -a_353^post96+a_353^0 == 0 /\ -len_132^post96+len_132^0 == 0 /\ -tmp_34^post96+tmp_34^0 == 0 /\ -i_167^post96+i_167^0 == 0 /\ temp0_31^0-temp0_31^post96 == 0 /\ head_32^0-head_32^post96 == 0 /\ r_218^0-r_218^post96 == 0 /\ -length_29^post96+length_29^0 == 0 /\ -head_27^0 <= 0), cost: 1 97: l65 -> l66 : temp0_15^0'=temp0_15^post97, a_241^0'=a_241^post97, head_27^0'=head_27^post97, head_129^0'=head_129^post97, r_124^0'=r_124^post97, len_183^0'=len_183^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97, a_147^0'=a_147^post97, rcd_58^0'=rcd_58^post97, head_175^0'=head_175^post97, y_19^0'=y_19^post97, ct_17^0'=ct_17^post97, temp_35^0'=temp_35^post97, i_30^0'=i_30^post97, head_SLAM_f_26^0'=head_SLAM_f_26^post97, r_218^0'=r_218^post97, len_276^0'=len_276^post97, a_308^0'=a_308^post97, t_23^0'=t_23^post97, a_210^0'=a_210^post97, result_11^0'=result_11^post97, head_268^0'=head_268^post97, f_263^0'=f_263^post97, x_16^0'=x_16^post97, len_132^0'=len_132^post97, i_167^0'=i_167^post97, a_116^0'=a_116^post97, r_39^0'=r_39^post97, nondet_12^0'=nondet_12^post97, x_SLAM_f_18^0'=x_SLAM_f_18^post97, a_353^0'=a_353^post97, temp0_31^0'=temp0_31^post97, a_277^0'=a_277^post97, head_32^0'=head_32^post97, head_14^0'=head_14^post97, r_163^0'=r_163^post97, len_226^0'=len_226^post97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post97, a_184^0'=a_184^post97, rcd_88^0'=rcd_88^post97, head_223^0'=head_223^post97, f_170^0'=f_170^post97, tmp_34^0'=tmp_34^post97, i_94^0'=i_94^post97, i_108^0'=i_108^post97, r_260^0'=r_260^post97, length_29^0'=length_29^post97, x_20^0'=x_20^post97, a_330^0'=a_330^post97, (head_129^0-head_129^post97 == 0 /\ -f_263^post97+f_263^0 == 0 /\ -a_210^post97+a_210^0 == 0 /\ temp_35^0-temp_35^post97 == 0 /\ r_39^0-r_39^post97 == 0 /\ -a_277^post97+a_277^0 == 0 /\ a_116^0-a_116^post97 == 0 /\ result_11^0-result_11^post97 == 0 /\ -len_276^post97+len_276^0 == 0 /\ head_175^0-head_175^post97 == 0 /\ r_218^0-r_218^post97 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post97 == 0 /\ -head_32^post97+head_32^0 == 0 /\ -tmp_34^post97+tmp_34^0 == 0 /\ -head_268^post97+head_268^0 == 0 /\ a_308^0-a_308^post97 == 0 /\ head_27^0-head_27^post97 == 0 /\ -f_170^post97+f_170^0 == 0 /\ a_184^0-a_184^post97 == 0 /\ temp0_15^0-temp0_15^post97 == 0 /\ t_23^0-t_23^post97 == 0 /\ -head_223^post97+head_223^0 == 0 /\ -temp0_31^post97+temp0_31^0 == 0 /\ -length_29^post97+length_29^0 == 0 /\ len_132^0-len_132^post97 == 0 /\ -r_163^post97+r_163^0 == 0 /\ a_353^0-a_353^post97 == 0 /\ -y_19^post97+y_19^0 == 0 /\ i_30^0-i_30^post97 == 0 /\ -rcd_88^post97+rcd_88^0 == 0 /\ a_147^0-a_147^post97 == 0 /\ 1-head_14^0 <= 0 /\ -x_16^post97+x_16^0 == 0 /\ len_183^0-len_183^post97 == 0 /\ -x_20^post97+x_20^0 == 0 /\ a_241^0-a_241^post97 == 0 /\ -nondet_12^post97+nondet_12^0 == 0 /\ i_167^0-i_167^post97 == 0 /\ -a_330^post97+a_330^0 == 0 /\ -i_108^post97+i_108^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97 == 0 /\ -i_94^post97+i_94^0 == 0 /\ -r_260^post97+r_260^0 == 0 /\ r_124^0-r_124^post97 == 0 /\ -head_14^post97+head_14^0 == 0 /\ -rcd_58^post97+rcd_58^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post97+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_226^post97+len_226^0 == 0 /\ -head_SLAM_f_26^post97+head_SLAM_f_26^0 == 0 /\ ct_17^0-ct_17^post97 == 0), cost: 1 98: l65 -> l66 : temp0_15^0'=temp0_15^post98, a_241^0'=a_241^post98, head_27^0'=head_27^post98, head_129^0'=head_129^post98, r_124^0'=r_124^post98, len_183^0'=len_183^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98, a_147^0'=a_147^post98, rcd_58^0'=rcd_58^post98, head_175^0'=head_175^post98, y_19^0'=y_19^post98, ct_17^0'=ct_17^post98, temp_35^0'=temp_35^post98, i_30^0'=i_30^post98, head_SLAM_f_26^0'=head_SLAM_f_26^post98, r_218^0'=r_218^post98, len_276^0'=len_276^post98, a_308^0'=a_308^post98, t_23^0'=t_23^post98, a_210^0'=a_210^post98, result_11^0'=result_11^post98, head_268^0'=head_268^post98, f_263^0'=f_263^post98, x_16^0'=x_16^post98, len_132^0'=len_132^post98, i_167^0'=i_167^post98, a_116^0'=a_116^post98, r_39^0'=r_39^post98, nondet_12^0'=nondet_12^post98, x_SLAM_f_18^0'=x_SLAM_f_18^post98, a_353^0'=a_353^post98, temp0_31^0'=temp0_31^post98, a_277^0'=a_277^post98, head_32^0'=head_32^post98, head_14^0'=head_14^post98, r_163^0'=r_163^post98, len_226^0'=len_226^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post98, a_184^0'=a_184^post98, rcd_88^0'=rcd_88^post98, head_223^0'=head_223^post98, f_170^0'=f_170^post98, tmp_34^0'=tmp_34^post98, i_94^0'=i_94^post98, i_108^0'=i_108^post98, r_260^0'=r_260^post98, length_29^0'=length_29^post98, x_20^0'=x_20^post98, a_330^0'=a_330^post98, (-head_268^post98+head_268^0 == 0 /\ i_30^0-i_30^post98 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post98 == 0 /\ -a_277^post98+a_277^0 == 0 /\ -len_132^post98+len_132^0 == 0 /\ -len_276^post98+len_276^0 == 0 /\ -r_260^post98+r_260^0 == 0 /\ a_210^0-a_210^post98 == 0 /\ head_129^0-head_129^post98 == 0 /\ -f_170^post98+f_170^0 == 0 /\ -tmp_34^post98+tmp_34^0 == 0 /\ -rcd_58^post98+rcd_58^0 == 0 /\ x_16^0-x_16^post98 == 0 /\ -head_14^post98+head_14^0 == 0 /\ -length_29^post98+length_29^0 == 0 /\ -r_163^post98+r_163^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_32^post98+head_32^0 == 0 /\ head_27^0-head_27^post98 == 0 /\ -head_223^post98+head_223^0 == 0 /\ -f_263^post98+f_263^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post98 == 0 /\ a_353^0-a_353^post98 == 0 /\ -y_19^post98+y_19^0 == 0 /\ temp0_15^0-temp0_15^post98 == 0 /\ temp_35^0-temp_35^post98 == 0 /\ a_116^0-a_116^post98 == 0 /\ -ct_17^post98+ct_17^0 == 0 /\ -x_20^post98+x_20^0 == 0 /\ i_167^0-i_167^post98 == 0 /\ -temp0_31^post98+temp0_31^0 == 0 /\ len_183^0-len_183^post98 == 0 /\ -a_330^post98+a_330^0 == 0 /\ result_11^0-result_11^post98 == 0 /\ r_218^0-r_218^post98 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98 == 0 /\ -nondet_12^post98+nondet_12^0 == 0 /\ a_241^0-a_241^post98 == 0 /\ -rcd_88^post98+rcd_88^0 == 0 /\ -len_226^post98+len_226^0 == 0 /\ a_308^0-a_308^post98 == 0 /\ head_175^0-head_175^post98 == 0 /\ r_124^0-r_124^post98 == 0 /\ -i_108^post98+i_108^0 == 0 /\ -a_184^post98+a_184^0 == 0 /\ -a_147^post98+a_147^0 == 0 /\ t_23^0-t_23^post98 == 0 /\ i_94^0-i_94^post98 == 0 /\ -r_39^post98+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post98+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0), cost: 1 99: l66 -> l67 : temp0_15^0'=temp0_15^post99, a_241^0'=a_241^post99, head_27^0'=head_27^post99, head_129^0'=head_129^post99, r_124^0'=r_124^post99, len_183^0'=len_183^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99, a_147^0'=a_147^post99, rcd_58^0'=rcd_58^post99, head_175^0'=head_175^post99, y_19^0'=y_19^post99, ct_17^0'=ct_17^post99, temp_35^0'=temp_35^post99, i_30^0'=i_30^post99, head_SLAM_f_26^0'=head_SLAM_f_26^post99, r_218^0'=r_218^post99, len_276^0'=len_276^post99, a_308^0'=a_308^post99, t_23^0'=t_23^post99, a_210^0'=a_210^post99, result_11^0'=result_11^post99, head_268^0'=head_268^post99, f_263^0'=f_263^post99, x_16^0'=x_16^post99, len_132^0'=len_132^post99, i_167^0'=i_167^post99, a_116^0'=a_116^post99, r_39^0'=r_39^post99, nondet_12^0'=nondet_12^post99, x_SLAM_f_18^0'=x_SLAM_f_18^post99, a_353^0'=a_353^post99, temp0_31^0'=temp0_31^post99, a_277^0'=a_277^post99, head_32^0'=head_32^post99, head_14^0'=head_14^post99, r_163^0'=r_163^post99, len_226^0'=len_226^post99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post99, a_184^0'=a_184^post99, rcd_88^0'=rcd_88^post99, head_223^0'=head_223^post99, f_170^0'=f_170^post99, tmp_34^0'=tmp_34^post99, i_94^0'=i_94^post99, i_108^0'=i_108^post99, r_260^0'=r_260^post99, length_29^0'=length_29^post99, x_20^0'=x_20^post99, a_330^0'=a_330^post99, (0 == 0 /\ -head_223^post99+head_223^0 == 0 /\ -nondet_12^post99+nondet_12^0 == 0 /\ -x_20^post99+x_20^0 == 0 /\ head_27^0 <= 0 /\ -a_330^post99+a_330^0 == 0 /\ r_124^0-r_124^post99 == 0 /\ -a_353^post99+a_353^0 == 0 /\ -a_277^post99+a_277^0 == 0 /\ -head_27^post99+head_14^0 <= 0 /\ -len_132^post99+len_132^0 == 0 /\ a_210^0-a_210^post99 == 0 /\ head_129^0-head_129^post99 == 0 /\ temp0_15^0-temp0_15^post99 == 0 /\ -rcd_58^post99+rcd_58^0 == 0 /\ f_170^0-f_170^post99 == 0 /\ a_116^0-a_116^post99 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post99 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post99 <= 0 /\ -i_108^post99+i_108^0 == 0 /\ -a_184^post99+a_184^0 == 0 /\ head_27^post99-head_14^0 <= 0 /\ -r_39^post99+r_39^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+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^post99 == 0 /\ a_241^0-a_241^post99 == 0 /\ -rcd_88^post99+rcd_88^0 == 0 /\ x_16^0-x_16^post99 == 0 /\ r_163^0-r_163^post99 == 0 /\ -len_276^post99+len_276^0 == 0 /\ -head_268^post99+head_268^0 == 0 /\ a_308^0-a_308^post99 == 0 /\ -a_147^post99+a_147^0 == 0 /\ head_27^post99-head_SLAM_f_26^post99 <= 0 /\ head_27^post99-head_SLAM_f_26^post99 == 0 /\ -len_226^post99+len_226^0 == 0 /\ result_11^0-result_11^post99 == 0 /\ r_218^0-r_218^post99 == 0 /\ -len_183^post99+len_183^0 == 0 /\ head_SLAM_f_26^post99-head_14^0 <= 0 /\ head_SLAM_f_26^post99-head_14^0 == 0 /\ -r_260^post99+r_260^0 == 0 /\ t_23^0-t_23^post99 == 0 /\ -head_32^post99+head_32^0 == 0 /\ temp_35^0-temp_35^post99 == 0 /\ -x_SLAM_f_18^post99+x_SLAM_f_18^0 == 0 /\ ct_17^0-ct_17^post99 == 0 /\ -i_94^post99+i_94^0 == 0 /\ -length_29^post99+length_29^0 == 0 /\ head_175^0-head_175^post99 == 0 /\ head_14^0-head_14^post99 == 0 /\ -head_27^post99+head_SLAM_f_26^post99 <= 0 /\ -tmp_34^post99+tmp_34^0 == 0 /\ -y_19^post99+y_19^0 == 0 /\ -head_SLAM_f_26^post99+head_14^0 <= 0 /\ i_30^0-i_30^post99 == 0 /\ -temp0_31^post99+temp0_31^0 == 0 /\ i_167^0-i_167^post99 == 0 /\ -f_263^post99+f_263^0 == 0 /\ -head_27^0 <= 0), cost: 1 100: l67 -> l68 : temp0_15^0'=temp0_15^post100, a_241^0'=a_241^post100, head_27^0'=head_27^post100, head_129^0'=head_129^post100, r_124^0'=r_124^post100, len_183^0'=len_183^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100, a_147^0'=a_147^post100, rcd_58^0'=rcd_58^post100, head_175^0'=head_175^post100, y_19^0'=y_19^post100, ct_17^0'=ct_17^post100, temp_35^0'=temp_35^post100, i_30^0'=i_30^post100, head_SLAM_f_26^0'=head_SLAM_f_26^post100, r_218^0'=r_218^post100, len_276^0'=len_276^post100, a_308^0'=a_308^post100, t_23^0'=t_23^post100, a_210^0'=a_210^post100, result_11^0'=result_11^post100, head_268^0'=head_268^post100, f_263^0'=f_263^post100, x_16^0'=x_16^post100, len_132^0'=len_132^post100, i_167^0'=i_167^post100, a_116^0'=a_116^post100, r_39^0'=r_39^post100, nondet_12^0'=nondet_12^post100, x_SLAM_f_18^0'=x_SLAM_f_18^post100, a_353^0'=a_353^post100, temp0_31^0'=temp0_31^post100, a_277^0'=a_277^post100, head_32^0'=head_32^post100, head_14^0'=head_14^post100, r_163^0'=r_163^post100, len_226^0'=len_226^post100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post100, a_184^0'=a_184^post100, rcd_88^0'=rcd_88^post100, head_223^0'=head_223^post100, f_170^0'=f_170^post100, tmp_34^0'=tmp_34^post100, i_94^0'=i_94^post100, i_108^0'=i_108^post100, r_260^0'=r_260^post100, length_29^0'=length_29^post100, x_20^0'=x_20^post100, a_330^0'=a_330^post100, (-head_223^post100+head_223^0 == 0 /\ nondet_12^0-nondet_12^post100 == 0 /\ -a_184^post100+a_184^0 == 0 /\ -r_39^post100+r_39^0 == 0 /\ -head_32^post100+head_32^0 == 0 /\ a_147^0-a_147^post100 == 0 /\ -i_94^post100+i_94^0 == 0 /\ y_19^0-y_19^post100 == 0 /\ rcd_58^0-rcd_58^post100 == 0 /\ head_268^0-head_268^post100 == 0 /\ -a_330^post100+a_330^0 == 0 /\ -i_30^post100+i_30^0 == 0 /\ head_27^0-head_27^post100 == 0 /\ -x_16^post100+x_16^0 == 0 /\ -f_170^post100+f_170^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post100 == 0 /\ -rcd_88^post100+rcd_88^0 == 0 /\ temp0_31^0-temp0_31^post100 == 0 /\ -x_SLAM_f_18^post100+x_SLAM_f_18^0 == 0 /\ temp0_15^0-temp0_15^post100 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post100 == 0 /\ len_276^0-len_276^post100 == 0 /\ -length_29^post100+length_29^0 == 0 /\ -i_108^post100+i_108^0 == 0 /\ -a_116^post100+a_116^0 == 0 /\ temp_35^0-temp_35^post100 == 0 /\ ct_17^0-ct_17^post100 == 0 /\ 1-head_14^0 <= 0 /\ a_241^0-a_241^post100 == 0 /\ a_210^0-a_210^post100 == 0 /\ len_132^0-len_132^post100 == 0 /\ len_183^0-len_183^post100 == 0 /\ -r_218^post100+r_218^0 == 0 /\ -result_11^post100+result_11^0 == 0 /\ -x_20^post100+x_20^0 == 0 /\ r_163^0-r_163^post100 == 0 /\ -i_167^post100+i_167^0 == 0 /\ -r_124^post100+r_124^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100 == 0 /\ -head_14^post100+head_14^0 == 0 /\ t_23^0-t_23^post100 == 0 /\ -tmp_34^post100+tmp_34^0 == 0 /\ a_277^0-a_277^post100 == 0 /\ head_175^0-head_175^post100 == 0 /\ -head_129^post100+head_129^0 == 0 /\ f_263^0-f_263^post100 == 0 /\ -a_353^post100+a_353^0 == 0 /\ -len_226^post100+len_226^0 == 0 /\ -r_260^post100+r_260^0 == 0 /\ -a_308^post100+a_308^0 == 0), cost: 1 101: l67 -> l68 : temp0_15^0'=temp0_15^post101, a_241^0'=a_241^post101, head_27^0'=head_27^post101, head_129^0'=head_129^post101, r_124^0'=r_124^post101, len_183^0'=len_183^post101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post101, a_147^0'=a_147^post101, rcd_58^0'=rcd_58^post101, head_175^0'=head_175^post101, y_19^0'=y_19^post101, ct_17^0'=ct_17^post101, temp_35^0'=temp_35^post101, i_30^0'=i_30^post101, head_SLAM_f_26^0'=head_SLAM_f_26^post101, r_218^0'=r_218^post101, len_276^0'=len_276^post101, a_308^0'=a_308^post101, t_23^0'=t_23^post101, a_210^0'=a_210^post101, result_11^0'=result_11^post101, head_268^0'=head_268^post101, f_263^0'=f_263^post101, x_16^0'=x_16^post101, len_132^0'=len_132^post101, i_167^0'=i_167^post101, a_116^0'=a_116^post101, r_39^0'=r_39^post101, nondet_12^0'=nondet_12^post101, x_SLAM_f_18^0'=x_SLAM_f_18^post101, a_353^0'=a_353^post101, temp0_31^0'=temp0_31^post101, a_277^0'=a_277^post101, head_32^0'=head_32^post101, head_14^0'=head_14^post101, r_163^0'=r_163^post101, len_226^0'=len_226^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post101, a_184^0'=a_184^post101, rcd_88^0'=rcd_88^post101, head_223^0'=head_223^post101, f_170^0'=f_170^post101, tmp_34^0'=tmp_34^post101, i_94^0'=i_94^post101, i_108^0'=i_108^post101, r_260^0'=r_260^post101, length_29^0'=length_29^post101, x_20^0'=x_20^post101, a_330^0'=a_330^post101, (-head_223^post101+head_223^0 == 0 /\ i_30^0-i_30^post101 == 0 /\ a_147^0-a_147^post101 == 0 /\ a_184^0-a_184^post101 == 0 /\ len_132^0-len_132^post101 == 0 /\ -f_263^post101+f_263^0 == 0 /\ -i_94^post101+i_94^0 == 0 /\ tmp_34^0-tmp_34^post101 == 0 /\ y_19^0-y_19^post101 == 0 /\ rcd_58^0-rcd_58^post101 == 0 /\ r_124^0-r_124^post101 == 0 /\ -a_330^post101+a_330^0 == 0 /\ len_276^0-len_276^post101 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post101 == 0 /\ -nondet_12^post101+nondet_12^0 == 0 /\ 1+head_14^0 <= 0 /\ len_183^0-len_183^post101 == 0 /\ -a_210^post101+a_210^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post101 == 0 /\ -f_170^post101+f_170^0 == 0 /\ ct_17^0-ct_17^post101 == 0 /\ -length_29^post101+length_29^0 == 0 /\ -a_277^post101+a_277^0 == 0 /\ -r_163^post101+r_163^0 == 0 /\ temp_35^0-temp_35^post101 == 0 /\ -i_108^post101+i_108^0 == 0 /\ -r_218^post101+r_218^0 == 0 /\ head_268^0-head_268^post101 == 0 /\ a_116^0-a_116^post101 == 0 /\ -x_16^post101+x_16^0 == 0 /\ -result_11^post101+result_11^0 == 0 /\ -x_20^post101+x_20^0 == 0 /\ r_39^0-r_39^post101 == 0 /\ -rcd_88^post101+rcd_88^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post101 == 0 /\ -head_14^post101+head_14^0 == 0 /\ -i_167^post101+i_167^0 == 0 /\ -head_129^post101+head_129^0 == 0 /\ -len_226^post101+len_226^0 == 0 /\ -head_27^post101+head_27^0 == 0 /\ a_241^0-a_241^post101 == 0 /\ head_175^0-head_175^post101 == 0 /\ temp0_31^0-temp0_31^post101 == 0 /\ temp0_15^0-temp0_15^post101 == 0 /\ head_32^0-head_32^post101 == 0 /\ -a_353^post101+a_353^0 == 0 /\ -r_260^post101+r_260^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post101 == 0 /\ a_308^0-a_308^post101 == 0 /\ t_23^0-t_23^post101 == 0), cost: 1 102: l68 -> l69 : temp0_15^0'=temp0_15^post102, a_241^0'=a_241^post102, head_27^0'=head_27^post102, head_129^0'=head_129^post102, r_124^0'=r_124^post102, len_183^0'=len_183^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102, a_147^0'=a_147^post102, rcd_58^0'=rcd_58^post102, head_175^0'=head_175^post102, y_19^0'=y_19^post102, ct_17^0'=ct_17^post102, temp_35^0'=temp_35^post102, i_30^0'=i_30^post102, head_SLAM_f_26^0'=head_SLAM_f_26^post102, r_218^0'=r_218^post102, len_276^0'=len_276^post102, a_308^0'=a_308^post102, t_23^0'=t_23^post102, a_210^0'=a_210^post102, result_11^0'=result_11^post102, head_268^0'=head_268^post102, f_263^0'=f_263^post102, x_16^0'=x_16^post102, len_132^0'=len_132^post102, i_167^0'=i_167^post102, a_116^0'=a_116^post102, r_39^0'=r_39^post102, nondet_12^0'=nondet_12^post102, x_SLAM_f_18^0'=x_SLAM_f_18^post102, a_353^0'=a_353^post102, temp0_31^0'=temp0_31^post102, a_277^0'=a_277^post102, head_32^0'=head_32^post102, head_14^0'=head_14^post102, r_163^0'=r_163^post102, len_226^0'=len_226^post102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post102, a_184^0'=a_184^post102, rcd_88^0'=rcd_88^post102, head_223^0'=head_223^post102, f_170^0'=f_170^post102, tmp_34^0'=tmp_34^post102, i_94^0'=i_94^post102, i_108^0'=i_108^post102, r_260^0'=r_260^post102, length_29^0'=length_29^post102, x_20^0'=x_20^post102, a_330^0'=a_330^post102, (0 == 0 /\ -x_20^post102+x_20^0 == 0 /\ len_183^0-len_183^post102 == 0 /\ -x_16^post102+x_16^0 == 0 /\ -i_167^post102+i_167^0 == 0 /\ head_27^0-head_27^post102 == 0 /\ len_276^0-len_276^post102 == 0 /\ -a_277^post102+a_277^0 == 0 /\ -tmp_34^post102+tmp_34^0 == 0 /\ a_241^0-a_241^post102 == 0 /\ -r_163^post102+r_163^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102 == 0 /\ -a_210^post102+a_210^0 == 0 /\ ct_17^0-ct_17^post102 == 0 /\ -length_29^post102+length_29^0 == 0 /\ -temp_35^post102+temp_35^0 == 0 /\ a_147^0-a_147^post102 == 0 /\ -i_108^post102+i_108^0 == 0 /\ head_175^0-head_175^post102 == 0 /\ -a_184^post102+a_184^0 == 0 /\ r_218^0-r_218^post102 == 0 /\ -head_223^post102+head_223^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_30^0-i_30^post102 == 0 /\ -result_11^post102+result_11^0 == 0 /\ r_39^0-r_39^post102 == 0 /\ -nondet_12^post102+nondet_12^0 == 0 /\ f_263^0-f_263^post102 == 0 /\ rcd_58^0-rcd_58^post102 == 0 /\ head_32^0-head_32^post102 == 0 /\ r_124^0-r_124^post102 == 0 /\ -a_330^post102+a_330^0 == 0 /\ -x_SLAM_f_18^post102+x_SLAM_f_18^0 == 0 /\ -r_260^post102+r_260^0 == 0 /\ -f_170^post102+f_170^0 == 0 /\ temp0_15^0-temp0_15^post102 == 0 /\ head_129^0-head_129^post102 == 0 /\ -rcd_88^post102+rcd_88^0 == 0 /\ temp0_31^0-temp0_31^post102 == 0 /\ len_226^0-len_226^post102 == 0 /\ y_19^0-y_19^post102 == 0 /\ -a_353^post102+a_353^0 == 0 /\ a_308^0-a_308^post102 == 0 /\ -i_94^post102+i_94^0 == 0 /\ head_268^0-head_268^post102 == 0 /\ -a_116^post102+a_116^0 == 0 /\ t_23^0-t_23^post102 == 0 /\ len_132^0-len_132^post102 == 0), cost: 1 103: l69 -> l70 : temp0_15^0'=temp0_15^post103, a_241^0'=a_241^post103, head_27^0'=head_27^post103, head_129^0'=head_129^post103, r_124^0'=r_124^post103, len_183^0'=len_183^post103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103, a_147^0'=a_147^post103, rcd_58^0'=rcd_58^post103, head_175^0'=head_175^post103, y_19^0'=y_19^post103, ct_17^0'=ct_17^post103, temp_35^0'=temp_35^post103, i_30^0'=i_30^post103, head_SLAM_f_26^0'=head_SLAM_f_26^post103, r_218^0'=r_218^post103, len_276^0'=len_276^post103, a_308^0'=a_308^post103, t_23^0'=t_23^post103, a_210^0'=a_210^post103, result_11^0'=result_11^post103, head_268^0'=head_268^post103, f_263^0'=f_263^post103, x_16^0'=x_16^post103, len_132^0'=len_132^post103, i_167^0'=i_167^post103, a_116^0'=a_116^post103, r_39^0'=r_39^post103, nondet_12^0'=nondet_12^post103, x_SLAM_f_18^0'=x_SLAM_f_18^post103, a_353^0'=a_353^post103, temp0_31^0'=temp0_31^post103, a_277^0'=a_277^post103, head_32^0'=head_32^post103, head_14^0'=head_14^post103, r_163^0'=r_163^post103, len_226^0'=len_226^post103, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post103, a_184^0'=a_184^post103, rcd_88^0'=rcd_88^post103, head_223^0'=head_223^post103, f_170^0'=f_170^post103, tmp_34^0'=tmp_34^post103, i_94^0'=i_94^post103, i_108^0'=i_108^post103, r_260^0'=r_260^post103, length_29^0'=length_29^post103, x_20^0'=x_20^post103, a_330^0'=a_330^post103, (result_11^0-result_11^post103 == 0 /\ ct_17^0-ct_17^post103 == 0 /\ len_183^0-len_183^post103 == 0 /\ -head_SLAM_f_26^post103+head_SLAM_f_26^0 == 0 /\ f_170^0-f_170^post103 == 0 /\ -a_277^post103+a_277^0 == 0 /\ r_218^0-r_218^post103 == 0 /\ -temp0_31^post103+temp0_31^0 == 0 /\ -head_268^post103+head_268^0 == 0 /\ -i_167^post103+i_167^0 == 0 /\ -temp_35^post103+temp_35^0 == 0 /\ r_39^0-r_39^post103 == 0 /\ r_124^0-r_124^post103 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103 == 0 /\ -tmp_34^post103+tmp_34^0 == 0 /\ temp0_15^0-temp0_15^post103 == 0 /\ -a_210^post103+a_210^0 == 0 /\ -length_29^post103+length_29^0 == 0 /\ a_241^0-a_241^post103 == 0 /\ a_116^0-a_116^post103 == 0 /\ -a_184^post103+a_184^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post103 == 0 /\ head_175^0-head_175^post103 == 0 /\ -head_223^post103+head_223^0 == 0 /\ a_308^0-a_308^post103 == 0 /\ -rcd_88^post103+rcd_88^0 == 0 /\ -i_108^post103+i_108^0 == 0 /\ i_30^0-i_30^post103 == 0 /\ t_23^0-t_23^post103 == 0 /\ len_132^0-len_132^post103 == 0 /\ -len_276^post103+len_276^0 == 0 /\ -x_20^post103+x_20^0 == 0 /\ -x_16^post103+x_16^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post103+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -nondet_12^post103+nondet_12^0 == 0 /\ head_27^0-head_27^post103 == 0 /\ rcd_58^0-rcd_58^post103 == 0 /\ -r_260^post103+r_260^0 == 0 /\ head_129^0-head_129^post103 == 0 /\ -a_353^post103+a_353^0 == 0 /\ -head_14^post103+head_14^0 == 0 /\ len_226^0-len_226^post103 == 0 /\ -r_163^post103+r_163^0 == 0 /\ a_147^0-a_147^post103 == 0 /\ y_19^0-y_19^post103 == 0 /\ -i_94^post103+i_94^0 == 0 /\ -head_32^post103+head_32^0 == 0 /\ 1-head_27^0 <= 0 /\ -f_263^post103+f_263^0 == 0 /\ -a_330^post103+a_330^0 == 0), cost: 1 104: l69 -> l70 : temp0_15^0'=temp0_15^post104, a_241^0'=a_241^post104, head_27^0'=head_27^post104, head_129^0'=head_129^post104, r_124^0'=r_124^post104, len_183^0'=len_183^post104, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post104, a_147^0'=a_147^post104, rcd_58^0'=rcd_58^post104, head_175^0'=head_175^post104, y_19^0'=y_19^post104, ct_17^0'=ct_17^post104, temp_35^0'=temp_35^post104, i_30^0'=i_30^post104, head_SLAM_f_26^0'=head_SLAM_f_26^post104, r_218^0'=r_218^post104, len_276^0'=len_276^post104, a_308^0'=a_308^post104, t_23^0'=t_23^post104, a_210^0'=a_210^post104, result_11^0'=result_11^post104, head_268^0'=head_268^post104, f_263^0'=f_263^post104, x_16^0'=x_16^post104, len_132^0'=len_132^post104, i_167^0'=i_167^post104, a_116^0'=a_116^post104, r_39^0'=r_39^post104, nondet_12^0'=nondet_12^post104, x_SLAM_f_18^0'=x_SLAM_f_18^post104, a_353^0'=a_353^post104, temp0_31^0'=temp0_31^post104, a_277^0'=a_277^post104, head_32^0'=head_32^post104, head_14^0'=head_14^post104, r_163^0'=r_163^post104, len_226^0'=len_226^post104, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post104, a_184^0'=a_184^post104, rcd_88^0'=rcd_88^post104, head_223^0'=head_223^post104, f_170^0'=f_170^post104, tmp_34^0'=tmp_34^post104, i_94^0'=i_94^post104, i_108^0'=i_108^post104, r_260^0'=r_260^post104, length_29^0'=length_29^post104, x_20^0'=x_20^post104, a_330^0'=a_330^post104, (-tmp_34^post104+tmp_34^0 == 0 /\ rcd_88^0-rcd_88^post104 == 0 /\ -head_14^post104+head_14^0 == 0 /\ -rcd_58^post104+rcd_58^0 == 0 /\ f_170^0-f_170^post104 == 0 /\ a_353^0-a_353^post104 == 0 /\ -length_29^post104+length_29^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post104 == 0 /\ 1+head_27^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post104 == 0 /\ head_129^0-head_129^post104 == 0 /\ -head_223^post104+head_223^0 == 0 /\ -r_163^post104+r_163^0 == 0 /\ -a_277^post104+a_277^0 == 0 /\ temp0_15^0-temp0_15^post104 == 0 /\ -len_226^post104+len_226^0 == 0 /\ result_11^0-result_11^post104 == 0 /\ x_16^0-x_16^post104 == 0 /\ -x_20^post104+x_20^0 == 0 /\ -f_263^post104+f_263^0 == 0 /\ head_27^0-head_27^post104 == 0 /\ -a_184^post104+a_184^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post104+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_116^0-a_116^post104 == 0 /\ len_183^0-len_183^post104 == 0 /\ -i_108^post104+i_108^0 == 0 /\ -len_276^post104+len_276^0 == 0 /\ ct_17^0-ct_17^post104 == 0 /\ -r_260^post104+r_260^0 == 0 /\ i_167^0-i_167^post104 == 0 /\ r_218^0-r_218^post104 == 0 /\ a_308^0-a_308^post104 == 0 /\ r_124^0-r_124^post104 == 0 /\ -temp0_31^post104+temp0_31^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post104 == 0 /\ temp_35^0-temp_35^post104 == 0 /\ a_241^0-a_241^post104 == 0 /\ -len_132^post104+len_132^0 == 0 /\ -a_147^post104+a_147^0 == 0 /\ head_175^0-head_175^post104 == 0 /\ -r_39^post104+r_39^0 == 0 /\ t_23^0-t_23^post104 == 0 /\ -head_32^post104+head_32^0 == 0 /\ -y_19^post104+y_19^0 == 0 /\ i_30^0-i_30^post104 == 0 /\ -head_268^post104+head_268^0 == 0 /\ -nondet_12^post104+nondet_12^0 == 0 /\ -i_94^post104+i_94^0 == 0 /\ -a_330^post104+a_330^0 == 0 /\ a_210^0-a_210^post104 == 0), cost: 1 105: l70 -> l71 : temp0_15^0'=temp0_15^post105, a_241^0'=a_241^post105, head_27^0'=head_27^post105, head_129^0'=head_129^post105, r_124^0'=r_124^post105, len_183^0'=len_183^post105, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post105, a_147^0'=a_147^post105, rcd_58^0'=rcd_58^post105, head_175^0'=head_175^post105, y_19^0'=y_19^post105, ct_17^0'=ct_17^post105, temp_35^0'=temp_35^post105, i_30^0'=i_30^post105, head_SLAM_f_26^0'=head_SLAM_f_26^post105, r_218^0'=r_218^post105, len_276^0'=len_276^post105, a_308^0'=a_308^post105, t_23^0'=t_23^post105, a_210^0'=a_210^post105, result_11^0'=result_11^post105, head_268^0'=head_268^post105, f_263^0'=f_263^post105, x_16^0'=x_16^post105, len_132^0'=len_132^post105, i_167^0'=i_167^post105, a_116^0'=a_116^post105, r_39^0'=r_39^post105, nondet_12^0'=nondet_12^post105, x_SLAM_f_18^0'=x_SLAM_f_18^post105, a_353^0'=a_353^post105, temp0_31^0'=temp0_31^post105, a_277^0'=a_277^post105, head_32^0'=head_32^post105, head_14^0'=head_14^post105, r_163^0'=r_163^post105, len_226^0'=len_226^post105, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post105, a_184^0'=a_184^post105, rcd_88^0'=rcd_88^post105, head_223^0'=head_223^post105, f_170^0'=f_170^post105, tmp_34^0'=tmp_34^post105, i_94^0'=i_94^post105, i_108^0'=i_108^post105, r_260^0'=r_260^post105, length_29^0'=length_29^post105, x_20^0'=x_20^post105, a_330^0'=a_330^post105, (-r_163^post105+r_163^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post105+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_27^0 <= 0 /\ i_167^0-i_167^post105 == 0 /\ -x_SLAM_f_18^post105+x_SLAM_f_18^0 == 0 /\ y_19^0-y_19^post105 == 0 /\ a_353^0-a_353^post105 == 0 /\ head_27^0-head_27^post105 == 0 /\ i_30^0-i_30^post105 == 0 /\ -f_170^post105+f_170^0 == 0 /\ -a_147^post105+a_147^0 == 0 /\ -r_260^post105+r_260^0 == 0 /\ len_183^0-len_183^post105 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post105 == 0 /\ -a_308^post105+a_308^0 == 0 /\ r_218^0-r_218^post105 == 0 /\ f_263^0-f_263^post105 == 0 /\ nondet_12^0-nondet_12^post105 == 0 /\ temp_35^0-temp_35^post105 == 0 /\ -i_94^post105+i_94^0 == 0 /\ -ct_17^post105+ct_17^0 == 0 /\ r_124^0-r_124^post105 == 0 /\ -a_330^post105+a_330^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_88^0-rcd_88^post105 == 0 /\ a_210^0-a_210^post105 == 0 /\ head_175^0-head_175^post105 == 0 /\ head_14^0-head_14^post105 == 0 /\ -t_23^post105+t_23^0 == 0 /\ a_277^0-a_277^post105 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post105+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -tmp_34^post105+tmp_34^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ head_129^0-head_129^post105 == 0 /\ -len_226^post105+len_226^0 == 0 /\ -length_29^post105+length_29^0 == 0 /\ -temp0_31^post105+temp0_31^0 == 0 /\ -len_132^post105+len_132^0 == 0 /\ temp0_15^0-temp0_15^post105 == 0 /\ a_241^0-a_241^post105 == 0 /\ result_11^0-result_11^post105 == 0 /\ x_16^0-x_16^post105 == 0 /\ -r_39^post105+r_39^0 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ -head_223^post105+head_223^0 == 0 /\ len_276^0-len_276^post105 == 0 /\ -head_268^post105+head_268^0 == 0 /\ rcd_58^0-rcd_58^post105 == 0 /\ -x_20^post105+x_20^0 == 0 /\ -a_116^post105+a_116^0 == 0 /\ -i_108^post105+i_108^0 == 0 /\ -a_184^post105+a_184^0 == 0 /\ -head_32^post105+head_32^0 == 0 /\ -head_27^0 <= 0), cost: 1 106: l71 -> l72 : temp0_15^0'=temp0_15^post106, a_241^0'=a_241^post106, head_27^0'=head_27^post106, head_129^0'=head_129^post106, r_124^0'=r_124^post106, len_183^0'=len_183^post106, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post106, a_147^0'=a_147^post106, rcd_58^0'=rcd_58^post106, head_175^0'=head_175^post106, y_19^0'=y_19^post106, ct_17^0'=ct_17^post106, temp_35^0'=temp_35^post106, i_30^0'=i_30^post106, head_SLAM_f_26^0'=head_SLAM_f_26^post106, r_218^0'=r_218^post106, len_276^0'=len_276^post106, a_308^0'=a_308^post106, t_23^0'=t_23^post106, a_210^0'=a_210^post106, result_11^0'=result_11^post106, head_268^0'=head_268^post106, f_263^0'=f_263^post106, x_16^0'=x_16^post106, len_132^0'=len_132^post106, i_167^0'=i_167^post106, a_116^0'=a_116^post106, r_39^0'=r_39^post106, nondet_12^0'=nondet_12^post106, x_SLAM_f_18^0'=x_SLAM_f_18^post106, a_353^0'=a_353^post106, temp0_31^0'=temp0_31^post106, a_277^0'=a_277^post106, head_32^0'=head_32^post106, head_14^0'=head_14^post106, r_163^0'=r_163^post106, len_226^0'=len_226^post106, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post106, a_184^0'=a_184^post106, rcd_88^0'=rcd_88^post106, head_223^0'=head_223^post106, f_170^0'=f_170^post106, tmp_34^0'=tmp_34^post106, i_94^0'=i_94^post106, i_108^0'=i_108^post106, r_260^0'=r_260^post106, length_29^0'=length_29^post106, x_20^0'=x_20^post106, a_330^0'=a_330^post106, (r_218^0-r_218^post106 == 0 /\ -result_11^post106+result_11^0 == 0 /\ -f_170^post106+f_170^0 == 0 /\ -r_260^post106+r_260^0 == 0 /\ ct_17^0-ct_17^post106 == 0 /\ -head_175^post106+head_175^0 == 0 /\ head_129^0-head_129^post106 == 0 /\ -a_353^post106+a_353^0 == 0 /\ f_263^0-f_263^post106 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post106 == 0 /\ -i_30^post106+i_30^0 == 0 /\ a_241^0-a_241^post106 == 0 /\ nondet_12^0-nondet_12^post106 == 0 /\ a_210^0-a_210^post106 == 0 /\ -a_308^post106+a_308^0 == 0 /\ i_167^0-i_167^post106 == 0 /\ -x_20^post106+x_20^0 == 0 /\ -len_132^post106+len_132^0 == 0 /\ temp0_15^0-temp0_15^post106 == 0 /\ rcd_58^0-rcd_58^post106 == 0 /\ -a_330^post106+a_330^0 == 0 /\ -tmp_34^post106+tmp_34^0 == 0 /\ -length_29^post106+length_29^0 == 0 /\ -i_94^post106+i_94^0 == 0 /\ r_163^0-r_163^post106 == 0 /\ -a_184^post106+a_184^0 == 0 /\ 1-head_14^0 <= 0 /\ y_19^0-y_19^post106 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post106 == 0 /\ -len_226^post106+len_226^0 == 0 /\ -t_23^post106+t_23^0 == 0 /\ head_27^0-head_27^post106 == 0 /\ len_183^0-len_183^post106 == 0 /\ -r_39^post106+r_39^0 == 0 /\ head_14^0-head_14^post106 == 0 /\ a_277^0-a_277^post106 == 0 /\ head_268^0-head_268^post106 == 0 /\ -head_223^post106+head_223^0 == 0 /\ -rcd_88^post106+rcd_88^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post106 == 0 /\ -temp0_31^post106+temp0_31^0 == 0 /\ x_16^0-x_16^post106 == 0 /\ temp_35^0-temp_35^post106 == 0 /\ a_147^0-a_147^post106 == 0 /\ -i_108^post106+i_108^0 == 0 /\ -r_124^post106+r_124^0 == 0 /\ -head_32^post106+head_32^0 == 0 /\ len_276^0-len_276^post106 == 0 /\ -x_SLAM_f_18^post106+x_SLAM_f_18^0 == 0 /\ -a_116^post106+a_116^0 == 0), cost: 1 107: l71 -> l72 : temp0_15^0'=temp0_15^post107, a_241^0'=a_241^post107, head_27^0'=head_27^post107, head_129^0'=head_129^post107, r_124^0'=r_124^post107, len_183^0'=len_183^post107, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post107, a_147^0'=a_147^post107, rcd_58^0'=rcd_58^post107, head_175^0'=head_175^post107, y_19^0'=y_19^post107, ct_17^0'=ct_17^post107, temp_35^0'=temp_35^post107, i_30^0'=i_30^post107, head_SLAM_f_26^0'=head_SLAM_f_26^post107, r_218^0'=r_218^post107, len_276^0'=len_276^post107, a_308^0'=a_308^post107, t_23^0'=t_23^post107, a_210^0'=a_210^post107, result_11^0'=result_11^post107, head_268^0'=head_268^post107, f_263^0'=f_263^post107, x_16^0'=x_16^post107, len_132^0'=len_132^post107, i_167^0'=i_167^post107, a_116^0'=a_116^post107, r_39^0'=r_39^post107, nondet_12^0'=nondet_12^post107, x_SLAM_f_18^0'=x_SLAM_f_18^post107, a_353^0'=a_353^post107, temp0_31^0'=temp0_31^post107, a_277^0'=a_277^post107, head_32^0'=head_32^post107, head_14^0'=head_14^post107, r_163^0'=r_163^post107, len_226^0'=len_226^post107, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post107, a_184^0'=a_184^post107, rcd_88^0'=rcd_88^post107, head_223^0'=head_223^post107, f_170^0'=f_170^post107, tmp_34^0'=tmp_34^post107, i_94^0'=i_94^post107, i_108^0'=i_108^post107, r_260^0'=r_260^post107, length_29^0'=length_29^post107, x_20^0'=x_20^post107, a_330^0'=a_330^post107, (nondet_12^0-nondet_12^post107 == 0 /\ -r_39^post107+r_39^0 == 0 /\ -a_116^post107+a_116^0 == 0 /\ r_124^0-r_124^post107 == 0 /\ -f_170^post107+f_170^0 == 0 /\ temp_35^0-temp_35^post107 == 0 /\ -i_108^post107+i_108^0 == 0 /\ -rcd_88^post107+rcd_88^0 == 0 /\ -r_260^post107+r_260^0 == 0 /\ a_241^0-a_241^post107 == 0 /\ -r_218^post107+r_218^0 == 0 /\ temp0_15^0-temp0_15^post107 == 0 /\ -x_20^post107+x_20^0 == 0 /\ -x_16^post107+x_16^0 == 0 /\ -t_23^post107+t_23^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post107 == 0 /\ -a_330^post107+a_330^0 == 0 /\ head_129^0-head_129^post107 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post107+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^post107 == 0 /\ 1+head_14^0 <= 0 /\ -x_SLAM_f_18^post107+x_SLAM_f_18^0 == 0 /\ -i_30^post107+i_30^0 == 0 /\ -a_353^post107+a_353^0 == 0 /\ -tmp_34^post107+tmp_34^0 == 0 /\ -len_226^post107+len_226^0 == 0 /\ i_167^0-i_167^post107 == 0 /\ head_268^0-head_268^post107 == 0 /\ -head_32^post107+head_32^0 == 0 /\ a_147^0-a_147^post107 == 0 /\ head_27^0-head_27^post107 == 0 /\ len_276^0-len_276^post107 == 0 /\ -i_94^post107+i_94^0 == 0 /\ -a_184^post107+a_184^0 == 0 /\ a_210^0-a_210^post107 == 0 /\ len_132^0-len_132^post107 == 0 /\ ct_17^0-ct_17^post107 == 0 /\ y_19^0-y_19^post107 == 0 /\ -result_11^post107+result_11^0 == 0 /\ -head_223^post107+head_223^0 == 0 /\ rcd_58^0-rcd_58^post107 == 0 /\ -a_277^post107+a_277^0 == 0 /\ len_183^0-len_183^post107 == 0 /\ -head_175^post107+head_175^0 == 0 /\ -temp0_31^post107+temp0_31^0 == 0 /\ -length_29^post107+length_29^0 == 0 /\ r_163^0-r_163^post107 == 0 /\ -head_14^post107+head_14^0 == 0 /\ f_263^0-f_263^post107 == 0 /\ -a_308^post107+a_308^0 == 0), cost: 1 108: l72 -> l73 : temp0_15^0'=temp0_15^post108, a_241^0'=a_241^post108, head_27^0'=head_27^post108, head_129^0'=head_129^post108, r_124^0'=r_124^post108, len_183^0'=len_183^post108, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post108, a_147^0'=a_147^post108, rcd_58^0'=rcd_58^post108, head_175^0'=head_175^post108, y_19^0'=y_19^post108, ct_17^0'=ct_17^post108, temp_35^0'=temp_35^post108, i_30^0'=i_30^post108, head_SLAM_f_26^0'=head_SLAM_f_26^post108, r_218^0'=r_218^post108, len_276^0'=len_276^post108, a_308^0'=a_308^post108, t_23^0'=t_23^post108, a_210^0'=a_210^post108, result_11^0'=result_11^post108, head_268^0'=head_268^post108, f_263^0'=f_263^post108, x_16^0'=x_16^post108, len_132^0'=len_132^post108, i_167^0'=i_167^post108, a_116^0'=a_116^post108, r_39^0'=r_39^post108, nondet_12^0'=nondet_12^post108, x_SLAM_f_18^0'=x_SLAM_f_18^post108, a_353^0'=a_353^post108, temp0_31^0'=temp0_31^post108, a_277^0'=a_277^post108, head_32^0'=head_32^post108, head_14^0'=head_14^post108, r_163^0'=r_163^post108, len_226^0'=len_226^post108, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post108, a_184^0'=a_184^post108, rcd_88^0'=rcd_88^post108, head_223^0'=head_223^post108, f_170^0'=f_170^post108, tmp_34^0'=tmp_34^post108, i_94^0'=i_94^post108, i_108^0'=i_108^post108, r_260^0'=r_260^post108, length_29^0'=length_29^post108, x_20^0'=x_20^post108, a_330^0'=a_330^post108, (0 == 0 /\ i_30^0-i_30^post108 == 0 /\ -r_218^post108+r_218^0 == 0 /\ head_268^0-head_268^post108 == 0 /\ -ct_17^post108 <= 0 /\ head_27^0 <= 0 /\ -rcd_88^post108+rcd_88^0 == 0 /\ -a_308^post108+a_308^0 == 0 /\ -a_184^post108+a_184^0 == 0 /\ nondet_12^0-nondet_12^post108 == 0 /\ -a_330^post108+a_330^0 == 0 /\ rcd_58^0-rcd_58^post108 == 0 /\ -ct_17^post108+y_19^post108 <= 0 /\ -ct_17^post108+y_19^post108 == 0 /\ -i_94^post108+i_94^0 == 0 /\ -a_116^post108+a_116^0 == 0 /\ -t_23^post108+t_23^0 == 0 /\ len_183^0-len_183^post108 == 0 /\ -a_353^post108+a_353^0 == 0 /\ ct_17^post108 <= 0 /\ ct_17^post108 == 0 /\ -len_226^post108+len_226^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^post108+i_167^0 == 0 /\ ct_17^post108-y_19^post108 <= 0 /\ -x_SLAM_f_18^post108+head_14^0 <= 0 /\ r_124^0-r_124^post108 == 0 /\ x_20^post108-x_SLAM_f_18^post108 <= 0 /\ x_20^post108-x_SLAM_f_18^post108 == 0 /\ -y_19^post108 <= 0 /\ -x_16^post108+head_14^0 <= 0 /\ temp_35^0-temp_35^post108 == 0 /\ len_276^0-len_276^post108 == 0 /\ len_132^0-len_132^post108 == 0 /\ temp0_15^0-temp0_15^post108 == 0 /\ y_19^post108 <= 0 /\ x_16^post108-x_SLAM_f_18^post108 <= 0 /\ temp0_31^0-temp0_31^post108 == 0 /\ head_32^0-head_32^post108 == 0 /\ -x_20^post108+head_14^0 <= 0 /\ -tmp_34^post108+tmp_34^0 == 0 /\ x_SLAM_f_18^post108-head_14^0 <= 0 /\ -r_260^post108+r_260^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post108 == 0 /\ f_263^0-f_263^post108 == 0 /\ -x_20^post108+x_SLAM_f_18^post108 <= 0 /\ a_147^0-a_147^post108 == 0 /\ x_16^post108-head_14^0 <= 0 /\ x_16^post108-head_14^0 == 0 /\ -head_14^post108+head_14^0 == 0 /\ -result_11^post108+result_11^0 == 0 /\ -head_129^post108+head_129^0 == 0 /\ a_277^0-a_277^post108 == 0 /\ a_241^0-a_241^post108 == 0 /\ -r_39^post108+r_39^0 == 0 /\ head_175^0-head_175^post108 == 0 /\ a_210^0-a_210^post108 == 0 /\ -head_223^post108+head_223^0 == 0 /\ -f_170^post108+f_170^0 == 0 /\ -length_29^post108+length_29^0 == 0 /\ i_108^0-i_108^post108 == 0 /\ -r_163^post108+r_163^0 == 0 /\ -x_16^post108+x_SLAM_f_18^post108 <= 0 /\ -x_16^post108+x_SLAM_f_18^post108 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post108 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post108 <= 0 /\ x_20^post108-head_14^0 <= 0 /\ -head_27^0 <= 0), cost: 1 109: l73 -> l74 : temp0_15^0'=temp0_15^post109, a_241^0'=a_241^post109, head_27^0'=head_27^post109, head_129^0'=head_129^post109, r_124^0'=r_124^post109, len_183^0'=len_183^post109, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post109, a_147^0'=a_147^post109, rcd_58^0'=rcd_58^post109, head_175^0'=head_175^post109, y_19^0'=y_19^post109, ct_17^0'=ct_17^post109, temp_35^0'=temp_35^post109, i_30^0'=i_30^post109, head_SLAM_f_26^0'=head_SLAM_f_26^post109, r_218^0'=r_218^post109, len_276^0'=len_276^post109, a_308^0'=a_308^post109, t_23^0'=t_23^post109, a_210^0'=a_210^post109, result_11^0'=result_11^post109, head_268^0'=head_268^post109, f_263^0'=f_263^post109, x_16^0'=x_16^post109, len_132^0'=len_132^post109, i_167^0'=i_167^post109, a_116^0'=a_116^post109, r_39^0'=r_39^post109, nondet_12^0'=nondet_12^post109, x_SLAM_f_18^0'=x_SLAM_f_18^post109, a_353^0'=a_353^post109, temp0_31^0'=temp0_31^post109, a_277^0'=a_277^post109, head_32^0'=head_32^post109, head_14^0'=head_14^post109, r_163^0'=r_163^post109, len_226^0'=len_226^post109, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post109, a_184^0'=a_184^post109, rcd_88^0'=rcd_88^post109, head_223^0'=head_223^post109, f_170^0'=f_170^post109, tmp_34^0'=tmp_34^post109, i_94^0'=i_94^post109, i_108^0'=i_108^post109, r_260^0'=r_260^post109, length_29^0'=length_29^post109, x_20^0'=x_20^post109, a_330^0'=a_330^post109, (y_19^0-y_19^post109 == 0 /\ -x_20^post109+x_20^0 == 0 /\ a_308^0-a_308^post109 == 0 /\ head_27^0-head_27^post109 == 0 /\ tmp_34^0-tmp_34^post109 == 0 /\ -x_16^post109+x_16^0 == 0 /\ a_184^0-a_184^post109 == 0 /\ -a_330^post109+a_330^0 == 0 /\ len_276^0-len_276^post109 == 0 /\ t_23^0-t_23^post109 == 0 /\ len_132^0-len_132^post109 == 0 /\ -nondet_12^post109+nondet_12^0 == 0 /\ -i_94^post109+i_94^0 == 0 /\ ct_17^0-ct_17^post109 == 0 /\ -r_163^post109+r_163^0 == 0 /\ i_30^0-i_30^post109 == 0 /\ r_39^0-r_39^post109 == 0 /\ len_183^0-len_183^post109 == 0 /\ a_147^0-a_147^post109 == 0 /\ r_218^0-r_218^post109 == 0 /\ -head_SLAM_f_26^post109+head_SLAM_f_26^0 == 0 /\ -f_263^post109+f_263^0 == 0 /\ head_268^0-head_268^post109 == 0 /\ -rcd_88^post109+rcd_88^0 == 0 /\ -a_277^post109+a_277^0 == 0 /\ a_116^0-a_116^post109 == 0 /\ head_175^0-head_175^post109 == 0 /\ 1-head_14^0 <= 0 /\ r_124^0-r_124^post109 == 0 /\ -a_210^post109+a_210^0 == 0 /\ length_29^0-length_29^post109 == 0 /\ -i_108^post109+i_108^0 == 0 /\ -r_260^post109+r_260^0 == 0 /\ -temp_35^post109+temp_35^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post109 == 0 /\ temp0_15^0-temp0_15^post109 == 0 /\ -head_129^post109+head_129^0 == 0 /\ len_226^0-len_226^post109 == 0 /\ -f_170^post109+f_170^0 == 0 /\ rcd_58^0-rcd_58^post109 == 0 /\ -head_14^post109+head_14^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post109+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_11^0-result_11^post109 == 0 /\ -a_353^post109+a_353^0 == 0 /\ -head_223^post109+head_223^0 == 0 /\ -i_167^post109+i_167^0 == 0 /\ head_32^0-head_32^post109 == 0 /\ a_241^0-a_241^post109 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post109 == 0 /\ temp0_31^0-temp0_31^post109 == 0), cost: 1 110: l73 -> l74 : temp0_15^0'=temp0_15^post110, a_241^0'=a_241^post110, head_27^0'=head_27^post110, head_129^0'=head_129^post110, r_124^0'=r_124^post110, len_183^0'=len_183^post110, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post110, a_147^0'=a_147^post110, rcd_58^0'=rcd_58^post110, head_175^0'=head_175^post110, y_19^0'=y_19^post110, ct_17^0'=ct_17^post110, temp_35^0'=temp_35^post110, i_30^0'=i_30^post110, head_SLAM_f_26^0'=head_SLAM_f_26^post110, r_218^0'=r_218^post110, len_276^0'=len_276^post110, a_308^0'=a_308^post110, t_23^0'=t_23^post110, a_210^0'=a_210^post110, result_11^0'=result_11^post110, head_268^0'=head_268^post110, f_263^0'=f_263^post110, x_16^0'=x_16^post110, len_132^0'=len_132^post110, i_167^0'=i_167^post110, a_116^0'=a_116^post110, r_39^0'=r_39^post110, nondet_12^0'=nondet_12^post110, x_SLAM_f_18^0'=x_SLAM_f_18^post110, a_353^0'=a_353^post110, temp0_31^0'=temp0_31^post110, a_277^0'=a_277^post110, head_32^0'=head_32^post110, head_14^0'=head_14^post110, r_163^0'=r_163^post110, len_226^0'=len_226^post110, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post110, a_184^0'=a_184^post110, rcd_88^0'=rcd_88^post110, head_223^0'=head_223^post110, f_170^0'=f_170^post110, tmp_34^0'=tmp_34^post110, i_94^0'=i_94^post110, i_108^0'=i_108^post110, r_260^0'=r_260^post110, length_29^0'=length_29^post110, x_20^0'=x_20^post110, a_330^0'=a_330^post110, (a_116^0-a_116^post110 == 0 /\ r_39^0-r_39^post110 == 0 /\ -len_276^post110+len_276^0 == 0 /\ -a_277^post110+a_277^0 == 0 /\ -head_268^post110+head_268^0 == 0 /\ -a_210^post110+a_210^0 == 0 /\ result_11^0-result_11^post110 == 0 /\ r_218^0-r_218^post110 == 0 /\ -rcd_58^post110+rcd_58^0 == 0 /\ -tmp_34^post110+tmp_34^0 == 0 /\ -head_14^post110+head_14^0 == 0 /\ -head_32^post110+head_32^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post110 == 0 /\ head_129^0-head_129^post110 == 0 /\ -r_163^post110+r_163^0 == 0 /\ a_308^0-a_308^post110 == 0 /\ 1+head_14^0 <= 0 /\ head_27^0-head_27^post110 == 0 /\ -f_170^post110+f_170^0 == 0 /\ -length_29^post110+length_29^0 == 0 /\ -a_184^post110+a_184^0 == 0 /\ t_23^0-t_23^post110 == 0 /\ a_353^0-a_353^post110 == 0 /\ -f_263^post110+f_263^0 == 0 /\ len_132^0-len_132^post110 == 0 /\ -head_223^post110+head_223^0 == 0 /\ temp0_15^0-temp0_15^post110 == 0 /\ -temp0_31^post110+temp0_31^0 == 0 /\ -x_16^post110+x_16^0 == 0 /\ -rcd_88^post110+rcd_88^0 == 0 /\ -nondet_12^post110+nondet_12^0 == 0 /\ len_183^0-len_183^post110 == 0 /\ -x_20^post110+x_20^0 == 0 /\ -head_SLAM_f_26^post110+head_SLAM_f_26^0 == 0 /\ -a_330^post110+a_330^0 == 0 /\ -i_108^post110+i_108^0 == 0 /\ a_241^0-a_241^post110 == 0 /\ i_30^0-i_30^post110 == 0 /\ i_167^0-i_167^post110 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post110 == 0 /\ -i_94^post110+i_94^0 == 0 /\ r_124^0-r_124^post110 == 0 /\ -len_226^post110+len_226^0 == 0 /\ head_175^0-head_175^post110 == 0 /\ -r_260^post110+r_260^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post110+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_147^0-a_147^post110 == 0 /\ -y_19^post110+y_19^0 == 0 /\ ct_17^0-ct_17^post110 == 0 /\ temp_35^0-temp_35^post110 == 0), cost: 1 111: l74 -> l75 : temp0_15^0'=temp0_15^post111, a_241^0'=a_241^post111, head_27^0'=head_27^post111, head_129^0'=head_129^post111, r_124^0'=r_124^post111, len_183^0'=len_183^post111, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post111, a_147^0'=a_147^post111, rcd_58^0'=rcd_58^post111, head_175^0'=head_175^post111, y_19^0'=y_19^post111, ct_17^0'=ct_17^post111, temp_35^0'=temp_35^post111, i_30^0'=i_30^post111, head_SLAM_f_26^0'=head_SLAM_f_26^post111, r_218^0'=r_218^post111, len_276^0'=len_276^post111, a_308^0'=a_308^post111, t_23^0'=t_23^post111, a_210^0'=a_210^post111, result_11^0'=result_11^post111, head_268^0'=head_268^post111, f_263^0'=f_263^post111, x_16^0'=x_16^post111, len_132^0'=len_132^post111, i_167^0'=i_167^post111, a_116^0'=a_116^post111, r_39^0'=r_39^post111, nondet_12^0'=nondet_12^post111, x_SLAM_f_18^0'=x_SLAM_f_18^post111, a_353^0'=a_353^post111, temp0_31^0'=temp0_31^post111, a_277^0'=a_277^post111, head_32^0'=head_32^post111, head_14^0'=head_14^post111, r_163^0'=r_163^post111, len_226^0'=len_226^post111, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post111, a_184^0'=a_184^post111, rcd_88^0'=rcd_88^post111, head_223^0'=head_223^post111, f_170^0'=f_170^post111, tmp_34^0'=tmp_34^post111, i_94^0'=i_94^post111, i_108^0'=i_108^post111, r_260^0'=r_260^post111, length_29^0'=length_29^post111, x_20^0'=x_20^post111, a_330^0'=a_330^post111, (0 == 0 /\ -rcd_58^post111+rcd_58^0 == 0 /\ -head_268^post111+head_268^0 == 0 /\ -a_147^post111+a_147^0 == 0 /\ -a_277^post111+a_277^0 == 0 /\ -len_132^post111+len_132^0 == 0 /\ -tmp_34^post111+tmp_34^0 == 0 /\ head_129^0-head_129^post111 == 0 /\ i_30^0-i_30^post111 == 0 /\ a_210^0-a_210^post111 == 0 /\ -f_170^post111+f_170^0 == 0 /\ -len_226^post111+len_226^0 == 0 /\ -r_260^post111+r_260^0 == 0 /\ a_353^0-a_353^post111 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post111 == 0 /\ -head_32^post111+head_32^0 == 0 /\ len_276^0-len_276^post111 == 0 /\ -f_263^post111+f_263^0 == 0 /\ r_218^0-r_218^post111 == 0 /\ -y_19^post111+y_19^0 == 0 /\ head_27^0-head_27^post111 == 0 /\ a_116^0-a_116^post111 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_223^post111+head_223^0 == 0 /\ temp_35^0-temp_35^post111 == 0 /\ len_183^0-len_183^post111 == 0 /\ -a_330^post111+a_330^0 == 0 /\ i_167^0-i_167^post111 == 0 /\ -temp0_31^post111+temp0_31^0 == 0 /\ result_11^0-result_11^post111 == 0 /\ -r_163^post111+r_163^0 == 0 /\ -rcd_88^post111+rcd_88^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post111 == 0 /\ -length_29^post111+length_29^0 == 0 /\ a_241^0-a_241^post111 == 0 /\ -temp0_15^post111+temp0_15^0 == 0 /\ -r_39^post111+r_39^0 == 0 /\ -i_108^post111+i_108^0 == 0 /\ -a_184^post111+a_184^0 == 0 /\ head_175^0-head_175^post111 == 0 /\ a_308^0-a_308^post111 == 0 /\ r_124^0-r_124^post111 == 0 /\ i_94^0-i_94^post111 == 0 /\ t_23^0-t_23^post111 == 0 /\ nondet_12^0-nondet_12^post111 == 0 /\ -x_20^post111+x_20^0 == 0), cost: 1 112: l75 -> l76 : temp0_15^0'=temp0_15^post112, a_241^0'=a_241^post112, head_27^0'=head_27^post112, head_129^0'=head_129^post112, r_124^0'=r_124^post112, len_183^0'=len_183^post112, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post112, a_147^0'=a_147^post112, rcd_58^0'=rcd_58^post112, head_175^0'=head_175^post112, y_19^0'=y_19^post112, ct_17^0'=ct_17^post112, temp_35^0'=temp_35^post112, i_30^0'=i_30^post112, head_SLAM_f_26^0'=head_SLAM_f_26^post112, r_218^0'=r_218^post112, len_276^0'=len_276^post112, a_308^0'=a_308^post112, t_23^0'=t_23^post112, a_210^0'=a_210^post112, result_11^0'=result_11^post112, head_268^0'=head_268^post112, f_263^0'=f_263^post112, x_16^0'=x_16^post112, len_132^0'=len_132^post112, i_167^0'=i_167^post112, a_116^0'=a_116^post112, r_39^0'=r_39^post112, nondet_12^0'=nondet_12^post112, x_SLAM_f_18^0'=x_SLAM_f_18^post112, a_353^0'=a_353^post112, temp0_31^0'=temp0_31^post112, a_277^0'=a_277^post112, head_32^0'=head_32^post112, head_14^0'=head_14^post112, r_163^0'=r_163^post112, len_226^0'=len_226^post112, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post112, a_184^0'=a_184^post112, rcd_88^0'=rcd_88^post112, head_223^0'=head_223^post112, f_170^0'=f_170^post112, tmp_34^0'=tmp_34^post112, i_94^0'=i_94^post112, i_108^0'=i_108^post112, r_260^0'=r_260^post112, length_29^0'=length_29^post112, x_20^0'=x_20^post112, a_330^0'=a_330^post112, (len_183^0-len_183^post112 == 0 /\ -tmp_34^post112+tmp_34^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post112 == 0 /\ temp0_15^0-temp0_15^post112 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post112+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_353^0-a_353^post112 == 0 /\ r_124^0-r_124^post112 == 0 /\ -f_170^post112+f_170^0 == 0 /\ -temp0_31^post112+temp0_31^0 == 0 /\ -r_163^post112+r_163^0 == 0 /\ -y_19^post112+y_19^0 == 0 /\ -r_260^post112+r_260^0 == 0 /\ a_241^0-a_241^post112 == 0 /\ a_277^0-a_277^post112 == 0 /\ -len_132^post112+len_132^0 == 0 /\ -head_223^post112+head_223^0 == 0 /\ -len_276^post112+len_276^0 == 0 /\ x_16^0-x_16^post112 == 0 /\ -r_39^post112+r_39^0 == 0 /\ -i_94^post112+i_94^0 == 0 /\ rcd_88^0-rcd_88^post112 == 0 /\ -x_SLAM_f_18^post112+x_SLAM_f_18^0 == 0 /\ r_218^0-r_218^post112 == 0 /\ -a_330^post112+a_330^0 == 0 /\ 1+y_19^0-x_20^0 <= 0 /\ result_11^0-result_11^post112 == 0 /\ rcd_58^0-rcd_58^post112 == 0 /\ f_263^0-f_263^post112 == 0 /\ ct_17^0-ct_17^post112 == 0 /\ -a_147^post112+a_147^0 == 0 /\ -len_226^post112+len_226^0 == 0 /\ temp_35^0-temp_35^post112 == 0 /\ head_129^0-head_129^post112 == 0 /\ a_308^0-a_308^post112 == 0 /\ -length_29^post112+length_29^0 == 0 /\ t_23^0-t_23^post112 == 0 /\ -i_108^post112+i_108^0 == 0 /\ a_210^0-a_210^post112 == 0 /\ head_14^0-head_14^post112 == 0 /\ -a_184^post112+a_184^0 == 0 /\ i_167^0-i_167^post112 == 0 /\ head_27^0-head_27^post112 == 0 /\ i_30^0-i_30^post112 == 0 /\ -nondet_12^post112+nondet_12^0 == 0 /\ -x_20^post112+x_20^0 == 0 /\ -head_32^post112+head_32^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post112+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_116^post112+a_116^0 == 0 /\ -head_268^post112+head_268^0 == 0 /\ head_175^0-head_175^post112 == 0), cost: 1 113: l75 -> l76 : temp0_15^0'=temp0_15^post113, a_241^0'=a_241^post113, head_27^0'=head_27^post113, head_129^0'=head_129^post113, r_124^0'=r_124^post113, len_183^0'=len_183^post113, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post113, a_147^0'=a_147^post113, rcd_58^0'=rcd_58^post113, head_175^0'=head_175^post113, y_19^0'=y_19^post113, ct_17^0'=ct_17^post113, temp_35^0'=temp_35^post113, i_30^0'=i_30^post113, head_SLAM_f_26^0'=head_SLAM_f_26^post113, r_218^0'=r_218^post113, len_276^0'=len_276^post113, a_308^0'=a_308^post113, t_23^0'=t_23^post113, a_210^0'=a_210^post113, result_11^0'=result_11^post113, head_268^0'=head_268^post113, f_263^0'=f_263^post113, x_16^0'=x_16^post113, len_132^0'=len_132^post113, i_167^0'=i_167^post113, a_116^0'=a_116^post113, r_39^0'=r_39^post113, nondet_12^0'=nondet_12^post113, x_SLAM_f_18^0'=x_SLAM_f_18^post113, a_353^0'=a_353^post113, temp0_31^0'=temp0_31^post113, a_277^0'=a_277^post113, head_32^0'=head_32^post113, head_14^0'=head_14^post113, r_163^0'=r_163^post113, len_226^0'=len_226^post113, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post113, a_184^0'=a_184^post113, rcd_88^0'=rcd_88^post113, head_223^0'=head_223^post113, f_170^0'=f_170^post113, tmp_34^0'=tmp_34^post113, i_94^0'=i_94^post113, i_108^0'=i_108^post113, r_260^0'=r_260^post113, length_29^0'=length_29^post113, x_20^0'=x_20^post113, a_330^0'=a_330^post113, (r_218^0-r_218^post113 == 0 /\ -length_29^post113+length_29^0 == 0 /\ a_353^0-a_353^post113 == 0 /\ -i_94^post113+i_94^0 == 0 /\ ct_17^0-ct_17^post113 == 0 /\ a_210^0-a_210^post113 == 0 /\ -r_163^post113+r_163^0 == 0 /\ temp_35^0-temp_35^post113 == 0 /\ -head_32^post113+head_32^0 == 0 /\ -a_184^post113+a_184^0 == 0 /\ i_167^0-i_167^post113 == 0 /\ len_183^0-len_183^post113 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post113+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_39^post113+r_39^0 == 0 /\ head_27^0-head_27^post113 == 0 /\ -x_20^post113+x_20^0 == 0 /\ -temp0_31^post113+temp0_31^0 == 0 /\ -len_132^post113+len_132^0 == 0 /\ nondet_12^0-nondet_12^post113 == 0 /\ -a_330^post113+a_330^0 == 0 /\ head_129^0-head_129^post113 == 0 /\ -a_308^post113+a_308^0 == 0 /\ -x_SLAM_f_18^post113+x_SLAM_f_18^0 == 0 /\ rcd_88^0-rcd_88^post113 == 0 /\ i_30^0-i_30^post113 == 0 /\ f_263^0-f_263^post113 == 0 /\ -f_170^post113+f_170^0 == 0 /\ a_277^0-a_277^post113 == 0 /\ -tmp_34^post113+tmp_34^0 == 0 /\ r_124^0-r_124^post113 == 0 /\ -len_226^post113+len_226^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post113 == 0 /\ -i_108^post113+i_108^0 == 0 /\ -a_116^post113+a_116^0 == 0 /\ -head_223^post113+head_223^0 == 0 /\ y_19^0-y_19^post113 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post113+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -t_23^post113+t_23^0 == 0 /\ a_147^0-a_147^post113 == 0 /\ head_268^0-head_268^post113 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ temp0_15^0-temp0_15^post113 == 0 /\ a_241^0-a_241^post113 == 0 /\ x_16^0-x_16^post113 == 0 /\ -head_175^post113+head_175^0 == 0 /\ rcd_58^0-rcd_58^post113 == 0 /\ -r_260^post113+r_260^0 == 0 /\ len_276^0-len_276^post113 == 0 /\ result_11^0-result_11^post113 == 0 /\ head_14^0-head_14^post113 == 0), cost: 1 114: l76 -> l77 : temp0_15^0'=temp0_15^post114, a_241^0'=a_241^post114, head_27^0'=head_27^post114, head_129^0'=head_129^post114, r_124^0'=r_124^post114, len_183^0'=len_183^post114, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post114, a_147^0'=a_147^post114, rcd_58^0'=rcd_58^post114, head_175^0'=head_175^post114, y_19^0'=y_19^post114, ct_17^0'=ct_17^post114, temp_35^0'=temp_35^post114, i_30^0'=i_30^post114, head_SLAM_f_26^0'=head_SLAM_f_26^post114, r_218^0'=r_218^post114, len_276^0'=len_276^post114, a_308^0'=a_308^post114, t_23^0'=t_23^post114, a_210^0'=a_210^post114, result_11^0'=result_11^post114, head_268^0'=head_268^post114, f_263^0'=f_263^post114, x_16^0'=x_16^post114, len_132^0'=len_132^post114, i_167^0'=i_167^post114, a_116^0'=a_116^post114, r_39^0'=r_39^post114, nondet_12^0'=nondet_12^post114, x_SLAM_f_18^0'=x_SLAM_f_18^post114, a_353^0'=a_353^post114, temp0_31^0'=temp0_31^post114, a_277^0'=a_277^post114, head_32^0'=head_32^post114, head_14^0'=head_14^post114, r_163^0'=r_163^post114, len_226^0'=len_226^post114, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post114, a_184^0'=a_184^post114, rcd_88^0'=rcd_88^post114, head_223^0'=head_223^post114, f_170^0'=f_170^post114, tmp_34^0'=tmp_34^post114, i_94^0'=i_94^post114, i_108^0'=i_108^post114, r_260^0'=r_260^post114, length_29^0'=length_29^post114, x_20^0'=x_20^post114, a_330^0'=a_330^post114, (x_16^0-head_14^0 <= 0 /\ -a_353^post114+a_353^0 == 0 /\ -a_184^post114+a_184^0 == 0 /\ temp_35^0-temp_35^post114 == 0 /\ -i_94^post114+i_94^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ -head_32^post114+head_32^0 == 0 /\ -x_20^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post114 == 0 /\ t_23^post114-head_14^0 <= 0 /\ r_218^0-r_218^post114 == 0 /\ y_19^0 <= 0 /\ ct_17^0 <= 0 /\ -r_39^post114+r_39^0 == 0 /\ -x_20^post114+x_20^0 == 0 /\ -x_16^0+head_14^0 <= 0 /\ nondet_12^0-nondet_12^post114 == 0 /\ -a_330^post114+a_330^0 == 0 /\ head_129^0-head_129^post114 == 0 /\ head_268^0-head_268^post114 == 0 /\ a_241^0-a_241^post114 == 0 /\ -i_30^post114+i_30^0 == 0 /\ temp0_15^0-temp0_15^post114 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ temp0_31^0-temp0_31^post114 == 0 /\ -x_SLAM_f_18^post114+x_SLAM_f_18^0 == 0 /\ -t_23^post114+head_14^0 <= 0 /\ -f_170^post114+f_170^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -length_29^post114+length_29^0 == 0 /\ -a_308^post114+a_308^0 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ -head_223^post114+head_223^0 == 0 /\ -len_226^post114+len_226^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post114 == 0 /\ a_210^0-a_210^post114 == 0 /\ -a_116^post114+a_116^0 == 0 /\ len_132^0-len_132^post114 == 0 /\ a_147^0-a_147^post114 == 0 /\ -i_108^post114+i_108^0 == 0 /\ -ct_17^0 <= 0 /\ -y_19^0 <= 0 /\ x_16^0-x_16^post114 == 0 /\ len_183^0-len_183^post114 == 0 /\ y_19^0-y_19^post114 == 0 /\ rcd_58^0-rcd_58^post114 == 0 /\ r_163^0-r_163^post114 == 0 /\ t_23^post114-x_20^0 == 0 /\ head_27^0-head_27^post114 == 0 /\ -result_11^post114+result_11^0 == 0 /\ -head_175^post114+head_175^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ -r_124^post114+r_124^0 == 0 /\ len_276^0-len_276^post114 == 0 /\ -i_167^post114+i_167^0 == 0 /\ -r_260^post114+r_260^0 == 0 /\ -tmp_34^post114+tmp_34^0 == 0 /\ f_263^0-f_263^post114 == 0 /\ -rcd_88^post114+rcd_88^0 == 0 /\ ct_17^0-ct_17^post114 == 0 /\ a_277^0-a_277^post114 == 0 /\ -head_14^post114+head_14^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post114 == 0 /\ x_20^0 <= 0), cost: 1 115: l77 -> l78 : temp0_15^0'=temp0_15^post115, a_241^0'=a_241^post115, head_27^0'=head_27^post115, head_129^0'=head_129^post115, r_124^0'=r_124^post115, len_183^0'=len_183^post115, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post115, a_147^0'=a_147^post115, rcd_58^0'=rcd_58^post115, head_175^0'=head_175^post115, y_19^0'=y_19^post115, ct_17^0'=ct_17^post115, temp_35^0'=temp_35^post115, i_30^0'=i_30^post115, head_SLAM_f_26^0'=head_SLAM_f_26^post115, r_218^0'=r_218^post115, len_276^0'=len_276^post115, a_308^0'=a_308^post115, t_23^0'=t_23^post115, a_210^0'=a_210^post115, result_11^0'=result_11^post115, head_268^0'=head_268^post115, f_263^0'=f_263^post115, x_16^0'=x_16^post115, len_132^0'=len_132^post115, i_167^0'=i_167^post115, a_116^0'=a_116^post115, r_39^0'=r_39^post115, nondet_12^0'=nondet_12^post115, x_SLAM_f_18^0'=x_SLAM_f_18^post115, a_353^0'=a_353^post115, temp0_31^0'=temp0_31^post115, a_277^0'=a_277^post115, head_32^0'=head_32^post115, head_14^0'=head_14^post115, r_163^0'=r_163^post115, len_226^0'=len_226^post115, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post115, a_184^0'=a_184^post115, rcd_88^0'=rcd_88^post115, head_223^0'=head_223^post115, f_170^0'=f_170^post115, tmp_34^0'=tmp_34^post115, i_94^0'=i_94^post115, i_108^0'=i_108^post115, r_260^0'=r_260^post115, length_29^0'=length_29^post115, x_20^0'=x_20^post115, a_330^0'=a_330^post115, (head_27^0-head_27^post115 == 0 /\ -i_108^post115+i_108^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post115 == 0 /\ -a_116^post115+a_116^0 == 0 /\ t_23^0-t_23^post115 == 0 /\ ct_17^0-ct_17^post115 == 0 /\ -r_218^post115+r_218^0 == 0 /\ -result_11^post115+result_11^0 == 0 /\ -x_20^post115+x_20^0 == 0 /\ len_276^0-len_276^post115 == 0 /\ -head_14^post115+head_14^0 == 0 /\ -i_167^post115+i_167^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post115+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_SLAM_f_26^post115+head_SLAM_f_26^0 == 0 /\ a_147^0-a_147^post115 == 0 /\ -tmp_34^post115+tmp_34^0 == 0 /\ -nondet_12^post115+nondet_12^0 == 0 /\ i_30^0-i_30^post115 == 0 /\ len_183^0-len_183^post115 == 0 /\ -a_353^post115+a_353^0 == 0 /\ -len_226^post115+len_226^0 == 0 /\ -r_260^post115+r_260^0 == 0 /\ -a_308^post115+a_308^0 == 0 /\ -head_223^post115+head_223^0 == 0 /\ r_124^0-r_124^post115 == 0 /\ -a_184^post115+a_184^0 == 0 /\ head_129^0-head_129^post115 == 0 /\ 1-head_14^0 <= 0 /\ a_241^0-a_241^post115 == 0 /\ -i_94^post115+i_94^0 == 0 /\ temp0_31^0-temp0_31^post115 == 0 /\ temp0_15^0-temp0_15^post115 == 0 /\ f_263^0-f_263^post115 == 0 /\ head_32^0-head_32^post115 == 0 /\ head_175^0-head_175^post115 == 0 /\ -a_330^post115+a_330^0 == 0 /\ -x_16^post115+x_16^0 == 0 /\ -x_SLAM_f_18^post115+x_SLAM_f_18^0 == 0 /\ a_210^0-a_210^post115 == 0 /\ len_132^0-len_132^post115 == 0 /\ -f_170^post115+f_170^0 == 0 /\ -r_163^post115+r_163^0 == 0 /\ -length_29^post115+length_29^0 == 0 /\ y_19^0-y_19^post115 == 0 /\ -temp_35^post115+temp_35^0 == 0 /\ -rcd_88^post115+rcd_88^0 == 0 /\ -a_277^post115+a_277^0 == 0 /\ head_268^0-head_268^post115 == 0 /\ rcd_58^0-rcd_58^post115 == 0 /\ r_39^0-r_39^post115 == 0), cost: 1 116: l77 -> l78 : temp0_15^0'=temp0_15^post116, a_241^0'=a_241^post116, head_27^0'=head_27^post116, head_129^0'=head_129^post116, r_124^0'=r_124^post116, len_183^0'=len_183^post116, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post116, a_147^0'=a_147^post116, rcd_58^0'=rcd_58^post116, head_175^0'=head_175^post116, y_19^0'=y_19^post116, ct_17^0'=ct_17^post116, temp_35^0'=temp_35^post116, i_30^0'=i_30^post116, head_SLAM_f_26^0'=head_SLAM_f_26^post116, r_218^0'=r_218^post116, len_276^0'=len_276^post116, a_308^0'=a_308^post116, t_23^0'=t_23^post116, a_210^0'=a_210^post116, result_11^0'=result_11^post116, head_268^0'=head_268^post116, f_263^0'=f_263^post116, x_16^0'=x_16^post116, len_132^0'=len_132^post116, i_167^0'=i_167^post116, a_116^0'=a_116^post116, r_39^0'=r_39^post116, nondet_12^0'=nondet_12^post116, x_SLAM_f_18^0'=x_SLAM_f_18^post116, a_353^0'=a_353^post116, temp0_31^0'=temp0_31^post116, a_277^0'=a_277^post116, head_32^0'=head_32^post116, head_14^0'=head_14^post116, r_163^0'=r_163^post116, len_226^0'=len_226^post116, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post116, a_184^0'=a_184^post116, rcd_88^0'=rcd_88^post116, head_223^0'=head_223^post116, f_170^0'=f_170^post116, tmp_34^0'=tmp_34^post116, i_94^0'=i_94^post116, i_108^0'=i_108^post116, r_260^0'=r_260^post116, length_29^0'=length_29^post116, x_20^0'=x_20^post116, a_330^0'=a_330^post116, (r_124^0-r_124^post116 == 0 /\ len_276^0-len_276^post116 == 0 /\ -i_108^post116+i_108^0 == 0 /\ a_241^0-a_241^post116 == 0 /\ -x_16^post116+x_16^0 == 0 /\ f_170^0-f_170^post116 == 0 /\ temp0_15^0-temp0_15^post116 == 0 /\ result_11^0-result_11^post116 == 0 /\ -x_20^post116+x_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post116 == 0 /\ a_308^0-a_308^post116 == 0 /\ ct_17^0-ct_17^post116 == 0 /\ -a_330^post116+a_330^0 == 0 /\ t_23^0-t_23^post116 == 0 /\ i_30^0-i_30^post116 == 0 /\ a_147^0-a_147^post116 == 0 /\ -head_14^post116+head_14^0 == 0 /\ -i_167^post116+i_167^0 == 0 /\ -tmp_34^post116+tmp_34^0 == 0 /\ 1+head_14^0 <= 0 /\ a_184^0-a_184^post116 == 0 /\ len_132^0-len_132^post116 == 0 /\ r_218^0-r_218^post116 == 0 /\ -head_SLAM_f_26^post116+head_SLAM_f_26^0 == 0 /\ -r_260^post116+r_260^0 == 0 /\ r_39^0-r_39^post116 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post116 == 0 /\ head_129^0-head_129^post116 == 0 /\ head_27^0-head_27^post116 == 0 /\ rcd_58^0-rcd_58^post116 == 0 /\ head_268^0-head_268^post116 == 0 /\ -rcd_88^post116+rcd_88^0 == 0 /\ -head_32^post116+head_32^0 == 0 /\ len_226^0-len_226^post116 == 0 /\ -f_263^post116+f_263^0 == 0 /\ -head_223^post116+head_223^0 == 0 /\ head_175^0-head_175^post116 == 0 /\ -i_94^post116+i_94^0 == 0 /\ -nondet_12^post116+nondet_12^0 == 0 /\ a_353^0-a_353^post116 == 0 /\ -len_183^post116+len_183^0 == 0 /\ -temp_35^post116+temp_35^0 == 0 /\ a_116^0-a_116^post116 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post116+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_277^post116+a_277^0 == 0 /\ -a_210^post116+a_210^0 == 0 /\ -temp0_31^post116+temp0_31^0 == 0 /\ -length_29^post116+length_29^0 == 0 /\ -r_163^post116+r_163^0 == 0 /\ y_19^0-y_19^post116 == 0), cost: 1 117: l78 -> l79 : temp0_15^0'=temp0_15^post117, a_241^0'=a_241^post117, head_27^0'=head_27^post117, head_129^0'=head_129^post117, r_124^0'=r_124^post117, len_183^0'=len_183^post117, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post117, a_147^0'=a_147^post117, rcd_58^0'=rcd_58^post117, head_175^0'=head_175^post117, y_19^0'=y_19^post117, ct_17^0'=ct_17^post117, temp_35^0'=temp_35^post117, i_30^0'=i_30^post117, head_SLAM_f_26^0'=head_SLAM_f_26^post117, r_218^0'=r_218^post117, len_276^0'=len_276^post117, a_308^0'=a_308^post117, t_23^0'=t_23^post117, a_210^0'=a_210^post117, result_11^0'=result_11^post117, head_268^0'=head_268^post117, f_263^0'=f_263^post117, x_16^0'=x_16^post117, len_132^0'=len_132^post117, i_167^0'=i_167^post117, a_116^0'=a_116^post117, r_39^0'=r_39^post117, nondet_12^0'=nondet_12^post117, x_SLAM_f_18^0'=x_SLAM_f_18^post117, a_353^0'=a_353^post117, temp0_31^0'=temp0_31^post117, a_277^0'=a_277^post117, head_32^0'=head_32^post117, head_14^0'=head_14^post117, r_163^0'=r_163^post117, len_226^0'=len_226^post117, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post117, a_184^0'=a_184^post117, rcd_88^0'=rcd_88^post117, head_223^0'=head_223^post117, f_170^0'=f_170^post117, tmp_34^0'=tmp_34^post117, i_94^0'=i_94^post117, i_108^0'=i_108^post117, r_260^0'=r_260^post117, length_29^0'=length_29^post117, x_20^0'=x_20^post117, a_330^0'=a_330^post117, (-a_277^post117+a_277^0 == 0 /\ r_124^0-r_124^post117 == 0 /\ a_308^0-a_308^post117 == 0 /\ -x_20^post117+x_20^0 == 0 /\ -a_330^post117+a_330^0 == 0 /\ -nondet_12^post117+nondet_12^0 == 0 /\ -rcd_58^post117+rcd_58^0 == 0 /\ head_175^0-head_175^post117 == 0 /\ -i_108^post117+i_108^0 == 0 /\ len_132^0-len_132^post117 == 0 /\ -head_14^post117+head_14^0 == 0 /\ -tmp_34^post117+tmp_34^0 == 0 /\ f_170^0-f_170^post117 == 0 /\ temp0_15^0-temp0_15^post117 == 0 /\ head_129^0-head_129^post117 == 0 /\ -rcd_88^post117+rcd_88^0 == 0 /\ r_39^0-r_39^post117 == 0 /\ -a_184^post117+a_184^0 == 0 /\ -r_260^post117+r_260^0 == 0 /\ 1-y_19^0+head_14^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post117+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_223^post117+head_223^0 == 0 /\ x_16^0-x_16^post117 == 0 /\ -f_263^post117+f_263^0 == 0 /\ -head_SLAM_f_26^post117+head_SLAM_f_26^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post117 == 0 /\ len_226^0-len_226^post117 == 0 /\ -y_19^post117+y_19^0 == 0 /\ -len_276^post117+len_276^0 == 0 /\ head_27^0-head_27^post117 == 0 /\ head_268^0-head_268^post117 == 0 /\ -temp0_31^post117+temp0_31^0 == 0 /\ -i_167^post117+i_167^0 == 0 /\ len_183^0-len_183^post117 == 0 /\ a_241^0-a_241^post117 == 0 /\ -r_163^post117+r_163^0 == 0 /\ -a_210^post117+a_210^0 == 0 /\ ct_17^0-ct_17^post117 == 0 /\ t_23^0-t_23^post117 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post117 == 0 /\ result_11^0-result_11^post117 == 0 /\ -a_353^post117+a_353^0 == 0 /\ temp_35^0-temp_35^post117 == 0 /\ -length_29^post117+length_29^0 == 0 /\ -i_94^post117+i_94^0 == 0 /\ a_147^0-a_147^post117 == 0 /\ i_30^0-i_30^post117 == 0 /\ head_32^0-head_32^post117 == 0 /\ r_218^0-r_218^post117 == 0 /\ a_116^0-a_116^post117 == 0), cost: 1 118: l78 -> l79 : temp0_15^0'=temp0_15^post118, a_241^0'=a_241^post118, head_27^0'=head_27^post118, head_129^0'=head_129^post118, r_124^0'=r_124^post118, len_183^0'=len_183^post118, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post118, a_147^0'=a_147^post118, rcd_58^0'=rcd_58^post118, head_175^0'=head_175^post118, y_19^0'=y_19^post118, ct_17^0'=ct_17^post118, temp_35^0'=temp_35^post118, i_30^0'=i_30^post118, head_SLAM_f_26^0'=head_SLAM_f_26^post118, r_218^0'=r_218^post118, len_276^0'=len_276^post118, a_308^0'=a_308^post118, t_23^0'=t_23^post118, a_210^0'=a_210^post118, result_11^0'=result_11^post118, head_268^0'=head_268^post118, f_263^0'=f_263^post118, x_16^0'=x_16^post118, len_132^0'=len_132^post118, i_167^0'=i_167^post118, a_116^0'=a_116^post118, r_39^0'=r_39^post118, nondet_12^0'=nondet_12^post118, x_SLAM_f_18^0'=x_SLAM_f_18^post118, a_353^0'=a_353^post118, temp0_31^0'=temp0_31^post118, a_277^0'=a_277^post118, head_32^0'=head_32^post118, head_14^0'=head_14^post118, r_163^0'=r_163^post118, len_226^0'=len_226^post118, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post118, a_184^0'=a_184^post118, rcd_88^0'=rcd_88^post118, head_223^0'=head_223^post118, f_170^0'=f_170^post118, tmp_34^0'=tmp_34^post118, i_94^0'=i_94^post118, i_108^0'=i_108^post118, r_260^0'=r_260^post118, length_29^0'=length_29^post118, x_20^0'=x_20^post118, a_330^0'=a_330^post118, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post118+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_223^0-head_223^post118 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post118 == 0 /\ head_175^0-head_175^post118 == 0 /\ 1+y_19^0-head_14^0 <= 0 /\ -nondet_12^post118+nondet_12^0 == 0 /\ -r_260^post118+r_260^0 == 0 /\ -head_14^post118+head_14^0 == 0 /\ -f_170^post118+f_170^0 == 0 /\ result_11^0-result_11^post118 == 0 /\ -head_32^post118+head_32^0 == 0 /\ -i_94^post118+i_94^0 == 0 /\ head_27^0-head_27^post118 == 0 /\ head_129^0-head_129^post118 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post118 == 0 /\ -f_263^post118+f_263^0 == 0 /\ temp0_15^0-temp0_15^post118 == 0 /\ a_241^0-a_241^post118 == 0 /\ -a_330^post118+a_330^0 == 0 /\ a_116^0-a_116^post118 == 0 /\ -head_SLAM_f_26^post118+head_SLAM_f_26^0 == 0 /\ i_167^0-i_167^post118 == 0 /\ -rcd_58^post118+rcd_58^0 == 0 /\ -temp0_31^post118+temp0_31^0 == 0 /\ -a_277^post118+a_277^0 == 0 /\ y_19^0-y_19^post118 == 0 /\ -head_268^post118+head_268^0 == 0 /\ a_353^0-a_353^post118 == 0 /\ -tmp_34^post118+tmp_34^0 == 0 /\ a_308^0-a_308^post118 == 0 /\ i_30^0-i_30^post118 == 0 /\ -len_132^post118+len_132^0 == 0 /\ t_23^0-t_23^post118 == 0 /\ -r_163^post118+r_163^0 == 0 /\ -length_29^post118+length_29^0 == 0 /\ -len_226^post118+len_226^0 == 0 /\ ct_17^0-ct_17^post118 == 0 /\ -r_39^post118+r_39^0 == 0 /\ -i_108^post118+i_108^0 == 0 /\ -a_184^post118+a_184^0 == 0 /\ len_183^0-len_183^post118 == 0 /\ r_218^0-r_218^post118 == 0 /\ r_124^0-r_124^post118 == 0 /\ -rcd_88^post118+rcd_88^0 == 0 /\ -len_276^post118+len_276^0 == 0 /\ temp_35^0-temp_35^post118 == 0 /\ a_210^0-a_210^post118 == 0 /\ -x_20^post118+x_20^0 == 0 /\ a_147^0-a_147^post118 == 0 /\ -x_16^post118+x_16^0 == 0), cost: 1 119: l79 -> l80 : temp0_15^0'=temp0_15^post119, a_241^0'=a_241^post119, head_27^0'=head_27^post119, head_129^0'=head_129^post119, r_124^0'=r_124^post119, len_183^0'=len_183^post119, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post119, a_147^0'=a_147^post119, rcd_58^0'=rcd_58^post119, head_175^0'=head_175^post119, y_19^0'=y_19^post119, ct_17^0'=ct_17^post119, temp_35^0'=temp_35^post119, i_30^0'=i_30^post119, head_SLAM_f_26^0'=head_SLAM_f_26^post119, r_218^0'=r_218^post119, len_276^0'=len_276^post119, a_308^0'=a_308^post119, t_23^0'=t_23^post119, a_210^0'=a_210^post119, result_11^0'=result_11^post119, head_268^0'=head_268^post119, f_263^0'=f_263^post119, x_16^0'=x_16^post119, len_132^0'=len_132^post119, i_167^0'=i_167^post119, a_116^0'=a_116^post119, r_39^0'=r_39^post119, nondet_12^0'=nondet_12^post119, x_SLAM_f_18^0'=x_SLAM_f_18^post119, a_353^0'=a_353^post119, temp0_31^0'=temp0_31^post119, a_277^0'=a_277^post119, head_32^0'=head_32^post119, head_14^0'=head_14^post119, r_163^0'=r_163^post119, len_226^0'=len_226^post119, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post119, a_184^0'=a_184^post119, rcd_88^0'=rcd_88^post119, head_223^0'=head_223^post119, f_170^0'=f_170^post119, tmp_34^0'=tmp_34^post119, i_94^0'=i_94^post119, i_108^0'=i_108^post119, r_260^0'=r_260^post119, length_29^0'=length_29^post119, x_20^0'=x_20^post119, a_330^0'=a_330^post119, (0 == 0 /\ -r_39^post119+r_39^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post119 == 0 /\ -temp0_15^0+result_11^post119 == 0 /\ a_210^0-a_210^post119 == 0 /\ -a_116^post119+a_116^0 == 0 /\ len_183^0-len_183^post119 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post119+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_170^post119+f_170^0 == 0 /\ f_263^0-f_263^post119 == 0 /\ -r_260^post119+r_260^0 == 0 /\ -length_29^post119+length_29^0 == 0 /\ -a_353^post119+a_353^0 == 0 /\ -len_226^post119+len_226^0 == 0 /\ -a_330^post119+a_330^0 == 0 /\ temp0_15^0-temp0_15^post119 == 0 /\ -head_268^post119+head_268^0 == 0 /\ i_167^0-i_167^post119 == 0 /\ -i_94^post119+i_94^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ r_124^0-r_124^post119 == 0 /\ nondet_12^0-nondet_12^post119 == 0 /\ -head_SLAM_f_26^post119+head_SLAM_f_26^0 == 0 /\ a_277^0-a_277^post119 == 0 /\ head_129^0-head_129^post119 == 0 /\ -tmp_34^post119+tmp_34^0 == 0 /\ head_27^0-head_27^post119 == 0 /\ y_19^0-x_20^0 <= 0 /\ -head_32^post119+head_32^0 == 0 /\ head_175^0-head_175^post119 == 0 /\ i_30^0-i_30^post119 == 0 /\ -temp0_31^post119+temp0_31^0 == 0 /\ -r_163^post119+r_163^0 == 0 /\ a_241^0-a_241^post119 == 0 /\ r_218^0-r_218^post119 == 0 /\ -head_223^post119+head_223^0 == 0 /\ -y_19^0+x_20^0 <= 0 /\ -temp_35^post119+temp_35^0 == 0 /\ -i_108^post119+i_108^0 == 0 /\ -rcd_88^post119+rcd_88^0 == 0 /\ -len_132^post119+len_132^0 == 0 /\ rcd_58^0-rcd_58^post119 == 0 /\ -a_184^post119+a_184^0 == 0 /\ a_147^0-a_147^post119 == 0 /\ a_308^0-a_308^post119 == 0 /\ -len_276^post119+len_276^0 == 0), cost: 1 120: l80 -> l11 : temp0_15^0'=temp0_15^post120, a_241^0'=a_241^post120, head_27^0'=head_27^post120, head_129^0'=head_129^post120, r_124^0'=r_124^post120, len_183^0'=len_183^post120, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post120, a_147^0'=a_147^post120, rcd_58^0'=rcd_58^post120, head_175^0'=head_175^post120, y_19^0'=y_19^post120, ct_17^0'=ct_17^post120, temp_35^0'=temp_35^post120, i_30^0'=i_30^post120, head_SLAM_f_26^0'=head_SLAM_f_26^post120, r_218^0'=r_218^post120, len_276^0'=len_276^post120, a_308^0'=a_308^post120, t_23^0'=t_23^post120, a_210^0'=a_210^post120, result_11^0'=result_11^post120, head_268^0'=head_268^post120, f_263^0'=f_263^post120, x_16^0'=x_16^post120, len_132^0'=len_132^post120, i_167^0'=i_167^post120, a_116^0'=a_116^post120, r_39^0'=r_39^post120, nondet_12^0'=nondet_12^post120, x_SLAM_f_18^0'=x_SLAM_f_18^post120, a_353^0'=a_353^post120, temp0_31^0'=temp0_31^post120, a_277^0'=a_277^post120, head_32^0'=head_32^post120, head_14^0'=head_14^post120, r_163^0'=r_163^post120, len_226^0'=len_226^post120, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post120, a_184^0'=a_184^post120, rcd_88^0'=rcd_88^post120, head_223^0'=head_223^post120, f_170^0'=f_170^post120, tmp_34^0'=tmp_34^post120, i_94^0'=i_94^post120, i_108^0'=i_108^post120, r_260^0'=r_260^post120, length_29^0'=length_29^post120, x_20^0'=x_20^post120, a_330^0'=a_330^post120, (-r_39^post120+r_39^0 == 0 /\ -head_32^post120+head_32^0 == 0 /\ -a_184^post120+a_184^0 == 0 /\ temp_35^0-temp_35^post120 == 0 /\ a_210^0-a_210^post120 == 0 /\ -i_94^post120+i_94^0 == 0 /\ len_183^0-len_183^post120 == 0 /\ head_223^0-head_223^post120 == 0 /\ i_167^0-i_167^post120 == 0 /\ r_218^0-r_218^post120 == 0 /\ r_124^0-r_124^post120 == 0 /\ -i_30^post120+i_30^0 == 0 /\ -a_330^post120+a_330^0 == 0 /\ nondet_12^0-nondet_12^post120 == 0 /\ -x_SLAM_f_18^post120+x_SLAM_f_18^0 == 0 /\ head_129^0-head_129^post120 == 0 /\ -temp0_31^post120+temp0_31^0 == 0 /\ -tmp_34^post120+tmp_34^0 == 0 /\ rcd_88^0-rcd_88^post120 == 0 /\ -len_132^post120+len_132^0 == 0 /\ -f_170^post120+f_170^0 == 0 /\ -r_163^post120+r_163^0 == 0 /\ -a_308^post120+a_308^0 == 0 /\ a_277^0-a_277^post120 == 0 /\ f_263^0-f_263^post120 == 0 /\ -length_29^post120+length_29^0 == 0 /\ -i_108^post120+i_108^0 == 0 /\ -a_116^post120+a_116^0 == 0 /\ a_147^0-a_147^post120 == 0 /\ 1-head_14^0 <= 0 /\ y_19^0-y_19^post120 == 0 /\ -x_20^post120+x_20^0 == 0 /\ head_268^0-head_268^post120 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post120+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -t_23^post120+t_23^0 == 0 /\ r_260^0-r_260^post120 == 0 /\ head_27^0-head_27^post120 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post120+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_16^0-x_16^post120 == 0 /\ a_241^0-a_241^post120 == 0 /\ result_11^0-result_11^post120 == 0 /\ head_14^0-head_14^post120 == 0 /\ ct_17^0-ct_17^post120 == 0 /\ temp0_15^0-temp0_15^post120 == 0 /\ rcd_58^0-rcd_58^post120 == 0 /\ -head_175^post120+head_175^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post120 == 0 /\ len_276^0-len_276^post120 == 0 /\ -a_353^post120+a_353^0 == 0 /\ -len_226^post120+len_226^0 == 0), cost: 1 121: l80 -> l11 : temp0_15^0'=temp0_15^post121, a_241^0'=a_241^post121, head_27^0'=head_27^post121, head_129^0'=head_129^post121, r_124^0'=r_124^post121, len_183^0'=len_183^post121, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post121, a_147^0'=a_147^post121, rcd_58^0'=rcd_58^post121, head_175^0'=head_175^post121, y_19^0'=y_19^post121, ct_17^0'=ct_17^post121, temp_35^0'=temp_35^post121, i_30^0'=i_30^post121, head_SLAM_f_26^0'=head_SLAM_f_26^post121, r_218^0'=r_218^post121, len_276^0'=len_276^post121, a_308^0'=a_308^post121, t_23^0'=t_23^post121, a_210^0'=a_210^post121, result_11^0'=result_11^post121, head_268^0'=head_268^post121, f_263^0'=f_263^post121, x_16^0'=x_16^post121, len_132^0'=len_132^post121, i_167^0'=i_167^post121, a_116^0'=a_116^post121, r_39^0'=r_39^post121, nondet_12^0'=nondet_12^post121, x_SLAM_f_18^0'=x_SLAM_f_18^post121, a_353^0'=a_353^post121, temp0_31^0'=temp0_31^post121, a_277^0'=a_277^post121, head_32^0'=head_32^post121, head_14^0'=head_14^post121, r_163^0'=r_163^post121, len_226^0'=len_226^post121, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post121, a_184^0'=a_184^post121, rcd_88^0'=rcd_88^post121, head_223^0'=head_223^post121, f_170^0'=f_170^post121, tmp_34^0'=tmp_34^post121, i_94^0'=i_94^post121, i_108^0'=i_108^post121, r_260^0'=r_260^post121, length_29^0'=length_29^post121, x_20^0'=x_20^post121, a_330^0'=a_330^post121, (temp_35^0-temp_35^post121 == 0 /\ -head_32^post121+head_32^0 == 0 /\ -r_39^post121+r_39^0 == 0 /\ -i_94^post121+i_94^0 == 0 /\ r_218^0-r_218^post121 == 0 /\ -a_184^post121+a_184^0 == 0 /\ head_129^0-head_129^post121 == 0 /\ head_27^0-head_27^post121 == 0 /\ head_268^0-head_268^post121 == 0 /\ -x_SLAM_f_18^post121+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ a_241^0-a_241^post121 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post121 == 0 /\ -i_30^post121+i_30^0 == 0 /\ -f_170^post121+f_170^0 == 0 /\ -length_29^post121+length_29^0 == 0 /\ temp0_31^0-temp0_31^post121 == 0 /\ temp0_15^0-temp0_15^post121 == 0 /\ nondet_12^0-nondet_12^post121 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post121 == 0 /\ -a_116^post121+a_116^0 == 0 /\ a_147^0-a_147^post121 == 0 /\ -i_108^post121+i_108^0 == 0 /\ -a_308^post121+a_308^0 == 0 /\ -head_223^post121+head_223^0 == 0 /\ a_210^0-a_210^post121 == 0 /\ -rcd_88^post121+rcd_88^0 == 0 /\ len_132^0-len_132^post121 == 0 /\ x_16^0-x_16^post121 == 0 /\ len_183^0-len_183^post121 == 0 /\ -result_11^post121+result_11^0 == 0 /\ -x_20^post121+x_20^0 == 0 /\ r_163^0-r_163^post121 == 0 /\ -r_124^post121+r_124^0 == 0 /\ y_19^0-y_19^post121 == 0 /\ rcd_58^0-rcd_58^post121 == 0 /\ -a_330^post121+a_330^0 == 0 /\ len_276^0-len_276^post121 == 0 /\ -head_14^post121+head_14^0 == 0 /\ -i_167^post121+i_167^0 == 0 /\ -head_175^post121+head_175^0 == 0 /\ -tmp_34^post121+tmp_34^0 == 0 /\ -t_23^post121+t_23^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post121 == 0 /\ ct_17^0-ct_17^post121 == 0 /\ a_277^0-a_277^post121 == 0 /\ -a_353^post121+a_353^0 == 0 /\ f_263^0-f_263^post121 == 0 /\ -len_226^post121+len_226^0 == 0 /\ -r_260^post121+r_260^0 == 0), cost: 1 123: l81 -> l82 : temp0_15^0'=temp0_15^post123, a_241^0'=a_241^post123, head_27^0'=head_27^post123, head_129^0'=head_129^post123, r_124^0'=r_124^post123, len_183^0'=len_183^post123, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=a_147^post123, rcd_58^0'=rcd_58^post123, head_175^0'=head_175^post123, y_19^0'=y_19^post123, ct_17^0'=ct_17^post123, temp_35^0'=temp_35^post123, i_30^0'=i_30^post123, head_SLAM_f_26^0'=head_SLAM_f_26^post123, r_218^0'=r_218^post123, len_276^0'=len_276^post123, a_308^0'=a_308^post123, t_23^0'=t_23^post123, a_210^0'=a_210^post123, result_11^0'=result_11^post123, head_268^0'=head_268^post123, f_263^0'=f_263^post123, x_16^0'=x_16^post123, len_132^0'=len_132^post123, i_167^0'=i_167^post123, a_116^0'=a_116^post123, r_39^0'=r_39^post123, nondet_12^0'=nondet_12^post123, x_SLAM_f_18^0'=x_SLAM_f_18^post123, a_353^0'=a_353^post123, temp0_31^0'=temp0_31^post123, a_277^0'=a_277^post123, head_32^0'=head_32^post123, head_14^0'=head_14^post123, r_163^0'=r_163^post123, len_226^0'=len_226^post123, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, a_184^0'=a_184^post123, rcd_88^0'=rcd_88^post123, head_223^0'=head_223^post123, f_170^0'=f_170^post123, tmp_34^0'=tmp_34^post123, i_94^0'=i_94^post123, i_108^0'=i_108^post123, r_260^0'=r_260^post123, length_29^0'=length_29^post123, x_20^0'=x_20^post123, a_330^0'=a_330^post123, (0 == 0 /\ -a_184^post123+a_184^0 == 0 /\ -a_147^post123+a_147^0 == 0 /\ -i_94^post123+i_94^0 == 0 /\ -head_32^0+temp0_31^110 == 0 /\ -a_116^post123+a_116^0 == 0 /\ -i_30^0+length_29^0 <= 0 /\ len_276^0-len_276^post123 == 0 /\ head_14^post123-head_27^post123 <= 0 /\ head_268^0-head_268^post123 == 0 /\ -x_20^post123+x_20^0 == 0 /\ -x_16^post123+x_16^0 == 0 /\ len_183^0-len_183^post123 == 0 /\ -a_330^post123+a_330^0 == 0 /\ temp0_15^0-temp0_15^post123 == 0 /\ -i_30^0 <= 0 /\ -y_19^post123+y_19^0 == 0 /\ r_218^0-r_218^post123 == 0 /\ -a_277^post123+a_277^0 == 0 /\ -a_308^post123+a_308^0 == 0 /\ -head_14^post123+head_27^post123 <= 0 /\ -f_170^post123+f_170^0 == 0 /\ head_223^0-head_223^post123 == 0 /\ len_132^0 <= 0 /\ head_175^0-head_175^post123 == 0 /\ -result_11^11+head_14^post123 == 0 /\ head_27^post123-head_SLAM_f_26^post123 <= 0 /\ head_27^post123-head_SLAM_f_26^post123 == 0 /\ a_147^0-i_30^post123 <= 0 /\ -i_108^post123+i_108^0 == 0 /\ head_14^post123-head_SLAM_f_26^post123 <= 0 /\ f_263^0-f_263^post123 == 0 /\ r_163^0-r_163^post123 == 0 /\ t_23^0-t_23^post123 == 0 /\ -nondet_12^post123+nondet_12^0 == 0 /\ a_210^0-a_210^post123 == 0 /\ rcd_58^0-rcd_58^post123 == 0 /\ len_132^0-len_132^post123 == 0 /\ -head_27^post123+head_SLAM_f_26^post123 <= 0 /\ result_11^11-temp0_31^110 == 0 /\ -a_147^0+i_30^post123 <= 0 /\ -len_132^0 <= 0 /\ -head_14^post123+head_SLAM_f_26^post123 <= 0 /\ -head_14^post123+head_SLAM_f_26^post123 == 0 /\ -rcd_88^post123+rcd_88^0 == 0 /\ -r_260^post123+r_260^0 == 0 /\ r_39^0-r_39^post123 == 0 /\ head_129^0-head_129^post123 == 0 /\ -a_353^post123+a_353^0 == 0 /\ r_124^0-r_124^post123 == 0 /\ a_241^0-a_241^post123 == 0 /\ -x_SLAM_f_18^post123+x_SLAM_f_18^0 == 0 /\ -len_226^post123+len_226^0 == 0 /\ -ct_17^post123+ct_17^0 == 0), cost: 1 127: l81 -> l84 : temp0_15^0'=temp0_15^post127, a_241^0'=a_241^post127, head_27^0'=head_27^post127, head_129^0'=head_129^post127, r_124^0'=r_124^post127, len_183^0'=len_183^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post127, a_147^0'=a_147^post127, rcd_58^0'=rcd_58^post127, head_175^0'=head_175^post127, y_19^0'=y_19^post127, ct_17^0'=ct_17^post127, temp_35^0'=temp_35^post127, i_30^0'=i_30^post127, head_SLAM_f_26^0'=head_SLAM_f_26^post127, r_218^0'=r_218^post127, len_276^0'=len_276^post127, a_308^0'=a_308^post127, t_23^0'=t_23^post127, a_210^0'=a_210^post127, result_11^0'=result_11^post127, head_268^0'=head_268^post127, f_263^0'=f_263^post127, x_16^0'=x_16^post127, len_132^0'=len_132^post127, i_167^0'=i_167^post127, a_116^0'=a_116^post127, r_39^0'=r_39^post127, nondet_12^0'=nondet_12^post127, x_SLAM_f_18^0'=x_SLAM_f_18^post127, a_353^0'=a_353^post127, temp0_31^0'=temp0_31^post127, a_277^0'=a_277^post127, head_32^0'=head_32^post127, head_14^0'=head_14^post127, r_163^0'=r_163^post127, len_226^0'=len_226^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post127, a_184^0'=a_184^post127, rcd_88^0'=rcd_88^post127, head_223^0'=head_223^post127, f_170^0'=f_170^post127, tmp_34^0'=tmp_34^post127, i_94^0'=i_94^post127, i_108^0'=i_108^post127, r_260^0'=r_260^post127, length_29^0'=length_29^post127, x_20^0'=x_20^post127, a_330^0'=a_330^post127, (0 == 0 /\ -x_20^post127+x_20^0 == 0 /\ -a_330^post127+a_330^0 == 0 /\ -a_147^post127+a_147^0 == 0 /\ -a_308^post127+a_308^0 == 0 /\ -ct_17^post127+ct_17^0 == 0 /\ head_27^0-head_27^post127 == 0 /\ len_276^0-len_276^post127 == 0 /\ 1+i_94^post127-length_29^0 <= 0 /\ -a_184^post127+a_184^0 == 0 /\ -x_SLAM_f_18^post127+x_SLAM_f_18^0 == 0 /\ -len_226^post127+len_226^0 == 0 /\ -f_170^post127+f_170^0 == 0 /\ f_263^0-f_263^post127 == 0 /\ len_183^0-len_183^post127 == 0 /\ a_353^0-a_353^post127 == 0 /\ -i_30^0 <= 0 /\ r_218^0-r_218^post127 == 0 /\ -y_19^post127+y_19^0 == 0 /\ a_210^0-a_210^post127 == 0 /\ -t_23^post127+t_23^0 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ a_116^0-a_116^post127 == 0 /\ 1+i_94^post127-i_30^post127 <= 0 /\ -head_268^post127+head_268^0 == 0 /\ i_167^0-i_167^post127 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post127+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_132^post127+len_132^0 == 0 /\ r_124^0-r_124^post127 == 0 /\ head_175^0-head_175^post127 == 0 /\ head_14^0-head_14^post127 == 0 /\ a_277^0-a_277^post127 == 0 /\ -temp0_31^post127+temp0_31^0 == 0 /\ -1-i_30^0+i_30^post127 == 0 /\ -r_163^post127+r_163^0 == 0 /\ -i_108^post127+i_108^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post127 == 0 /\ r_260^0-r_260^post127 == 0 /\ temp0_15^0-temp0_15^post127 == 0 /\ nondet_12^0-nondet_12^post127 == 0 /\ head_32^post127-tmp_34^post127 == 0 /\ rcd_58^0-rcd_58^post127 == 0 /\ -length_29^post127+length_29^0 == 0 /\ result_11^0-result_11^post127 == 0 /\ -temp_35^0+tmp_34^post127 == 0 /\ -head_223^post127+head_223^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post127 == 0 /\ -r_39^post127+r_39^0 == 0 /\ head_129^0-head_129^post127 == 0 /\ a_241^0-a_241^post127 == 0 /\ -1-i_94^post127+i_30^post127 <= 0 /\ x_16^0-x_16^post127 == 0), cost: 1 124: l82 -> l83 : temp0_15^0'=temp0_15^post124, a_241^0'=a_241^post124, head_27^0'=head_27^post124, head_129^0'=head_129^post124, r_124^0'=r_124^post124, len_183^0'=len_183^post124, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post124, a_147^0'=a_147^post124, rcd_58^0'=rcd_58^post124, head_175^0'=head_175^post124, y_19^0'=y_19^post124, ct_17^0'=ct_17^post124, temp_35^0'=temp_35^post124, i_30^0'=i_30^post124, head_SLAM_f_26^0'=head_SLAM_f_26^post124, r_218^0'=r_218^post124, len_276^0'=len_276^post124, a_308^0'=a_308^post124, t_23^0'=t_23^post124, a_210^0'=a_210^post124, result_11^0'=result_11^post124, head_268^0'=head_268^post124, f_263^0'=f_263^post124, x_16^0'=x_16^post124, len_132^0'=len_132^post124, i_167^0'=i_167^post124, a_116^0'=a_116^post124, r_39^0'=r_39^post124, nondet_12^0'=nondet_12^post124, x_SLAM_f_18^0'=x_SLAM_f_18^post124, a_353^0'=a_353^post124, temp0_31^0'=temp0_31^post124, a_277^0'=a_277^post124, head_32^0'=head_32^post124, head_14^0'=head_14^post124, r_163^0'=r_163^post124, len_226^0'=len_226^post124, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post124, a_184^0'=a_184^post124, rcd_88^0'=rcd_88^post124, head_223^0'=head_223^post124, f_170^0'=f_170^post124, tmp_34^0'=tmp_34^post124, i_94^0'=i_94^post124, i_108^0'=i_108^post124, r_260^0'=r_260^post124, length_29^0'=length_29^post124, x_20^0'=x_20^post124, a_330^0'=a_330^post124, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post124 == 0 /\ len_183^0-len_183^post124 == 0 /\ -result_11^post124+result_11^0 == 0 /\ -r_218^post124+r_218^0 == 0 /\ -x_20^post124+x_20^0 == 0 /\ ct_17^0-ct_17^post124 == 0 /\ -i_108^post124+i_108^0 == 0 /\ -a_116^post124+a_116^0 == 0 /\ -a_330^post124+a_330^0 == 0 /\ len_276^0-len_276^post124 == 0 /\ -head_14^post124+head_14^0 == 0 /\ -tmp_34^post124+tmp_34^0 == 0 /\ -r_260^post124+r_260^0 == 0 /\ -head_SLAM_f_26^post124+head_SLAM_f_26^0 == 0 /\ i_30^0-i_30^post124 == 0 /\ a_147^0-a_147^post124 == 0 /\ -r_163^post124+r_163^0 == 0 /\ -i_167^post124+i_167^0 == 0 /\ r_124^0-r_124^post124 == 0 /\ head_129^0-head_129^post124 == 0 /\ 1-head_14^0 <= 0 /\ -head_223^post124+head_223^0 == 0 /\ -x_16^post124+x_16^0 == 0 /\ temp0_15^0-temp0_15^post124 == 0 /\ -i_94^post124+i_94^0 == 0 /\ -nondet_12^post124+nondet_12^0 == 0 /\ head_175^0-head_175^post124 == 0 /\ temp0_31^0-temp0_31^post124 == 0 /\ -a_184^post124+a_184^0 == 0 /\ f_263^0-f_263^post124 == 0 /\ a_308^0-a_308^post124 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post124+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_268^0-head_268^post124 == 0 /\ len_226^0-len_226^post124 == 0 /\ -x_SLAM_f_18^post124+x_SLAM_f_18^0 == 0 /\ a_241^0-a_241^post124 == 0 /\ a_210^0-a_210^post124 == 0 /\ -rcd_88^post124+rcd_88^0 == 0 /\ -head_27^post124+head_27^0 == 0 /\ -temp_35^post124+temp_35^0 == 0 /\ len_132^0-len_132^post124 == 0 /\ -a_277^post124+a_277^0 == 0 /\ -f_170^post124+f_170^0 == 0 /\ -length_29^post124+length_29^0 == 0 /\ y_19^0-y_19^post124 == 0 /\ t_23^0-t_23^post124 == 0 /\ rcd_58^0-rcd_58^post124 == 0 /\ r_39^0-r_39^post124 == 0 /\ -a_353^post124+a_353^0 == 0 /\ head_32^0-head_32^post124 == 0), cost: 1 125: l82 -> l83 : temp0_15^0'=temp0_15^post125, a_241^0'=a_241^post125, head_27^0'=head_27^post125, head_129^0'=head_129^post125, r_124^0'=r_124^post125, len_183^0'=len_183^post125, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post125, a_147^0'=a_147^post125, rcd_58^0'=rcd_58^post125, head_175^0'=head_175^post125, y_19^0'=y_19^post125, ct_17^0'=ct_17^post125, temp_35^0'=temp_35^post125, i_30^0'=i_30^post125, head_SLAM_f_26^0'=head_SLAM_f_26^post125, r_218^0'=r_218^post125, len_276^0'=len_276^post125, a_308^0'=a_308^post125, t_23^0'=t_23^post125, a_210^0'=a_210^post125, result_11^0'=result_11^post125, head_268^0'=head_268^post125, f_263^0'=f_263^post125, x_16^0'=x_16^post125, len_132^0'=len_132^post125, i_167^0'=i_167^post125, a_116^0'=a_116^post125, r_39^0'=r_39^post125, nondet_12^0'=nondet_12^post125, x_SLAM_f_18^0'=x_SLAM_f_18^post125, a_353^0'=a_353^post125, temp0_31^0'=temp0_31^post125, a_277^0'=a_277^post125, head_32^0'=head_32^post125, head_14^0'=head_14^post125, r_163^0'=r_163^post125, len_226^0'=len_226^post125, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post125, a_184^0'=a_184^post125, rcd_88^0'=rcd_88^post125, head_223^0'=head_223^post125, f_170^0'=f_170^post125, tmp_34^0'=tmp_34^post125, i_94^0'=i_94^post125, i_108^0'=i_108^post125, r_260^0'=r_260^post125, length_29^0'=length_29^post125, x_20^0'=x_20^post125, a_330^0'=a_330^post125, (r_124^0-r_124^post125 == 0 /\ -f_263^post125+f_263^0 == 0 /\ -rcd_88^post125+rcd_88^0 == 0 /\ -x_20^post125+x_20^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post125 == 0 /\ temp0_15^0-temp0_15^post125 == 0 /\ r_218^0-r_218^post125 == 0 /\ -a_330^post125+a_330^0 == 0 /\ f_170^0-f_170^post125 == 0 /\ -i_108^post125+i_108^0 == 0 /\ r_39^0-r_39^post125 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post125 == 0 /\ head_129^0-head_129^post125 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post125+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_260^post125+r_260^0 == 0 /\ -tmp_34^post125+tmp_34^0 == 0 /\ -nondet_12^post125+nondet_12^0 == 0 /\ -temp_35^post125+temp_35^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_268^post125+head_268^0 == 0 /\ a_184^0-a_184^post125 == 0 /\ -temp0_31^post125+temp0_31^0 == 0 /\ a_241^0-a_241^post125 == 0 /\ head_175^0-head_175^post125 == 0 /\ result_11^0-result_11^post125 == 0 /\ x_16^0-x_16^post125 == 0 /\ -a_210^post125+a_210^0 == 0 /\ a_308^0-a_308^post125 == 0 /\ head_27^0-head_27^post125 == 0 /\ i_30^0-i_30^post125 == 0 /\ a_147^0-a_147^post125 == 0 /\ -head_32^post125+head_32^0 == 0 /\ -head_223^post125+head_223^0 == 0 /\ len_226^0-len_226^post125 == 0 /\ ct_17^0-ct_17^post125 == 0 /\ -i_94^post125+i_94^0 == 0 /\ y_19^0-y_19^post125 == 0 /\ t_23^0-t_23^post125 == 0 /\ a_353^0-a_353^post125 == 0 /\ rcd_58^0-rcd_58^post125 == 0 /\ -len_276^post125+len_276^0 == 0 /\ -len_183^post125+len_183^0 == 0 /\ -i_167^post125+i_167^0 == 0 /\ a_116^0-a_116^post125 == 0 /\ -head_14^post125+head_14^0 == 0 /\ -length_29^post125+length_29^0 == 0 /\ -r_163^post125+r_163^0 == 0 /\ -len_132^post125+len_132^0 == 0 /\ -a_277^post125+a_277^0 == 0 /\ -head_SLAM_f_26^post125+head_SLAM_f_26^0 == 0), cost: 1 126: l83 -> l36 : temp0_15^0'=temp0_15^post126, a_241^0'=a_241^post126, head_27^0'=head_27^post126, head_129^0'=head_129^post126, r_124^0'=r_124^post126, len_183^0'=len_183^post126, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post126, a_147^0'=a_147^post126, rcd_58^0'=rcd_58^post126, head_175^0'=head_175^post126, y_19^0'=y_19^post126, ct_17^0'=ct_17^post126, temp_35^0'=temp_35^post126, i_30^0'=i_30^post126, head_SLAM_f_26^0'=head_SLAM_f_26^post126, r_218^0'=r_218^post126, len_276^0'=len_276^post126, a_308^0'=a_308^post126, t_23^0'=t_23^post126, a_210^0'=a_210^post126, result_11^0'=result_11^post126, head_268^0'=head_268^post126, f_263^0'=f_263^post126, x_16^0'=x_16^post126, len_132^0'=len_132^post126, i_167^0'=i_167^post126, a_116^0'=a_116^post126, r_39^0'=r_39^post126, nondet_12^0'=nondet_12^post126, x_SLAM_f_18^0'=x_SLAM_f_18^post126, a_353^0'=a_353^post126, temp0_31^0'=temp0_31^post126, a_277^0'=a_277^post126, head_32^0'=head_32^post126, head_14^0'=head_14^post126, r_163^0'=r_163^post126, len_226^0'=len_226^post126, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post126, a_184^0'=a_184^post126, rcd_88^0'=rcd_88^post126, head_223^0'=head_223^post126, f_170^0'=f_170^post126, tmp_34^0'=tmp_34^post126, i_94^0'=i_94^post126, i_108^0'=i_108^post126, r_260^0'=r_260^post126, length_29^0'=length_29^post126, x_20^0'=x_20^post126, a_330^0'=a_330^post126, (2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_30^0-i_30^post126 == 0 /\ -y_19^post126+y_19^0 == 0 /\ head_27^0-head_27^post126 == 0 /\ head_223^0-head_223^post126 == 0 /\ rcd_88^0-rcd_88^post126 == 0 /\ -x_20^post126+x_20^0 == 0 /\ -a_184^post126+a_184^0 == 0 /\ -head_14^post126+head_14^0 == 0 /\ -a_330^post126+a_330^0 == 0 /\ -nondet_12^post126+nondet_12^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post126 == 0 /\ rcd_58^0-rcd_58^post126 == 0 /\ -i_94^post126+i_94^0 == 0 /\ a_353^0-a_353^post126 == 0 /\ a_116^0-a_116^post126 == 0 /\ result_11^0-result_11^post126 == 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -f_170^post126+f_170^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post126+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -length_29^post126+length_29^0 == 0 /\ len_183^0-len_183^post126 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post126 == 0 /\ -len_226^post126+len_226^0 == 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -f_263^post126+f_263^0 == 0 /\ x_16^0-x_16^post126 == 0 /\ -temp0_31^post126+temp0_31^0 == 0 /\ r_124^0-r_124^post126 == 0 /\ -a_277^post126+a_277^0 == 0 /\ a_308^0-a_308^post126 == 0 /\ temp_35^0-temp_35^post126 == 0 /\ -len_276^post126+len_276^0 == 0 /\ -len_132^post126+len_132^0 == 0 /\ -a_210^post126+a_210^0 == 0 /\ -i_108^post126+i_108^0 == 0 /\ t_23^0-t_23^post126 == 0 /\ temp0_15^0-temp0_15^post126 == 0 /\ -head_32^post126+head_32^0 == 0 /\ -tmp_34^post126+tmp_34^0 == 0 /\ -head_268^post126+head_268^0 == 0 /\ ct_17^0-ct_17^post126 == 0 /\ head_129^0-head_129^post126 == 0 /\ -r_260^post126+r_260^0 == 0 /\ -r_39^post126+r_39^0 == 0 /\ a_241^0-a_241^post126 == 0 /\ head_175^0-head_175^post126 == 0 /\ r_218^0-r_218^post126 == 0 /\ i_167^0-i_167^post126 == 0 /\ -r_163^post126+r_163^0 == 0 /\ -a_147^post126+a_147^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post126 == 0), cost: 1 128: l84 -> l81 : temp0_15^0'=temp0_15^post128, a_241^0'=a_241^post128, head_27^0'=head_27^post128, head_129^0'=head_129^post128, r_124^0'=r_124^post128, len_183^0'=len_183^post128, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post128, a_147^0'=a_147^post128, rcd_58^0'=rcd_58^post128, head_175^0'=head_175^post128, y_19^0'=y_19^post128, ct_17^0'=ct_17^post128, temp_35^0'=temp_35^post128, i_30^0'=i_30^post128, head_SLAM_f_26^0'=head_SLAM_f_26^post128, r_218^0'=r_218^post128, len_276^0'=len_276^post128, a_308^0'=a_308^post128, t_23^0'=t_23^post128, a_210^0'=a_210^post128, result_11^0'=result_11^post128, head_268^0'=head_268^post128, f_263^0'=f_263^post128, x_16^0'=x_16^post128, len_132^0'=len_132^post128, i_167^0'=i_167^post128, a_116^0'=a_116^post128, r_39^0'=r_39^post128, nondet_12^0'=nondet_12^post128, x_SLAM_f_18^0'=x_SLAM_f_18^post128, a_353^0'=a_353^post128, temp0_31^0'=temp0_31^post128, a_277^0'=a_277^post128, head_32^0'=head_32^post128, head_14^0'=head_14^post128, r_163^0'=r_163^post128, len_226^0'=len_226^post128, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post128, a_184^0'=a_184^post128, rcd_88^0'=rcd_88^post128, head_223^0'=head_223^post128, f_170^0'=f_170^post128, tmp_34^0'=tmp_34^post128, i_94^0'=i_94^post128, i_108^0'=i_108^post128, r_260^0'=r_260^post128, length_29^0'=length_29^post128, x_20^0'=x_20^post128, a_330^0'=a_330^post128, (a_210^0-a_210^post128 == 0 /\ x_16^0-x_16^post128 == 0 /\ len_183^0-len_183^post128 == 0 /\ -tmp_34^post128+tmp_34^0 == 0 /\ temp0_15^0-temp0_15^post128 == 0 /\ i_167^0-i_167^post128 == 0 /\ -x_SLAM_f_18^post128+x_SLAM_f_18^0 == 0 /\ -t_23^post128+t_23^0 == 0 /\ r_124^0-r_124^post128 == 0 /\ -f_170^post128+f_170^0 == 0 /\ len_276^0-len_276^post128 == 0 /\ temp_35^0-temp_35^post128 == 0 /\ -len_226^post128+len_226^0 == 0 /\ -a_147^post128+a_147^0 == 0 /\ a_241^0-a_241^post128 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post128 == 0 /\ a_277^0-a_277^post128 == 0 /\ -a_116^post128+a_116^0 == 0 /\ r_218^0-r_218^post128 == 0 /\ -head_32^post128+head_32^0 == 0 /\ -head_223^post128+head_223^0 == 0 /\ -r_39^post128+r_39^0 == 0 /\ -rcd_88^post128+rcd_88^0 == 0 /\ -head_268^post128+head_268^0 == 0 /\ i_30^0-i_30^post128 == 0 /\ -i_108^post128+i_108^0 == 0 /\ -a_184^post128+a_184^0 == 0 /\ -head_175^post128+head_175^0 == 0 /\ -a_330^post128+a_330^0 == 0 /\ -r_260^post128+r_260^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post128+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_11^0-result_11^post128 == 0 /\ -temp0_31^post128+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post128 == 0 /\ rcd_58^0-rcd_58^post128 == 0 /\ f_263^0-f_263^post128 == 0 /\ -length_29^post128+length_29^0 == 0 /\ head_129^0-head_129^post128 == 0 /\ -a_353^post128+a_353^0 == 0 /\ -len_132^post128+len_132^0 == 0 /\ head_14^0-head_14^post128 == 0 /\ y_19^0-y_19^post128 == 0 /\ r_163^0-r_163^post128 == 0 /\ a_308^0-a_308^post128 == 0 /\ head_27^0-head_27^post128 == 0 /\ -ct_17^post128+ct_17^0 == 0 /\ -x_20^post128+x_20^0 == 0 /\ i_94^0-i_94^post128 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post128+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0), cost: 1 132: l85 -> l86 : temp0_15^0'=temp0_15^post132, a_241^0'=a_241^post132, head_27^0'=head_27^post132, head_129^0'=head_129^post132, r_124^0'=r_124^post132, len_183^0'=len_183^post132, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post132, a_147^0'=a_147^post132, rcd_58^0'=rcd_58^post132, head_175^0'=head_175^post132, y_19^0'=y_19^post132, ct_17^0'=ct_17^post132, temp_35^0'=temp_35^post132, i_30^0'=i_30^post132, head_SLAM_f_26^0'=head_SLAM_f_26^post132, r_218^0'=r_218^post132, len_276^0'=len_276^post132, a_308^0'=a_308^post132, t_23^0'=t_23^post132, a_210^0'=a_210^post132, result_11^0'=result_11^post132, head_268^0'=head_268^post132, f_263^0'=f_263^post132, x_16^0'=x_16^post132, len_132^0'=len_132^post132, i_167^0'=i_167^post132, a_116^0'=a_116^post132, r_39^0'=r_39^post132, nondet_12^0'=nondet_12^post132, x_SLAM_f_18^0'=x_SLAM_f_18^post132, a_353^0'=a_353^post132, temp0_31^0'=temp0_31^post132, a_277^0'=a_277^post132, head_32^0'=head_32^post132, head_14^0'=head_14^post132, r_163^0'=r_163^post132, len_226^0'=len_226^post132, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post132, a_184^0'=a_184^post132, rcd_88^0'=rcd_88^post132, head_223^0'=head_223^post132, f_170^0'=f_170^post132, tmp_34^0'=tmp_34^post132, i_94^0'=i_94^post132, i_108^0'=i_108^post132, r_260^0'=r_260^post132, length_29^0'=length_29^post132, x_20^0'=x_20^post132, a_330^0'=a_330^post132, (a_308^0-a_308^post132 == 0 /\ r_124^0-r_124^post132 == 0 /\ -f_263^post132+f_263^0 == 0 /\ -head_223^post132+head_223^0 == 0 /\ a_241^0-a_241^post132 == 0 /\ -rcd_88^post132+rcd_88^0 == 0 /\ a_184^0-a_184^post132 == 0 /\ len_132^0-len_132^post132 == 0 /\ -nondet_12^post132+nondet_12^0 == 0 /\ -x_16^post132+x_16^0 == 0 /\ tmp_34^0-tmp_34^post132 == 0 /\ -i_94^post132+i_94^0 == 0 /\ r_218^0-r_218^post132 == 0 /\ -len_276^post132+len_276^0 == 0 /\ t_23^0-t_23^post132 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post132 == 0 /\ head_129^0-head_129^post132 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post132+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_170^post132+f_170^0 == 0 /\ -temp_35^post132+temp_35^0 == 0 /\ -length_29^post132+length_29^0 == 0 /\ head_175^0-head_175^post132 == 0 /\ -a_277^post132+a_277^0 == 0 /\ head_268^0-head_268^post132 == 0 /\ a_116^0-a_116^post132 == 0 /\ len_226^0-len_226^post132 == 0 /\ -a_210^post132+a_210^0 == 0 /\ 1-head_14^0 <= 0 /\ i_30^0-i_30^post132 == 0 /\ a_147^0-a_147^post132 == 0 /\ -x_20^post132+x_20^0 == 0 /\ y_19^0-y_19^post132 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post132 == 0 /\ r_39^0-r_39^post132 == 0 /\ a_353^0-a_353^post132 == 0 /\ -i_108^post132+i_108^0 == 0 /\ rcd_58^0-rcd_58^post132 == 0 /\ -a_330^post132+a_330^0 == 0 /\ -head_SLAM_f_26^post132+head_SLAM_f_26^0 == 0 /\ -len_183^post132+len_183^0 == 0 /\ -r_260^post132+r_260^0 == 0 /\ -head_14^post132+head_14^0 == 0 /\ temp0_15^0-temp0_15^post132 == 0 /\ ct_17^0-ct_17^post132 == 0 /\ head_32^0-head_32^post132 == 0 /\ result_11^0-result_11^post132 == 0 /\ temp0_31^0-temp0_31^post132 == 0 /\ -head_27^post132+head_27^0 == 0 /\ -r_163^post132+r_163^0 == 0 /\ -i_167^post132+i_167^0 == 0), cost: 1 133: l85 -> l86 : temp0_15^0'=temp0_15^post133, a_241^0'=a_241^post133, head_27^0'=head_27^post133, head_129^0'=head_129^post133, r_124^0'=r_124^post133, len_183^0'=len_183^post133, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post133, a_147^0'=a_147^post133, rcd_58^0'=rcd_58^post133, head_175^0'=head_175^post133, y_19^0'=y_19^post133, ct_17^0'=ct_17^post133, temp_35^0'=temp_35^post133, i_30^0'=i_30^post133, head_SLAM_f_26^0'=head_SLAM_f_26^post133, r_218^0'=r_218^post133, len_276^0'=len_276^post133, a_308^0'=a_308^post133, t_23^0'=t_23^post133, a_210^0'=a_210^post133, result_11^0'=result_11^post133, head_268^0'=head_268^post133, f_263^0'=f_263^post133, x_16^0'=x_16^post133, len_132^0'=len_132^post133, i_167^0'=i_167^post133, a_116^0'=a_116^post133, r_39^0'=r_39^post133, nondet_12^0'=nondet_12^post133, x_SLAM_f_18^0'=x_SLAM_f_18^post133, a_353^0'=a_353^post133, temp0_31^0'=temp0_31^post133, a_277^0'=a_277^post133, head_32^0'=head_32^post133, head_14^0'=head_14^post133, r_163^0'=r_163^post133, len_226^0'=len_226^post133, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post133, a_184^0'=a_184^post133, rcd_88^0'=rcd_88^post133, head_223^0'=head_223^post133, f_170^0'=f_170^post133, tmp_34^0'=tmp_34^post133, i_94^0'=i_94^post133, i_108^0'=i_108^post133, r_260^0'=r_260^post133, length_29^0'=length_29^post133, x_20^0'=x_20^post133, a_330^0'=a_330^post133, (a_116^0-a_116^post133 == 0 /\ -f_263^post133+f_263^0 == 0 /\ r_124^0-r_124^post133 == 0 /\ head_175^0-head_175^post133 == 0 /\ -a_184^post133+a_184^0 == 0 /\ -a_330^post133+a_330^0 == 0 /\ r_218^0-r_218^post133 == 0 /\ r_39^0-r_39^post133 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post133 == 0 /\ -i_94^post133+i_94^0 == 0 /\ -nondet_12^post133+nondet_12^0 == 0 /\ -rcd_88^post133+rcd_88^0 == 0 /\ result_11^0-result_11^post133 == 0 /\ -f_170^post133+f_170^0 == 0 /\ -length_29^post133+length_29^0 == 0 /\ 1+head_14^0 <= 0 /\ temp0_15^0-temp0_15^post133 == 0 /\ x_16^0-x_16^post133 == 0 /\ head_223^0-head_223^post133 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post133+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_241^0-a_241^post133 == 0 /\ -a_277^post133+a_277^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post133 == 0 /\ -temp0_31^post133+temp0_31^0 == 0 /\ head_129^0-head_129^post133 == 0 /\ y_19^0-y_19^post133 == 0 /\ a_308^0-a_308^post133 == 0 /\ len_226^0-len_226^post133 == 0 /\ i_30^0-i_30^post133 == 0 /\ a_147^0-a_147^post133 == 0 /\ -len_132^post133+len_132^0 == 0 /\ -a_210^post133+a_210^0 == 0 /\ head_27^0-head_27^post133 == 0 /\ -len_183^post133+len_183^0 == 0 /\ -x_20^post133+x_20^0 == 0 /\ a_353^0-a_353^post133 == 0 /\ -len_276^post133+len_276^0 == 0 /\ -head_32^post133+head_32^0 == 0 /\ i_167^0-i_167^post133 == 0 /\ -rcd_58^post133+rcd_58^0 == 0 /\ -head_268^post133+head_268^0 == 0 /\ t_23^0-t_23^post133 == 0 /\ -i_108^post133+i_108^0 == 0 /\ -tmp_34^post133+tmp_34^0 == 0 /\ -r_260^post133+r_260^0 == 0 /\ -head_14^post133+head_14^0 == 0 /\ -r_163^post133+r_163^0 == 0 /\ -head_SLAM_f_26^post133+head_SLAM_f_26^0 == 0 /\ ct_17^0-ct_17^post133 == 0 /\ temp_35^0-temp_35^post133 == 0), cost: 1 134: l86 -> l1 : temp0_15^0'=temp0_15^post134, a_241^0'=a_241^post134, head_27^0'=head_27^post134, head_129^0'=head_129^post134, r_124^0'=r_124^post134, len_183^0'=len_183^post134, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post134, a_147^0'=a_147^post134, rcd_58^0'=rcd_58^post134, head_175^0'=head_175^post134, y_19^0'=y_19^post134, ct_17^0'=ct_17^post134, temp_35^0'=temp_35^post134, i_30^0'=i_30^post134, head_SLAM_f_26^0'=head_SLAM_f_26^post134, r_218^0'=r_218^post134, len_276^0'=len_276^post134, a_308^0'=a_308^post134, t_23^0'=t_23^post134, a_210^0'=a_210^post134, result_11^0'=result_11^post134, head_268^0'=head_268^post134, f_263^0'=f_263^post134, x_16^0'=x_16^post134, len_132^0'=len_132^post134, i_167^0'=i_167^post134, a_116^0'=a_116^post134, r_39^0'=r_39^post134, nondet_12^0'=nondet_12^post134, x_SLAM_f_18^0'=x_SLAM_f_18^post134, a_353^0'=a_353^post134, temp0_31^0'=temp0_31^post134, a_277^0'=a_277^post134, head_32^0'=head_32^post134, head_14^0'=head_14^post134, r_163^0'=r_163^post134, len_226^0'=len_226^post134, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post134, a_184^0'=a_184^post134, rcd_88^0'=rcd_88^post134, head_223^0'=head_223^post134, f_170^0'=f_170^post134, tmp_34^0'=tmp_34^post134, i_94^0'=i_94^post134, i_108^0'=i_108^post134, r_260^0'=r_260^post134, length_29^0'=length_29^post134, x_20^0'=x_20^post134, a_330^0'=a_330^post134, (2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_268^post134+head_268^0 == 0 /\ -len_132^post134+len_132^0 == 0 /\ head_27^0-head_27^post134 == 0 /\ -a_330^post134+a_330^0 == 0 /\ head_223^0-head_223^post134 == 0 /\ -len_276^post134+len_276^0 == 0 /\ -r_260^post134+r_260^0 == 0 /\ a_210^0-a_210^post134 == 0 /\ r_163^0-r_163^post134 == 0 /\ -f_170^post134+f_170^0 == 0 /\ i_30^0-i_30^post134 == 0 /\ -head_32^post134+head_32^0 == 0 /\ x_16^0-x_16^post134 == 0 /\ -i_94^post134+i_94^0 == 0 /\ rcd_88^0-rcd_88^post134 == 0 /\ len_183^0-len_183^post134 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post134 == 0 /\ -r_39^post134+r_39^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ temp_35^0-temp_35^post134 == 0 /\ -y_19^post134+y_19^0 == 0 /\ -x_20^post134+x_20^0 == 0 /\ -ct_17^post134+ct_17^0 == 0 /\ r_124^0-r_124^post134 == 0 /\ result_11^0-result_11^post134 == 0 /\ head_175^0-head_175^post134 == 0 /\ -a_277^post134+a_277^0 == 0 /\ -tmp_34^post134+tmp_34^0 == 0 /\ r_218^0-r_218^post134 == 0 /\ -x_SLAM_f_18^post134+x_SLAM_f_18^0 == 0 /\ -a_116^post134+a_116^0 == 0 /\ -nondet_12^post134+nondet_12^0 == 0 /\ -length_29^post134+length_29^0 == 0 /\ temp0_15^0-temp0_15^post134 == 0 /\ -a_184^post134+a_184^0 == 0 /\ a_308^0-a_308^post134 == 0 /\ rcd_58^0-rcd_58^post134 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post134+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_14^0-head_14^post134 == 0 /\ -i_108^post134+i_108^0 == 0 /\ -a_147^post134+a_147^0 == 0 /\ -a_353^post134+a_353^0 == 0 /\ -len_226^post134+len_226^0 == 0 /\ t_23^0-t_23^post134 == 0 /\ a_241^0-a_241^post134 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post134 == 0 /\ head_129^0-head_129^post134 == 0 /\ -temp0_31^post134+temp0_31^0 == 0 /\ -f_263^post134+f_263^0 == 0 /\ i_167^0-i_167^post134 == 0), cost: 1 136: l88 -> l89 : temp0_15^0'=temp0_15^post136, a_241^0'=a_241^post136, head_27^0'=head_27^post136, head_129^0'=head_129^post136, r_124^0'=r_124^post136, len_183^0'=len_183^post136, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post136, a_147^0'=a_147^post136, rcd_58^0'=rcd_58^post136, head_175^0'=head_175^post136, y_19^0'=y_19^post136, ct_17^0'=ct_17^post136, temp_35^0'=temp_35^post136, i_30^0'=i_30^post136, head_SLAM_f_26^0'=head_SLAM_f_26^post136, r_218^0'=r_218^post136, len_276^0'=len_276^post136, a_308^0'=a_308^post136, t_23^0'=t_23^post136, a_210^0'=a_210^post136, result_11^0'=result_11^post136, head_268^0'=head_268^post136, f_263^0'=f_263^post136, x_16^0'=x_16^post136, len_132^0'=len_132^post136, i_167^0'=i_167^post136, a_116^0'=a_116^post136, r_39^0'=r_39^post136, nondet_12^0'=nondet_12^post136, x_SLAM_f_18^0'=x_SLAM_f_18^post136, a_353^0'=a_353^post136, temp0_31^0'=temp0_31^post136, a_277^0'=a_277^post136, head_32^0'=head_32^post136, head_14^0'=head_14^post136, r_163^0'=r_163^post136, len_226^0'=len_226^post136, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post136, a_184^0'=a_184^post136, rcd_88^0'=rcd_88^post136, head_223^0'=head_223^post136, f_170^0'=f_170^post136, tmp_34^0'=tmp_34^post136, i_94^0'=i_94^post136, i_108^0'=i_108^post136, r_260^0'=r_260^post136, length_29^0'=length_29^post136, x_20^0'=x_20^post136, a_330^0'=a_330^post136, (-t_23^post136+t_23^0 == 0 /\ -tmp_34^post136+tmp_34^0 == 0 /\ f_263^0-f_263^post136 == 0 /\ rcd_58^0-rcd_58^post136 == 0 /\ nondet_12^0-nondet_12^post136 == 0 /\ head_129^0-head_129^post136 == 0 /\ a_147^0-a_147^post136 == 0 /\ -len_132^post136+len_132^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post136 == 0 /\ -i_108^post136+i_108^0 == 0 /\ -r_39^post136+r_39^0 == 0 /\ y_19^0-y_19^post136 == 0 /\ -a_116^post136+a_116^0 == 0 /\ head_27^0-head_27^post136 == 0 /\ -head_223^post136+head_223^0 == 0 /\ head_32^0-head_32^post136 == 0 /\ head_268^0-head_268^post136 == 0 /\ -result_11^post136+result_11^0 == 0 /\ temp0_15^0-temp0_15^post136 == 0 /\ -a_184^post136+a_184^0 == 0 /\ -r_218^post136+r_218^0 == 0 /\ len_183^0-len_183^post136 == 0 /\ -head_14^post136+head_14^0 == 0 /\ -i_167^post136+i_167^0 == 0 /\ -a_330^post136+a_330^0 == 0 /\ temp0_31^0-temp0_31^post136 == 0 /\ x_16^0-x_16^post136 == 0 /\ -x_SLAM_f_18^post136+x_SLAM_f_18^0 == 0 /\ -i_30^post136+i_30^0 == 0 /\ -f_170^post136+f_170^0 == 0 /\ len_276^0-len_276^post136 == 0 /\ -r_163^post136+r_163^0 == 0 /\ -rcd_88^post136+rcd_88^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post136 == 0 /\ -length_29^post136+length_29^0 == 0 /\ a_241^0-a_241^post136 == 0 /\ temp_35^0-temp_35^post136 == 0 /\ -r_260^post136+r_260^0 == 0 /\ -a_308^post136+a_308^0 == 0 /\ a_210^0-a_210^post136 == 0 /\ -a_353^post136+a_353^0 == 0 /\ -len_226^post136+len_226^0 == 0 /\ ct_17^0-ct_17^post136 == 0 /\ a_277^0-a_277^post136 == 0 /\ head_175^0-head_175^post136 == 0 /\ r_124^0-r_124^post136 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post136 == 0 /\ 1-head_27^0 <= 0 /\ -i_94^post136+i_94^0 == 0 /\ -x_20^post136+x_20^0 == 0), cost: 1 137: l88 -> l89 : temp0_15^0'=temp0_15^post137, a_241^0'=a_241^post137, head_27^0'=head_27^post137, head_129^0'=head_129^post137, r_124^0'=r_124^post137, len_183^0'=len_183^post137, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post137, a_147^0'=a_147^post137, rcd_58^0'=rcd_58^post137, head_175^0'=head_175^post137, y_19^0'=y_19^post137, ct_17^0'=ct_17^post137, temp_35^0'=temp_35^post137, i_30^0'=i_30^post137, head_SLAM_f_26^0'=head_SLAM_f_26^post137, r_218^0'=r_218^post137, len_276^0'=len_276^post137, a_308^0'=a_308^post137, t_23^0'=t_23^post137, a_210^0'=a_210^post137, result_11^0'=result_11^post137, head_268^0'=head_268^post137, f_263^0'=f_263^post137, x_16^0'=x_16^post137, len_132^0'=len_132^post137, i_167^0'=i_167^post137, a_116^0'=a_116^post137, r_39^0'=r_39^post137, nondet_12^0'=nondet_12^post137, x_SLAM_f_18^0'=x_SLAM_f_18^post137, a_353^0'=a_353^post137, temp0_31^0'=temp0_31^post137, a_277^0'=a_277^post137, head_32^0'=head_32^post137, head_14^0'=head_14^post137, r_163^0'=r_163^post137, len_226^0'=len_226^post137, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post137, a_184^0'=a_184^post137, rcd_88^0'=rcd_88^post137, head_223^0'=head_223^post137, f_170^0'=f_170^post137, tmp_34^0'=tmp_34^post137, i_94^0'=i_94^post137, i_108^0'=i_108^post137, r_260^0'=r_260^post137, length_29^0'=length_29^post137, x_20^0'=x_20^post137, a_330^0'=a_330^post137, (-length_29^post137+length_29^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post137 == 0 /\ -a_353^post137+a_353^0 == 0 /\ -tmp_34^post137+tmp_34^0 == 0 /\ -head_14^post137+head_14^0 == 0 /\ head_129^0-head_129^post137 == 0 /\ -result_11^post137+result_11^0 == 0 /\ 1+head_27^0 <= 0 /\ head_268^0-head_268^post137 == 0 /\ -a_277^post137+a_277^0 == 0 /\ a_147^0-a_147^post137 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post137 == 0 /\ a_241^0-a_241^post137 == 0 /\ -x_20^post137+x_20^0 == 0 /\ -x_16^post137+x_16^0 == 0 /\ -a_308^post137+a_308^0 == 0 /\ temp0_15^0-temp0_15^post137 == 0 /\ -a_330^post137+a_330^0 == 0 /\ -head_223^post137+head_223^0 == 0 /\ -head_175^post137+head_175^0 == 0 /\ temp0_31^0-temp0_31^post137 == 0 /\ y_19^0-y_19^post137 == 0 /\ rcd_58^0-rcd_58^post137 == 0 /\ -i_108^post137+i_108^0 == 0 /\ -x_SLAM_f_18^post137+x_SLAM_f_18^0 == 0 /\ -a_184^post137+a_184^0 == 0 /\ len_276^0-len_276^post137 == 0 /\ r_163^0-r_163^post137 == 0 /\ -f_170^post137+f_170^0 == 0 /\ -len_226^post137+len_226^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post137 == 0 /\ ct_17^0-ct_17^post137 == 0 /\ f_263^0-f_263^post137 == 0 /\ -r_39^post137+r_39^0 == 0 /\ len_183^0-len_183^post137 == 0 /\ -r_260^post137+r_260^0 == 0 /\ head_27^0-head_27^post137 == 0 /\ len_132^0-len_132^post137 == 0 /\ -r_218^post137+r_218^0 == 0 /\ a_210^0-a_210^post137 == 0 /\ -i_30^post137+i_30^0 == 0 /\ -r_124^post137+r_124^0 == 0 /\ -i_167^post137+i_167^0 == 0 /\ temp_35^0-temp_35^post137 == 0 /\ t_23^0-t_23^post137 == 0 /\ -head_32^post137+head_32^0 == 0 /\ -a_116^post137+a_116^0 == 0 /\ -i_94^post137+i_94^0 == 0 /\ -rcd_88^post137+rcd_88^0 == 0 /\ -nondet_12^post137+nondet_12^0 == 0), cost: 1 138: l89 -> l90 : temp0_15^0'=temp0_15^post138, a_241^0'=a_241^post138, head_27^0'=head_27^post138, head_129^0'=head_129^post138, r_124^0'=r_124^post138, len_183^0'=len_183^post138, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post138, a_147^0'=a_147^post138, rcd_58^0'=rcd_58^post138, head_175^0'=head_175^post138, y_19^0'=y_19^post138, ct_17^0'=ct_17^post138, temp_35^0'=temp_35^post138, i_30^0'=i_30^post138, head_SLAM_f_26^0'=head_SLAM_f_26^post138, r_218^0'=r_218^post138, len_276^0'=len_276^post138, a_308^0'=a_308^post138, t_23^0'=t_23^post138, a_210^0'=a_210^post138, result_11^0'=result_11^post138, head_268^0'=head_268^post138, f_263^0'=f_263^post138, x_16^0'=x_16^post138, len_132^0'=len_132^post138, i_167^0'=i_167^post138, a_116^0'=a_116^post138, r_39^0'=r_39^post138, nondet_12^0'=nondet_12^post138, x_SLAM_f_18^0'=x_SLAM_f_18^post138, a_353^0'=a_353^post138, temp0_31^0'=temp0_31^post138, a_277^0'=a_277^post138, head_32^0'=head_32^post138, head_14^0'=head_14^post138, r_163^0'=r_163^post138, len_226^0'=len_226^post138, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post138, a_184^0'=a_184^post138, rcd_88^0'=rcd_88^post138, head_223^0'=head_223^post138, f_170^0'=f_170^post138, tmp_34^0'=tmp_34^post138, i_94^0'=i_94^post138, i_108^0'=i_108^post138, r_260^0'=r_260^post138, length_29^0'=length_29^post138, x_20^0'=x_20^post138, a_330^0'=a_330^post138, (0 == 0 /\ -i_108^post138+i_108^0 == 0 /\ -a_353^post138+a_353^0 == 0 /\ -length_29^post138+length_29^0 == 0 /\ -r_163^post138+r_163^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post138 == 0 /\ a_147^0-a_147^post138 == 0 /\ i_30^0-i_30^post138 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post138+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_183^0-len_183^post138 == 0 /\ head_27^0-head_27^post138 == 0 /\ head_268^0-head_268^post138 == 0 /\ head_27^0-f_263^0 <= 0 /\ -result_11^post138+result_11^0 == 0 /\ -1-len_226^0+len_276^post138 <= 0 /\ -x_20^post138+x_20^0 == 0 /\ -x_16^post138+x_16^0 == 0 /\ -1+a_241^0-a_277^post138 <= 0 /\ -a_330^post138+a_330^0 == 0 /\ -tmp_34^post138+tmp_34^0 == 0 /\ ct_17^0-ct_17^post138 == 0 /\ -a_308^post138+a_308^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post138 == 0 /\ r_124^0-r_124^post138 == 0 /\ -head_27^0+f_263^0 <= 0 /\ head_32^0-head_32^post138 == 0 /\ -a_184^post138+a_184^0 == 0 /\ -f_170^post138+f_170^0 == 0 /\ -head_223^post138+head_223^0 == 0 /\ head_129^0-head_129^post138 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ -i_94^post138+i_94^0 == 0 /\ -r_218^post138+r_218^0 == 0 /\ a_116^0-a_116^post138 == 0 /\ f_263^0-f_263^post138 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post138 == 0 /\ head_175^0-head_175^post138 == 0 /\ 1+len_226^0-len_276^post138 <= 0 /\ t_23^0-t_23^post138 == 0 /\ len_132^0-len_132^post138 == 0 /\ -i_167^post138+i_167^0 == 0 /\ a_241^0-a_241^post138 == 0 /\ a_210^0-a_210^post138 == 0 /\ temp0_15^0-temp0_15^post138 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ 1-a_241^0+a_277^post138 <= 0 /\ -nondet_12^post138+nondet_12^0 == 0 /\ -head_14^post138+head_14^0 == 0 /\ temp0_31^0-temp0_31^post138 == 0 /\ y_19^0-y_19^post138 == 0 /\ len_226^0-len_226^post138 == 0 /\ rcd_58^0-rcd_58^post138 == 0 /\ -r_260^post138+r_260^0 == 0 /\ -temp_35^post138+temp_35^0 == 0 /\ -rcd_88^post138+rcd_88^0 == 0 /\ r_39^0-r_39^post138 == 0), cost: 1 139: l90 -> l91 : temp0_15^0'=temp0_15^post139, a_241^0'=a_241^post139, head_27^0'=head_27^post139, head_129^0'=head_129^post139, r_124^0'=r_124^post139, len_183^0'=len_183^post139, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post139, a_147^0'=a_147^post139, rcd_58^0'=rcd_58^post139, head_175^0'=head_175^post139, y_19^0'=y_19^post139, ct_17^0'=ct_17^post139, temp_35^0'=temp_35^post139, i_30^0'=i_30^post139, head_SLAM_f_26^0'=head_SLAM_f_26^post139, r_218^0'=r_218^post139, len_276^0'=len_276^post139, a_308^0'=a_308^post139, t_23^0'=t_23^post139, a_210^0'=a_210^post139, result_11^0'=result_11^post139, head_268^0'=head_268^post139, f_263^0'=f_263^post139, x_16^0'=x_16^post139, len_132^0'=len_132^post139, i_167^0'=i_167^post139, a_116^0'=a_116^post139, r_39^0'=r_39^post139, nondet_12^0'=nondet_12^post139, x_SLAM_f_18^0'=x_SLAM_f_18^post139, a_353^0'=a_353^post139, temp0_31^0'=temp0_31^post139, a_277^0'=a_277^post139, head_32^0'=head_32^post139, head_14^0'=head_14^post139, r_163^0'=r_163^post139, len_226^0'=len_226^post139, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post139, a_184^0'=a_184^post139, rcd_88^0'=rcd_88^post139, head_223^0'=head_223^post139, f_170^0'=f_170^post139, tmp_34^0'=tmp_34^post139, i_94^0'=i_94^post139, i_108^0'=i_108^post139, r_260^0'=r_260^post139, length_29^0'=length_29^post139, x_20^0'=x_20^post139, a_330^0'=a_330^post139, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post139 == 0 /\ -head_32^post139+head_32^0 == 0 /\ a_116^0-a_116^post139 == 0 /\ len_183^0-len_183^post139 == 0 /\ -f_263^post139+f_263^0 == 0 /\ result_11^0-result_11^post139 == 0 /\ -len_276^post139+len_276^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post139 == 0 /\ r_218^0-r_218^post139 == 0 /\ a_308^0-a_308^post139 == 0 /\ a_184^0-a_184^post139 == 0 /\ r_124^0-r_124^post139 == 0 /\ t_23^0-t_23^post139 == 0 /\ -temp0_31^post139+temp0_31^0 == 0 /\ -tmp_34^post139+tmp_34^0 == 0 /\ len_132^0-len_132^post139 == 0 /\ -r_163^post139+r_163^0 == 0 /\ -temp_35^post139+temp_35^0 == 0 /\ -f_170^post139+f_170^0 == 0 /\ -length_29^post139+length_29^0 == 0 /\ a_353^0-a_353^post139 == 0 /\ r_39^0-r_39^post139 == 0 /\ head_129^0-head_129^post139 == 0 /\ -head_223^post139+head_223^0 == 0 /\ 1-head_14^0 <= 0 /\ -rcd_88^post139+rcd_88^0 == 0 /\ i_30^0-i_30^post139 == 0 /\ a_147^0-a_147^post139 == 0 /\ -i_94^post139+i_94^0 == 0 /\ head_175^0-head_175^post139 == 0 /\ -x_20^post139+x_20^0 == 0 /\ -i_108^post139+i_108^0 == 0 /\ -x_16^post139+x_16^0 == 0 /\ head_268^0-head_268^post139 == 0 /\ -a_330^post139+a_330^0 == 0 /\ -head_14^post139+head_14^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post139+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_167^post139+i_167^0 == 0 /\ -head_SLAM_f_26^post139+head_SLAM_f_26^0 == 0 /\ -nondet_12^post139+nondet_12^0 == 0 /\ -a_277^post139+a_277^0 == 0 /\ a_241^0-a_241^post139 == 0 /\ temp0_15^0-temp0_15^post139 == 0 /\ -head_27^post139+head_27^0 == 0 /\ ct_17^0-ct_17^post139 == 0 /\ -r_260^post139+r_260^0 == 0 /\ y_19^0-y_19^post139 == 0 /\ -len_226^post139+len_226^0 == 0 /\ rcd_58^0-rcd_58^post139 == 0 /\ -a_210^post139+a_210^0 == 0), cost: 1 140: l90 -> l91 : temp0_15^0'=temp0_15^post140, a_241^0'=a_241^post140, head_27^0'=head_27^post140, head_129^0'=head_129^post140, r_124^0'=r_124^post140, len_183^0'=len_183^post140, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post140, a_147^0'=a_147^post140, rcd_58^0'=rcd_58^post140, head_175^0'=head_175^post140, y_19^0'=y_19^post140, ct_17^0'=ct_17^post140, temp_35^0'=temp_35^post140, i_30^0'=i_30^post140, head_SLAM_f_26^0'=head_SLAM_f_26^post140, r_218^0'=r_218^post140, len_276^0'=len_276^post140, a_308^0'=a_308^post140, t_23^0'=t_23^post140, a_210^0'=a_210^post140, result_11^0'=result_11^post140, head_268^0'=head_268^post140, f_263^0'=f_263^post140, x_16^0'=x_16^post140, len_132^0'=len_132^post140, i_167^0'=i_167^post140, a_116^0'=a_116^post140, r_39^0'=r_39^post140, nondet_12^0'=nondet_12^post140, x_SLAM_f_18^0'=x_SLAM_f_18^post140, a_353^0'=a_353^post140, temp0_31^0'=temp0_31^post140, a_277^0'=a_277^post140, head_32^0'=head_32^post140, head_14^0'=head_14^post140, r_163^0'=r_163^post140, len_226^0'=len_226^post140, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post140, a_184^0'=a_184^post140, rcd_88^0'=rcd_88^post140, head_223^0'=head_223^post140, f_170^0'=f_170^post140, tmp_34^0'=tmp_34^post140, i_94^0'=i_94^post140, i_108^0'=i_108^post140, r_260^0'=r_260^post140, length_29^0'=length_29^post140, x_20^0'=x_20^post140, a_330^0'=a_330^post140, (-y_19^post140+y_19^0 == 0 /\ i_30^0-i_30^post140 == 0 /\ -len_132^post140+len_132^0 == 0 /\ -head_32^post140+head_32^0 == 0 /\ -r_39^post140+r_39^0 == 0 /\ a_210^0-a_210^post140 == 0 /\ x_16^0-x_16^post140 == 0 /\ len_183^0-len_183^post140 == 0 /\ head_223^0-head_223^post140 == 0 /\ i_167^0-i_167^post140 == 0 /\ -len_276^post140+len_276^0 == 0 /\ -a_184^post140+a_184^0 == 0 /\ -head_268^post140+head_268^0 == 0 /\ r_124^0-r_124^post140 == 0 /\ -tmp_34^post140+tmp_34^0 == 0 /\ -x_SLAM_f_18^post140+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ rcd_88^0-rcd_88^post140 == 0 /\ -f_170^post140+f_170^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post140 == 0 /\ -length_29^post140+length_29^0 == 0 /\ -temp0_31^post140+temp0_31^0 == 0 /\ f_263^0-f_263^post140 == 0 /\ -r_163^post140+r_163^0 == 0 /\ temp_35^0-temp_35^post140 == 0 /\ -a_116^post140+a_116^0 == 0 /\ head_129^0-head_129^post140 == 0 /\ -i_108^post140+i_108^0 == 0 /\ result_11^0-result_11^post140 == 0 /\ -ct_17^post140+ct_17^0 == 0 /\ -nondet_12^post140+nondet_12^0 == 0 /\ head_175^0-head_175^post140 == 0 /\ r_218^0-r_218^post140 == 0 /\ -x_20^post140+x_20^0 == 0 /\ r_260^0-r_260^post140 == 0 /\ -a_330^post140+a_330^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post140+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_308^0-a_308^post140 == 0 /\ head_27^0-head_27^post140 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post140+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_94^0-i_94^post140 == 0 /\ a_241^0-a_241^post140 == 0 /\ head_14^0-head_14^post140 == 0 /\ temp0_15^0-temp0_15^post140 == 0 /\ -a_353^post140+a_353^0 == 0 /\ -a_147^post140+a_147^0 == 0 /\ -len_226^post140+len_226^0 == 0 /\ -a_277^post140+a_277^0 == 0 /\ t_23^0-t_23^post140 == 0 /\ rcd_58^0-rcd_58^post140 == 0), cost: 1 141: l91 -> l92 : temp0_15^0'=temp0_15^post141, a_241^0'=a_241^post141, head_27^0'=head_27^post141, head_129^0'=head_129^post141, r_124^0'=r_124^post141, len_183^0'=len_183^post141, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post141, a_147^0'=a_147^post141, rcd_58^0'=rcd_58^post141, head_175^0'=head_175^post141, y_19^0'=y_19^post141, ct_17^0'=ct_17^post141, temp_35^0'=temp_35^post141, i_30^0'=i_30^post141, head_SLAM_f_26^0'=head_SLAM_f_26^post141, r_218^0'=r_218^post141, len_276^0'=len_276^post141, a_308^0'=a_308^post141, t_23^0'=t_23^post141, a_210^0'=a_210^post141, result_11^0'=result_11^post141, head_268^0'=head_268^post141, f_263^0'=f_263^post141, x_16^0'=x_16^post141, len_132^0'=len_132^post141, i_167^0'=i_167^post141, a_116^0'=a_116^post141, r_39^0'=r_39^post141, nondet_12^0'=nondet_12^post141, x_SLAM_f_18^0'=x_SLAM_f_18^post141, a_353^0'=a_353^post141, temp0_31^0'=temp0_31^post141, a_277^0'=a_277^post141, head_32^0'=head_32^post141, head_14^0'=head_14^post141, r_163^0'=r_163^post141, len_226^0'=len_226^post141, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post141, a_184^0'=a_184^post141, rcd_88^0'=rcd_88^post141, head_223^0'=head_223^post141, f_170^0'=f_170^post141, tmp_34^0'=tmp_34^post141, i_94^0'=i_94^post141, i_108^0'=i_108^post141, r_260^0'=r_260^post141, length_29^0'=length_29^post141, x_20^0'=x_20^post141, a_330^0'=a_330^post141, (temp_35^0-temp_35^post141 == 0 /\ -len_132^post141+len_132^0 == 0 /\ len_183^0-len_183^post141 == 0 /\ 1-head_268^0 <= 0 /\ r_163^0-r_163^post141 == 0 /\ a_241^0-a_241^post141 == 0 /\ r_218^0-r_218^post141 == 0 /\ -head_32^post141+head_32^0 == 0 /\ -x_SLAM_f_18^post141+x_SLAM_f_18^0 == 0 /\ i_167^0-i_167^post141 == 0 /\ f_263^0-f_263^post141 == 0 /\ -i_94^post141+i_94^0 == 0 /\ -f_170^post141+f_170^0 == 0 /\ -tmp_34^post141+tmp_34^0 == 0 /\ head_268^0-head_268^post141 == 0 /\ -length_29^post141+length_29^0 == 0 /\ rcd_88^0-rcd_88^post141 == 0 /\ r_124^0-r_124^post141 == 0 /\ -head_223^post141+head_223^0 == 0 /\ nondet_12^0-nondet_12^post141 == 0 /\ -i_30^post141+i_30^0 == 0 /\ -temp0_31^post141+temp0_31^0 == 0 /\ a_147^0-a_147^post141 == 0 /\ -a_308^post141+a_308^0 == 0 /\ rcd_58^0-rcd_58^post141 == 0 /\ -x_20^post141+x_20^0 == 0 /\ head_14^0-head_14^post141 == 0 /\ -a_330^post141+a_330^0 == 0 /\ a_210^0-a_210^post141 == 0 /\ a_277^0-a_277^post141 == 0 /\ -a_116^post141+a_116^0 == 0 /\ x_16^0-x_16^post141 == 0 /\ r_260^0-r_260^post141 == 0 /\ -i_108^post141+i_108^0 == 0 /\ head_129^0-head_129^post141 == 0 /\ y_19^0-y_19^post141 == 0 /\ -a_353^post141+a_353^0 == 0 /\ -a_184^post141+a_184^0 == 0 /\ head_27^0-head_27^post141 == 0 /\ -len_226^post141+len_226^0 == 0 /\ -t_23^post141+t_23^0 == 0 /\ -head_175^post141+head_175^0 == 0 /\ result_11^0-result_11^post141 == 0 /\ len_276^0-len_276^post141 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post141+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post141 == 0 /\ -r_39^post141+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post141+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ ct_17^0-ct_17^post141 == 0 /\ temp0_15^0-temp0_15^post141 == 0), cost: 1 142: l91 -> l92 : temp0_15^0'=temp0_15^post142, a_241^0'=a_241^post142, head_27^0'=head_27^post142, head_129^0'=head_129^post142, r_124^0'=r_124^post142, len_183^0'=len_183^post142, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post142, a_147^0'=a_147^post142, rcd_58^0'=rcd_58^post142, head_175^0'=head_175^post142, y_19^0'=y_19^post142, ct_17^0'=ct_17^post142, temp_35^0'=temp_35^post142, i_30^0'=i_30^post142, head_SLAM_f_26^0'=head_SLAM_f_26^post142, r_218^0'=r_218^post142, len_276^0'=len_276^post142, a_308^0'=a_308^post142, t_23^0'=t_23^post142, a_210^0'=a_210^post142, result_11^0'=result_11^post142, head_268^0'=head_268^post142, f_263^0'=f_263^post142, x_16^0'=x_16^post142, len_132^0'=len_132^post142, i_167^0'=i_167^post142, a_116^0'=a_116^post142, r_39^0'=r_39^post142, nondet_12^0'=nondet_12^post142, x_SLAM_f_18^0'=x_SLAM_f_18^post142, a_353^0'=a_353^post142, temp0_31^0'=temp0_31^post142, a_277^0'=a_277^post142, head_32^0'=head_32^post142, head_14^0'=head_14^post142, r_163^0'=r_163^post142, len_226^0'=len_226^post142, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post142, a_184^0'=a_184^post142, rcd_88^0'=rcd_88^post142, head_223^0'=head_223^post142, f_170^0'=f_170^post142, tmp_34^0'=tmp_34^post142, i_94^0'=i_94^post142, i_108^0'=i_108^post142, r_260^0'=r_260^post142, length_29^0'=length_29^post142, x_20^0'=x_20^post142, a_330^0'=a_330^post142, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post142 == 0 /\ f_263^0-f_263^post142 == 0 /\ rcd_58^0-rcd_58^post142 == 0 /\ r_218^0-r_218^post142 == 0 /\ -tmp_34^post142+tmp_34^0 == 0 /\ temp_35^0-temp_35^post142 == 0 /\ -rcd_88^post142+rcd_88^0 == 0 /\ -a_308^post142+a_308^0 == 0 /\ -a_353^post142+a_353^0 == 0 /\ -len_226^post142+len_226^0 == 0 /\ -length_29^post142+length_29^0 == 0 /\ -r_39^post142+r_39^0 == 0 /\ -i_94^post142+i_94^0 == 0 /\ i_167^0-i_167^post142 == 0 /\ temp0_31^0-temp0_31^post142 == 0 /\ -f_170^post142+f_170^0 == 0 /\ head_27^0-head_27^post142 == 0 /\ nondet_12^0-nondet_12^post142 == 0 /\ i_30^0-i_30^post142 == 0 /\ -ct_17^post142+ct_17^0 == 0 /\ -head_223^post142+head_223^0 == 0 /\ -result_11^post142+result_11^0 == 0 /\ temp0_15^0-temp0_15^post142 == 0 /\ -a_277^post142+a_277^0 == 0 /\ -t_23^post142+t_23^0 == 0 /\ -head_175^post142+head_175^0 == 0 /\ len_183^0-len_183^post142 == 0 /\ -x_20^post142+x_20^0 == 0 /\ r_163^0-r_163^post142 == 0 /\ -a_330^post142+a_330^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post142 == 0 /\ -x_SLAM_f_18^post142+x_SLAM_f_18^0 == 0 /\ head_129^0-head_129^post142 == 0 /\ -head_14^post142+head_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post142 == 0 /\ a_210^0-a_210^post142 == 0 /\ -len_132^post142+len_132^0 == 0 /\ a_147^0-a_147^post142 == 0 /\ -a_241^post142+a_241^0 == 0 /\ i_108^0-i_108^post142 == 0 /\ x_16^0-x_16^post142 == 0 /\ -a_184^post142+a_184^0 == 0 /\ -r_260^post142+r_260^0 == 0 /\ r_124^0-r_124^post142 == 0 /\ -head_32^post142+head_32^0 == 0 /\ y_19^0-y_19^post142 == 0 /\ -a_116^post142+a_116^0 == 0 /\ 1+head_268^0 <= 0 /\ len_276^0-len_276^post142 == 0 /\ -head_268^post142+head_268^0 == 0), cost: 1 143: l92 -> l87 : temp0_15^0'=temp0_15^post143, a_241^0'=a_241^post143, head_27^0'=head_27^post143, head_129^0'=head_129^post143, r_124^0'=r_124^post143, len_183^0'=len_183^post143, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post143, a_147^0'=a_147^post143, rcd_58^0'=rcd_58^post143, head_175^0'=head_175^post143, y_19^0'=y_19^post143, ct_17^0'=ct_17^post143, temp_35^0'=temp_35^post143, i_30^0'=i_30^post143, head_SLAM_f_26^0'=head_SLAM_f_26^post143, r_218^0'=r_218^post143, len_276^0'=len_276^post143, a_308^0'=a_308^post143, t_23^0'=t_23^post143, a_210^0'=a_210^post143, result_11^0'=result_11^post143, head_268^0'=head_268^post143, f_263^0'=f_263^post143, x_16^0'=x_16^post143, len_132^0'=len_132^post143, i_167^0'=i_167^post143, a_116^0'=a_116^post143, r_39^0'=r_39^post143, nondet_12^0'=nondet_12^post143, x_SLAM_f_18^0'=x_SLAM_f_18^post143, a_353^0'=a_353^post143, temp0_31^0'=temp0_31^post143, a_277^0'=a_277^post143, head_32^0'=head_32^post143, head_14^0'=head_14^post143, r_163^0'=r_163^post143, len_226^0'=len_226^post143, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post143, a_184^0'=a_184^post143, rcd_88^0'=rcd_88^post143, head_223^0'=head_223^post143, f_170^0'=f_170^post143, tmp_34^0'=tmp_34^post143, i_94^0'=i_94^post143, i_108^0'=i_108^post143, r_260^0'=r_260^post143, length_29^0'=length_29^post143, x_20^0'=x_20^post143, a_330^0'=a_330^post143, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -tmp_34^post143+tmp_34^0 == 0 /\ -length_29^post143+length_29^0 == 0 /\ f_263^0-f_263^post143 == 0 /\ rcd_58^0-rcd_58^post143 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post143 == 0 /\ -a_353^post143+a_353^0 == 0 /\ -r_39^post143+r_39^0 == 0 /\ a_147^0-a_147^post143 == 0 /\ head_129^0-head_129^post143 == 0 /\ head_268^0-head_268^post143 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post143 == 0 /\ temp0_15^0-temp0_15^post143 == 0 /\ -a_308^post143+a_308^0 == 0 /\ y_19^0-y_19^post143 == 0 /\ i_167^0-i_167^post143 == 0 /\ -x_20^post143+x_20^0 == 0 /\ temp0_31^0-temp0_31^post143 == 0 /\ -a_184^post143+a_184^0 == 0 /\ len_276^0-len_276^post143 == 0 /\ -i_108^post143+i_108^0 == 0 /\ -x_16^post143+x_16^0 == 0 /\ -a_330^post143+a_330^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_260^post143+r_260^0 == 0 /\ -t_23^post143+t_23^0 == 0 /\ len_132^0-len_132^post143 == 0 /\ ct_17^0-ct_17^post143 == 0 /\ -x_SLAM_f_18^post143+x_SLAM_f_18^0 == 0 /\ a_210^0-a_210^post143 == 0 /\ r_163^0-r_163^post143 == 0 /\ -head_14^post143+head_14^0 == 0 /\ -result_11^post143+result_11^0 == 0 /\ -f_170^post143+f_170^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post143 == 0 /\ -len_276^0+len_226^post143 <= 0 /\ -i_30^post143+i_30^0 == 0 /\ head_27^0-head_27^post143 == 0 /\ temp_35^0-temp_35^post143 == 0 /\ len_183^0-len_183^post143 == 0 /\ -a_277^0+a_241^post143 <= 0 /\ a_277^0-a_277^post143 == 0 /\ head_175^0-head_175^post143 == 0 /\ -rcd_88^post143+rcd_88^0 == 0 /\ -head_223^post143+head_223^0 == 0 /\ -r_124^post143+r_124^0 == 0 /\ len_276^0-len_226^post143 <= 0 /\ -nondet_12^post143+nondet_12^0 == 0 /\ -head_32^post143+head_32^0 == 0 /\ -r_218^post143+r_218^0 == 0 /\ -i_94^post143+i_94^0 == 0 /\ -a_116^post143+a_116^0 == 0 /\ a_277^0-a_241^post143 <= 0), cost: 1 144: l87 -> l4 : temp0_15^0'=temp0_15^post144, a_241^0'=a_241^post144, head_27^0'=head_27^post144, head_129^0'=head_129^post144, r_124^0'=r_124^post144, len_183^0'=len_183^post144, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post144, a_147^0'=a_147^post144, rcd_58^0'=rcd_58^post144, head_175^0'=head_175^post144, y_19^0'=y_19^post144, ct_17^0'=ct_17^post144, temp_35^0'=temp_35^post144, i_30^0'=i_30^post144, head_SLAM_f_26^0'=head_SLAM_f_26^post144, r_218^0'=r_218^post144, len_276^0'=len_276^post144, a_308^0'=a_308^post144, t_23^0'=t_23^post144, a_210^0'=a_210^post144, result_11^0'=result_11^post144, head_268^0'=head_268^post144, f_263^0'=f_263^post144, x_16^0'=x_16^post144, len_132^0'=len_132^post144, i_167^0'=i_167^post144, a_116^0'=a_116^post144, r_39^0'=r_39^post144, nondet_12^0'=nondet_12^post144, x_SLAM_f_18^0'=x_SLAM_f_18^post144, a_353^0'=a_353^post144, temp0_31^0'=temp0_31^post144, a_277^0'=a_277^post144, head_32^0'=head_32^post144, head_14^0'=head_14^post144, r_163^0'=r_163^post144, len_226^0'=len_226^post144, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post144, a_184^0'=a_184^post144, rcd_88^0'=rcd_88^post144, head_223^0'=head_223^post144, f_170^0'=f_170^post144, tmp_34^0'=tmp_34^post144, i_94^0'=i_94^post144, i_108^0'=i_108^post144, r_260^0'=r_260^post144, length_29^0'=length_29^post144, x_20^0'=x_20^post144, a_330^0'=a_330^post144, (len_132^0-len_132^post144 == 0 /\ -r_163^post144+r_163^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post144 == 0 /\ a_147^0-a_147^post144 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post144+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_353^post144+a_353^0 == 0 /\ -length_29^post144+length_29^0 == 0 /\ -i_167^post144+i_167^0 == 0 /\ y_19^0-y_19^post144 == 0 /\ head_27^0-head_27^post144 == 0 /\ -head_223^post144+head_223^0 == 0 /\ rcd_58^0-rcd_58^post144 == 0 /\ len_183^0-len_183^post144 == 0 /\ tmp_34^0-tmp_34^post144 == 0 /\ a_184^0-a_184^post144 == 0 /\ -f_263^post144+f_263^0 == 0 /\ -a_277^post144+a_277^0 == 0 /\ head_268^0-head_268^post144 == 0 /\ -i_30^post144+i_30^0 == 0 /\ -a_210^post144+a_210^0 == 0 /\ -x_20^post144+x_20^0 == 0 /\ -x_16^post144+x_16^0 == 0 /\ -i_108^post144+i_108^0 == 0 /\ -a_330^post144+a_330^0 == 0 /\ r_124^0-r_124^post144 == 0 /\ len_276^0-len_276^post144 == 0 /\ head_32^0-head_32^post144 == 0 /\ ct_17^0-ct_17^post144 == 0 /\ -head_14^post144+head_14^0 == 0 /\ -result_11^post144+result_11^0 == 0 /\ -f_170^post144+f_170^0 == 0 /\ -r_260^post144+r_260^0 == 0 /\ temp_35^0-temp_35^post144 == 0 /\ r_39^0-r_39^post144 == 0 /\ t_23^0-t_23^post144 == 0 /\ a_241^0-a_241^post144 == 0 /\ -rcd_88^post144+rcd_88^0 == 0 /\ -nondet_12^post144+nondet_12^0 == 0 /\ -r_218^post144+r_218^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post144 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post144 == 0 /\ temp0_31^0-temp0_31^post144 == 0 /\ temp0_15^0-temp0_15^post144 == 0 /\ len_226^0-len_226^post144 == 0 /\ a_308^0-a_308^post144 == 0 /\ -a_116^post144+a_116^0 == 0 /\ -i_94^post144+i_94^0 == 0 /\ -head_129^post144+head_129^0 == 0 /\ head_175^0-head_175^post144 == 0), cost: 1 145: l93 -> l34 : temp0_15^0'=temp0_15^post145, a_241^0'=a_241^post145, head_27^0'=head_27^post145, head_129^0'=head_129^post145, r_124^0'=r_124^post145, len_183^0'=len_183^post145, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post145, a_147^0'=a_147^post145, rcd_58^0'=rcd_58^post145, head_175^0'=head_175^post145, y_19^0'=y_19^post145, ct_17^0'=ct_17^post145, temp_35^0'=temp_35^post145, i_30^0'=i_30^post145, head_SLAM_f_26^0'=head_SLAM_f_26^post145, r_218^0'=r_218^post145, len_276^0'=len_276^post145, a_308^0'=a_308^post145, t_23^0'=t_23^post145, a_210^0'=a_210^post145, result_11^0'=result_11^post145, head_268^0'=head_268^post145, f_263^0'=f_263^post145, x_16^0'=x_16^post145, len_132^0'=len_132^post145, i_167^0'=i_167^post145, a_116^0'=a_116^post145, r_39^0'=r_39^post145, nondet_12^0'=nondet_12^post145, x_SLAM_f_18^0'=x_SLAM_f_18^post145, a_353^0'=a_353^post145, temp0_31^0'=temp0_31^post145, a_277^0'=a_277^post145, head_32^0'=head_32^post145, head_14^0'=head_14^post145, r_163^0'=r_163^post145, len_226^0'=len_226^post145, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post145, a_184^0'=a_184^post145, rcd_88^0'=rcd_88^post145, head_223^0'=head_223^post145, f_170^0'=f_170^post145, tmp_34^0'=tmp_34^post145, i_94^0'=i_94^post145, i_108^0'=i_108^post145, r_260^0'=r_260^post145, length_29^0'=length_29^post145, x_20^0'=x_20^post145, a_330^0'=a_330^post145, (-r_260^post145+r_260^0 == 0 /\ -i_108^post145+i_108^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post145+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp0_15^0-temp0_15^post145 == 0 /\ head_129^0-head_129^post145 == 0 /\ r_124^0-r_124^post145 == 0 /\ a_308^0-a_308^post145 == 0 /\ result_11^0-result_11^post145 == 0 /\ head_175^0-head_175^post145 == 0 /\ a_184^0-a_184^post145 == 0 /\ len_132^0-len_132^post145 == 0 /\ a_241^0-a_241^post145 == 0 /\ -i_167^post145+i_167^0 == 0 /\ f_170^0-f_170^post145 == 0 /\ -head_14^post145+head_14^0 == 0 /\ r_39^0-r_39^post145 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post145 == 0 /\ -tmp_34^post145+tmp_34^0 == 0 /\ -head_268^post145+head_268^0 == 0 /\ -length_29^post145+length_29^0 == 0 /\ -i_94^post145+i_94^0 == 0 /\ -a_353^post145+a_353^0 == 0 /\ t_23^0-t_23^post145 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post145 == 0 /\ y_19^0-y_19^post145 == 0 /\ -r_163^post145+r_163^0 == 0 /\ len_226^0-len_226^post145 == 0 /\ -head_SLAM_f_26^post145+head_SLAM_f_26^0 == 0 /\ i_30^0-i_30^post145 == 0 /\ -f_263^post145+f_263^0 == 0 /\ -head_223^post145+head_223^0 == 0 /\ -temp0_31^post145+temp0_31^0 == 0 /\ -rcd_88^post145+rcd_88^0 == 0 /\ -a_277^post145+a_277^0 == 0 /\ head_32^0-head_32^post145 == 0 /\ r_218^0-r_218^post145 == 0 /\ -x_20^post145+x_20^0 == 0 /\ -a_210^post145+a_210^0 == 0 /\ -nondet_12^post145+nondet_12^0 == 0 /\ -x_16^post145+x_16^0 == 0 /\ -len_276^post145+len_276^0 == 0 /\ -len_183^post145+len_183^0 == 0 /\ ct_17^0-ct_17^post145 == 0 /\ -a_330^post145+a_330^0 == 0 /\ temp_35^0-temp_35^post145 == 0 /\ a_116^0-a_116^post145 == 0 /\ a_147^0-a_147^post145 == 0 /\ -rcd_58^post145+rcd_58^0 == 0 /\ head_27^0-head_27^post145 == 0), cost: 1 Removed unreachable rules and leafs Start location: l93 41: l1 -> l28 : temp0_15^0'=temp0_15^post41, a_241^0'=a_241^post41, head_27^0'=head_27^post41, head_129^0'=head_129^post41, r_124^0'=r_124^post41, len_183^0'=len_183^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, a_147^0'=a_147^post41, rcd_58^0'=rcd_58^post41, head_175^0'=head_175^post41, y_19^0'=y_19^post41, ct_17^0'=ct_17^post41, temp_35^0'=temp_35^post41, i_30^0'=i_30^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post41, r_218^0'=r_218^post41, len_276^0'=len_276^post41, a_308^0'=a_308^post41, t_23^0'=t_23^post41, a_210^0'=a_210^post41, result_11^0'=result_11^post41, head_268^0'=head_268^post41, f_263^0'=f_263^post41, x_16^0'=x_16^post41, len_132^0'=len_132^post41, i_167^0'=i_167^post41, a_116^0'=a_116^post41, r_39^0'=r_39^post41, nondet_12^0'=nondet_12^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, a_353^0'=a_353^post41, temp0_31^0'=temp0_31^post41, a_277^0'=a_277^post41, head_32^0'=head_32^post41, head_14^0'=head_14^post41, r_163^0'=r_163^post41, len_226^0'=len_226^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, a_184^0'=a_184^post41, rcd_88^0'=rcd_88^post41, head_223^0'=head_223^post41, f_170^0'=f_170^post41, tmp_34^0'=tmp_34^post41, i_94^0'=i_94^post41, i_108^0'=i_108^post41, r_260^0'=r_260^post41, length_29^0'=length_29^post41, x_20^0'=x_20^post41, a_330^0'=a_330^post41, (0 == 0 /\ y_19^0-y_19^post41 == 0 /\ -f_263^post41+f_263^0 == 0 /\ -x_20^post41+x_20^0 == 0 /\ a_308^0-a_308^post41 == 0 /\ a_184^0-a_184^post41 == 0 /\ head_27^0-head_27^post41 == 0 /\ -a_330^post41+a_330^0 == 0 /\ len_276^0-len_276^post41 == 0 /\ -a_116^post41+a_116^0 == 0 /\ len_132^0-len_132^post41 == 0 /\ tmp_34^0-tmp_34^post41 == 0 /\ i_30^0-i_30^post41 == 0 /\ -i_94^post41+i_94^0 == 0 /\ t_23^0-t_23^post41 == 0 /\ -rcd_88^post41+rcd_88^0 == 0 /\ -nondet_12^post41+nondet_12^0 == 0 /\ a_147^0-a_147^post41 == 0 /\ r_39^0-r_39^post41 == 0 /\ -a_353^post41+a_353^0 == 0 /\ -len_226^post41+len_226^0 == 0 /\ len_183^0-len_183^post41 == 0 /\ r_218^0-r_218^post41 == 0 /\ -i_167^post41+i_167^0 == 0 /\ -head_SLAM_f_26^post41+head_SLAM_f_26^0 == 0 /\ -a_277^post41+a_277^0 == 0 /\ head_268^0-head_268^post41 == 0 /\ r_124^0-r_124^post41 == 0 /\ length_29^0-length_29^post41 == 0 /\ head_175^0-head_175^post41 == 0 /\ -a_210^post41+a_210^0 == 0 /\ -i_108^post41+i_108^0 == 0 /\ head_32^0-head_32^post41 == 0 /\ -len_226^0 <= 0 /\ -head_129^post41+head_129^0 == 0 /\ temp0_15^0-temp0_15^post41 == 0 /\ -temp_35^post41+temp_35^0 == 0 /\ -f_170^post41+f_170^0 == 0 /\ -r_260^post41+r_260^0 == 0 /\ temp0_31^0-temp0_31^post41 == 0 /\ rcd_58^0-rcd_58^post41 == 0 /\ result_11^0-result_11^post41 == 0 /\ -r_163^post41+r_163^0 == 0 /\ a_241^0-a_241^post41 == 0 /\ -head_223^post41+head_223^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41 == 0), cost: 1 131: l4 -> l85 : temp0_15^0'=temp0_15^post131, a_241^0'=a_241^post131, head_27^0'=head_27^post131, head_129^0'=head_129^post131, r_124^0'=r_124^post131, len_183^0'=len_183^post131, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post131, a_147^0'=a_147^post131, rcd_58^0'=rcd_58^post131, head_175^0'=head_175^post131, y_19^0'=y_19^post131, ct_17^0'=ct_17^post131, temp_35^0'=temp_35^post131, i_30^0'=i_30^post131, head_SLAM_f_26^0'=head_SLAM_f_26^post131, r_218^0'=r_218^post131, len_276^0'=len_276^post131, a_308^0'=a_308^post131, t_23^0'=t_23^post131, a_210^0'=a_210^post131, result_11^0'=result_11^post131, head_268^0'=head_268^post131, f_263^0'=f_263^post131, x_16^0'=x_16^post131, len_132^0'=len_132^post131, i_167^0'=i_167^post131, a_116^0'=a_116^post131, r_39^0'=r_39^post131, nondet_12^0'=nondet_12^post131, x_SLAM_f_18^0'=x_SLAM_f_18^post131, a_353^0'=a_353^post131, temp0_31^0'=temp0_31^post131, a_277^0'=a_277^post131, head_32^0'=head_32^post131, head_14^0'=head_14^post131, r_163^0'=r_163^post131, len_226^0'=len_226^post131, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post131, a_184^0'=a_184^post131, rcd_88^0'=rcd_88^post131, head_223^0'=head_223^post131, f_170^0'=f_170^post131, tmp_34^0'=tmp_34^post131, i_94^0'=i_94^post131, i_108^0'=i_108^post131, r_260^0'=r_260^post131, length_29^0'=length_29^post131, x_20^0'=x_20^post131, a_330^0'=a_330^post131, (0 == 0 /\ x_20^post131-head_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post131 == 0 /\ head_27^0 <= 0 /\ -r_260^post131+r_260^0 == 0 /\ temp0_15^0-temp0_15^post131 == 0 /\ x_16^post131-head_14^0 <= 0 /\ x_16^post131-head_14^0 == 0 /\ -r_218^post131+r_218^0 == 0 /\ len_183^0-len_183^post131 == 0 /\ a_308^0-a_308^post131 == 0 /\ -ct_17^post131+y_19^post131 <= 0 /\ -ct_17^post131+y_19^post131 == 0 /\ r_124^0-r_124^post131 == 0 /\ len_276^0-len_276^post131 == 0 /\ result_11^0-result_11^post131 == 0 /\ -x_20^post131+head_14^0 <= 0 /\ t_23^0-t_23^post131 == 0 /\ len_132^0-len_132^post131 == 0 /\ i_30^0-i_30^post131 == 0 /\ -a_330^post131+a_330^0 == 0 /\ a_147^0-a_147^post131 == 0 /\ -y_19^post131 <= 0 /\ f_170^0-f_170^post131 == 0 /\ -x_16^post131+head_14^0 <= 0 /\ -rcd_88^post131+rcd_88^0 == 0 /\ -head_14^post131+head_14^0 == 0 /\ r_39^0-r_39^post131 == 0 /\ ct_17^post131-y_19^post131 <= 0 /\ a_184^0-a_184^post131 == 0 /\ -a_353^post131+a_353^0 == 0 /\ -tmp_34^post131+tmp_34^0 == 0 /\ -len_226^post131+len_226^0 == 0 /\ -i_94^post131+i_94^0 == 0 /\ -r_163^post131+r_163^0 == 0 /\ head_129^0-head_129^post131 == 0 /\ -head_14^0+x_SLAM_f_18^post131 <= 0 /\ -length_29^post131+length_29^0 == 0 /\ ct_17^post131 <= 0 /\ ct_17^post131 == 0 /\ -head_223^post131+head_223^0 == 0 /\ -len_226^0 <= 0 /\ -i_167^post131+i_167^0 == 0 /\ -x_20^post131+x_SLAM_f_18^post131 <= 0 /\ -x_16^post131+x_SLAM_f_18^post131 <= 0 /\ -x_16^post131+x_SLAM_f_18^post131 == 0 /\ head_175^0-head_175^post131 == 0 /\ -temp0_31^post131+temp0_31^0 == 0 /\ -f_263^post131+f_263^0 == 0 /\ head_268^0-head_268^post131 == 0 /\ head_32^0-head_32^post131 == 0 /\ y_19^post131 <= 0 /\ -a_210^post131+a_210^0 == 0 /\ -a_277^post131+a_277^0 == 0 /\ -a_241^0 <= 0 /\ a_241^0-a_241^post131 == 0 /\ head_14^0-x_SLAM_f_18^post131 <= 0 /\ -ct_17^post131 <= 0 /\ a_116^0-a_116^post131 == 0 /\ -i_108^post131+i_108^0 == 0 /\ rcd_58^0-rcd_58^post131 == 0 /\ x_20^post131-x_SLAM_f_18^post131 <= 0 /\ x_20^post131-x_SLAM_f_18^post131 == 0 /\ x_16^post131-x_SLAM_f_18^post131 <= 0 /\ -temp_35^post131+temp_35^0 == 0 /\ -nondet_12^post131+nondet_12^0 == 0 /\ -head_27^0 <= 0), cost: 1 135: l4 -> l88 : temp0_15^0'=temp0_15^post135, a_241^0'=a_241^post135, head_27^0'=head_27^post135, head_129^0'=head_129^post135, r_124^0'=r_124^post135, len_183^0'=len_183^post135, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post135, a_147^0'=a_147^post135, rcd_58^0'=rcd_58^post135, head_175^0'=head_175^post135, y_19^0'=y_19^post135, ct_17^0'=ct_17^post135, temp_35^0'=temp_35^post135, i_30^0'=i_30^post135, head_SLAM_f_26^0'=head_SLAM_f_26^post135, r_218^0'=r_218^post135, len_276^0'=len_276^post135, a_308^0'=a_308^post135, t_23^0'=t_23^post135, a_210^0'=a_210^post135, result_11^0'=result_11^post135, head_268^0'=head_268^post135, f_263^0'=f_263^post135, x_16^0'=x_16^post135, len_132^0'=len_132^post135, i_167^0'=i_167^post135, a_116^0'=a_116^post135, r_39^0'=r_39^post135, nondet_12^0'=nondet_12^post135, x_SLAM_f_18^0'=x_SLAM_f_18^post135, a_353^0'=a_353^post135, temp0_31^0'=temp0_31^post135, a_277^0'=a_277^post135, head_32^0'=head_32^post135, head_14^0'=head_14^post135, r_163^0'=r_163^post135, len_226^0'=len_226^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, a_184^0'=a_184^post135, rcd_88^0'=rcd_88^post135, head_223^0'=head_223^post135, f_170^0'=f_170^post135, tmp_34^0'=tmp_34^post135, i_94^0'=i_94^post135, i_108^0'=i_108^post135, r_260^0'=r_260^post135, length_29^0'=length_29^post135, x_20^0'=x_20^post135, a_330^0'=a_330^post135, (0 == 0 /\ i_167^0-i_167^post135 == 0 /\ -temp0_31^post135+temp0_31^0 == 0 /\ len_183^0-len_183^post135 == 0 /\ -len_132^post135+len_132^0 == 0 /\ r_218^0-r_218^post135 == 0 /\ -i_108^post135+i_108^0 == 0 /\ a_241^0-a_241^post135 == 0 /\ temp_35^0-temp_35^post135 == 0 /\ -tmp_34^post135+tmp_34^0 == 0 /\ rcd_88^0-rcd_88^post135 == 0 /\ -result_11^post135+result_11^0 == 0 /\ -a_184^post135+a_184^0 == 0 /\ -a_116^post135+a_116^0 == 0 /\ -r_260^post135+r_260^0 == 0 /\ r_124^0-r_124^post135 == 0 /\ -head_32^post135+head_32^0 == 0 /\ nondet_12^0-nondet_12^post135 == 0 /\ -head_223^post135+head_223^0 == 0 /\ i_30^0-i_30^post135 == 0 /\ -x_20^post135+x_20^0 == 0 /\ -a_330^post135+a_330^0 == 0 /\ rcd_58^0-rcd_58^post135 == 0 /\ -a_308^post135+a_308^0 == 0 /\ -len_226^0 <= 0 /\ a_210^0-a_210^post135 == 0 /\ head_129^0-head_129^post135 == 0 /\ -head_175^post135+head_175^0 == 0 /\ a_147^0-a_147^post135 == 0 /\ -x_SLAM_f_18^post135+x_SLAM_f_18^0 == 0 /\ x_16^0-x_16^post135 == 0 /\ -a_353^post135+a_353^0 == 0 /\ -length_29^post135+length_29^0 == 0 /\ -len_226^post135+len_226^0 == 0 /\ -i_94^post135+i_94^0 == 0 /\ y_19^0-y_19^post135 == 0 /\ -a_241^0 <= 0 /\ -f_170^post135+f_170^0 == 0 /\ len_276^0-len_276^post135 == 0 /\ a_277^0-a_277^post135 == 0 /\ r_163^0-r_163^post135 == 0 /\ head_27^0-head_27^post135 == 0 /\ -t_23^post135+t_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post135+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ ct_17^0-ct_17^post135 == 0 /\ temp0_15^0-temp0_15^post135 == 0), cost: 1 14: l10 -> l13 : temp0_15^0'=temp0_15^post14, a_241^0'=a_241^post14, head_27^0'=head_27^post14, head_129^0'=head_129^post14, r_124^0'=r_124^post14, len_183^0'=len_183^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14, a_147^0'=a_147^post14, rcd_58^0'=rcd_58^post14, head_175^0'=head_175^post14, y_19^0'=y_19^post14, ct_17^0'=ct_17^post14, temp_35^0'=temp_35^post14, i_30^0'=i_30^post14, head_SLAM_f_26^0'=head_SLAM_f_26^post14, r_218^0'=r_218^post14, len_276^0'=len_276^post14, a_308^0'=a_308^post14, t_23^0'=t_23^post14, a_210^0'=a_210^post14, result_11^0'=result_11^post14, head_268^0'=head_268^post14, f_263^0'=f_263^post14, x_16^0'=x_16^post14, len_132^0'=len_132^post14, i_167^0'=i_167^post14, a_116^0'=a_116^post14, r_39^0'=r_39^post14, nondet_12^0'=nondet_12^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=a_353^post14, temp0_31^0'=temp0_31^post14, a_277^0'=a_277^post14, head_32^0'=head_32^post14, head_14^0'=head_14^post14, r_163^0'=r_163^post14, len_226^0'=len_226^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_184^0'=a_184^post14, rcd_88^0'=rcd_88^post14, head_223^0'=head_223^post14, f_170^0'=f_170^post14, tmp_34^0'=tmp_34^post14, i_94^0'=i_94^post14, i_108^0'=i_108^post14, r_260^0'=r_260^post14, length_29^0'=length_29^post14, x_20^0'=x_20^post14, a_330^0'=a_330^post14, (0 == 0 /\ r_124^0-r_124^post14 == 0 /\ a_308^0-a_308^post14 == 0 /\ -rcd_88^post14+rcd_88^0 == 0 /\ tmp_34^0-tmp_34^post14 == 0 /\ len_276^0-len_276^post14 == 0 /\ -a_330^0 <= 0 /\ t_23^0-t_23^post14 == 0 /\ -a_330^post14+a_330^0 == 0 /\ len_132^0-len_132^post14 == 0 /\ r_218^0-r_218^post14 == 0 /\ -nondet_12^post14+nondet_12^0 == 0 /\ -f_170^post14+f_170^0 == 0 /\ -i_94^post14+i_94^0 == 0 /\ -length_29^post14+length_29^0 == 0 /\ -temp_35^post14+temp_35^0 == 0 /\ a_241^0-a_241^post14 == 0 /\ head_175^0-head_175^post14 == 0 /\ a_184^0-a_184^post14 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14 == 0 /\ head_129^0-head_129^post14 == 0 /\ -f_263^post14+f_263^0 == 0 /\ -a_210^post14+a_210^0 == 0 /\ a_116^0-a_116^post14 == 0 /\ a_147^0-a_147^post14 == 0 /\ head_27^0-head_27^post14 == 0 /\ i_30^0-i_30^post14 == 0 /\ -a_277^post14+a_277^0 == 0 /\ -x_20^post14+x_20^0 == 0 /\ head_268^0-head_268^post14 == 0 /\ len_226^0-len_226^post14 == 0 /\ a_353^0-a_353^post14 == 0 /\ -rcd_58^post14+rcd_58^0 == 0 /\ -i_108^post14+i_108^0 == 0 /\ -len_183^post14+len_183^0 == 0 /\ -head_32^post14+head_32^0 == 0 /\ y_19^0-y_19^post14 == 0 /\ -r_163^post14+r_163^0 == 0 /\ -r_260^post14+r_260^0 == 0 /\ result_11^0-result_11^post14 == 0 /\ -head_223^post14+head_223^0 == 0 /\ -i_167^post14+i_167^0 == 0 /\ -head_SLAM_f_26^post14+head_SLAM_f_26^0 == 0 /\ temp0_31^0-temp0_31^post14 == 0 /\ temp0_15^0-temp0_15^post14 == 0), cost: 1 15: l13 -> l14 : temp0_15^0'=temp0_15^post15, a_241^0'=a_241^post15, head_27^0'=head_27^post15, head_129^0'=head_129^post15, r_124^0'=r_124^post15, len_183^0'=len_183^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15, a_147^0'=a_147^post15, rcd_58^0'=rcd_58^post15, head_175^0'=head_175^post15, y_19^0'=y_19^post15, ct_17^0'=ct_17^post15, temp_35^0'=temp_35^post15, i_30^0'=i_30^post15, head_SLAM_f_26^0'=head_SLAM_f_26^post15, r_218^0'=r_218^post15, len_276^0'=len_276^post15, a_308^0'=a_308^post15, t_23^0'=t_23^post15, a_210^0'=a_210^post15, result_11^0'=result_11^post15, head_268^0'=head_268^post15, f_263^0'=f_263^post15, x_16^0'=x_16^post15, len_132^0'=len_132^post15, i_167^0'=i_167^post15, a_116^0'=a_116^post15, r_39^0'=r_39^post15, nondet_12^0'=nondet_12^post15, x_SLAM_f_18^0'=x_SLAM_f_18^post15, a_353^0'=a_353^post15, temp0_31^0'=temp0_31^post15, a_277^0'=a_277^post15, head_32^0'=head_32^post15, head_14^0'=head_14^post15, r_163^0'=r_163^post15, len_226^0'=len_226^post15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post15, a_184^0'=a_184^post15, rcd_88^0'=rcd_88^post15, head_223^0'=head_223^post15, f_170^0'=f_170^post15, tmp_34^0'=tmp_34^post15, i_94^0'=i_94^post15, i_108^0'=i_108^post15, r_260^0'=r_260^post15, length_29^0'=length_29^post15, x_20^0'=x_20^post15, a_330^0'=a_330^post15, (-nondet_12^post15+nondet_12^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post15 == 0 /\ -a_330^post15+a_330^0 == 0 /\ head_175^0-head_175^post15 == 0 /\ r_124^0-r_124^post15 == 0 /\ head_223^0-head_223^post15 == 0 /\ -head_14^post15+head_14^0 == 0 /\ -r_163^post15+r_163^0 == 0 /\ -rcd_88^post15+rcd_88^0 == 0 /\ temp0_15^0-temp0_15^post15 == 0 /\ a_116^0-a_116^post15 == 0 /\ -length_29^post15+length_29^0 == 0 /\ -i_94^post15+i_94^0 == 0 /\ -f_170^post15+f_170^0 == 0 /\ result_11^0-result_11^post15 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post15+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_241^0-a_241^post15 == 0 /\ head_129^0-head_129^post15 == 0 /\ -f_263^post15+f_263^0 == 0 /\ x_16^0-x_16^post15 == 0 /\ -a_277^post15+a_277^0 == 0 /\ -len_276^post15+len_276^0 == 0 /\ -temp0_31^post15+temp0_31^0 == 0 /\ -rcd_58^post15+rcd_58^0 == 0 /\ -head_268^post15+head_268^0 == 0 /\ a_308^0-a_308^post15 == 0 /\ len_226^0-len_226^post15 == 0 /\ y_19^0-y_19^post15 == 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_20^post15+x_20^0 == 0 /\ -a_210^post15+a_210^0 == 0 /\ -head_SLAM_f_26^post15+head_SLAM_f_26^0 == 0 /\ -len_183^post15+len_183^0 == 0 /\ -len_132^post15+len_132^0 == 0 /\ head_27^0-head_27^post15 == 0 /\ t_23^0-t_23^post15 == 0 /\ -i_108^post15+i_108^0 == 0 /\ a_353^0-a_353^post15 == 0 /\ ct_17^0-ct_17^post15 == 0 /\ -tmp_34^post15+tmp_34^0 == 0 /\ i_167^0-i_167^post15 == 0 /\ i_30^0-i_30^post15 == 0 /\ -a_184^post15+a_184^0 == 0 /\ -r_260^post15+r_260^0 == 0 /\ -head_32^post15+head_32^0 == 0 /\ r_218^0-r_218^post15 == 0 /\ -r_39^post15+r_39^0 == 0 /\ temp_35^0-temp_35^post15 == 0 /\ a_147^0-a_147^post15 == 0), cost: 1 16: l13 -> l14 : temp0_15^0'=temp0_15^post16, a_241^0'=a_241^post16, head_27^0'=head_27^post16, head_129^0'=head_129^post16, r_124^0'=r_124^post16, len_183^0'=len_183^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16, a_147^0'=a_147^post16, rcd_58^0'=rcd_58^post16, head_175^0'=head_175^post16, y_19^0'=y_19^post16, ct_17^0'=ct_17^post16, temp_35^0'=temp_35^post16, i_30^0'=i_30^post16, head_SLAM_f_26^0'=head_SLAM_f_26^post16, r_218^0'=r_218^post16, len_276^0'=len_276^post16, a_308^0'=a_308^post16, t_23^0'=t_23^post16, a_210^0'=a_210^post16, result_11^0'=result_11^post16, head_268^0'=head_268^post16, f_263^0'=f_263^post16, x_16^0'=x_16^post16, len_132^0'=len_132^post16, i_167^0'=i_167^post16, a_116^0'=a_116^post16, r_39^0'=r_39^post16, nondet_12^0'=nondet_12^post16, x_SLAM_f_18^0'=x_SLAM_f_18^post16, a_353^0'=a_353^post16, temp0_31^0'=temp0_31^post16, a_277^0'=a_277^post16, head_32^0'=head_32^post16, head_14^0'=head_14^post16, r_163^0'=r_163^post16, len_226^0'=len_226^post16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post16, a_184^0'=a_184^post16, rcd_88^0'=rcd_88^post16, head_223^0'=head_223^post16, f_170^0'=f_170^post16, tmp_34^0'=tmp_34^post16, i_94^0'=i_94^post16, i_108^0'=i_108^post16, r_260^0'=r_260^post16, length_29^0'=length_29^post16, x_20^0'=x_20^post16, a_330^0'=a_330^post16, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post16 == 0 /\ head_223^0-head_223^post16 == 0 /\ -a_330^post16+a_330^0 == 0 /\ -a_147^post16+a_147^0 == 0 /\ head_27^0-head_27^post16 == 0 /\ r_218^0-r_218^post16 == 0 /\ -f_170^post16+f_170^0 == 0 /\ -x_SLAM_f_18^post16+x_SLAM_f_18^0 == 0 /\ -a_308^post16+a_308^0 == 0 /\ -rcd_88^post16+rcd_88^0 == 0 /\ -r_260^post16+r_260^0 == 0 /\ i_30^0-i_30^post16 == 0 /\ len_183^0-len_183^post16 == 0 /\ i_167^0-i_167^post16 == 0 /\ -a_353^post16+a_353^0 == 0 /\ -len_226^post16+len_226^0 == 0 /\ f_263^0-f_263^post16 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post16 == 0 /\ -i_94^post16+i_94^0 == 0 /\ -y_19^post16+y_19^0 == 0 /\ temp_35^0-temp_35^post16 == 0 /\ a_210^0-a_210^post16 == 0 /\ -ct_17^post16+ct_17^0 == 0 /\ -x_20^post16+x_20^0 == 0 /\ head_14^0-head_14^post16 == 0 /\ -t_23^post16+t_23^0 == 0 /\ head_175^0-head_175^post16 == 0 /\ -tmp_34^post16+tmp_34^0 == 0 /\ -head_268^post16+head_268^0 == 0 /\ -temp0_31^post16+temp0_31^0 == 0 /\ r_124^0-r_124^post16 == 0 /\ -a_277^post16+a_277^0 == 0 /\ -length_29^post16+length_29^0 == 0 /\ nondet_12^0-nondet_12^post16 == 0 /\ temp0_15^0-temp0_15^post16 == 0 /\ -len_132^post16+len_132^0 == 0 /\ result_11^0-result_11^post16 == 0 /\ -r_39^post16+r_39^0 == 0 /\ x_16^0-x_16^post16 == 0 /\ -i_108^post16+i_108^0 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ rcd_58^0-rcd_58^post16 == 0 /\ -head_32^post16+head_32^0 == 0 /\ -a_116^post16+a_116^0 == 0 /\ r_163^0-r_163^post16 == 0 /\ len_276^0-len_276^post16 == 0 /\ head_129^0-head_129^post16 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16 == 0 /\ -a_184^post16+a_184^0 == 0 /\ a_241^0-a_241^post16 == 0), cost: 1 17: l14 -> l15 : temp0_15^0'=temp0_15^post17, a_241^0'=a_241^post17, head_27^0'=head_27^post17, head_129^0'=head_129^post17, r_124^0'=r_124^post17, len_183^0'=len_183^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17, a_147^0'=a_147^post17, rcd_58^0'=rcd_58^post17, head_175^0'=head_175^post17, y_19^0'=y_19^post17, ct_17^0'=ct_17^post17, temp_35^0'=temp_35^post17, i_30^0'=i_30^post17, head_SLAM_f_26^0'=head_SLAM_f_26^post17, r_218^0'=r_218^post17, len_276^0'=len_276^post17, a_308^0'=a_308^post17, t_23^0'=t_23^post17, a_210^0'=a_210^post17, result_11^0'=result_11^post17, head_268^0'=head_268^post17, f_263^0'=f_263^post17, x_16^0'=x_16^post17, len_132^0'=len_132^post17, i_167^0'=i_167^post17, a_116^0'=a_116^post17, r_39^0'=r_39^post17, nondet_12^0'=nondet_12^post17, x_SLAM_f_18^0'=x_SLAM_f_18^post17, a_353^0'=a_353^post17, temp0_31^0'=temp0_31^post17, a_277^0'=a_277^post17, head_32^0'=head_32^post17, head_14^0'=head_14^post17, r_163^0'=r_163^post17, len_226^0'=len_226^post17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post17, a_184^0'=a_184^post17, rcd_88^0'=rcd_88^post17, head_223^0'=head_223^post17, f_170^0'=f_170^post17, tmp_34^0'=tmp_34^post17, i_94^0'=i_94^post17, i_108^0'=i_108^post17, r_260^0'=r_260^post17, length_29^0'=length_29^post17, x_20^0'=x_20^post17, a_330^0'=a_330^post17, (0 == 0 /\ x_16^0-head_14^0 <= 0 /\ -head_14^post17+head_14^0 == 0 /\ -x_SLAM_f_18^post17+x_SLAM_f_18^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post17 == 0 /\ -head_175^post17+head_175^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ -f_170^post17+f_170^0 == 0 /\ nondet_12^0-nondet_12^post17 == 0 /\ -i_30^post17+i_30^0 == 0 /\ -length_29^post17+length_29^0 == 0 /\ head_268^0-head_268^post17 == 0 /\ -1-a_353^post17+a_330^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post17 == 0 /\ y_19^0 <= 0 /\ -r_260^post17+r_260^0 == 0 /\ ct_17^0 <= 0 /\ -a_308^post17+a_308^0 == 0 /\ -x_16^0+head_14^0 <= 0 /\ temp0_15^0-temp0_15^post17 == 0 /\ a_241^0-a_241^post17 == 0 /\ i_167^0-i_167^post17 == 0 /\ temp0_31^0-temp0_31^post17 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ rcd_58^0-rcd_58^post17 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ head_129^0-head_129^post17 == 0 /\ -i_94^post17+i_94^0 == 0 /\ -x_20^post17+x_20^0 == 0 /\ len_276^0-len_276^post17 == 0 /\ -a_330^post17+a_330^0 == 0 /\ -x_16^post17+x_16^0 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ ct_17^0-ct_17^post17 == 0 /\ r_163^0-r_163^post17 == 0 /\ -tmp_34^post17+tmp_34^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17 == 0 /\ y_19^0-y_19^post17 == 0 /\ -ct_17^0 <= 0 /\ -len_226^post17+len_226^0 == 0 /\ -a_277^post17+a_277^0 == 0 /\ -y_19^0 <= 0 /\ head_27^0-head_27^post17 == 0 /\ 1+a_353^post17-a_330^0 <= 0 /\ len_183^0-len_183^post17 == 0 /\ len_132^0-len_132^post17 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ i_108^0-i_108^post17 == 0 /\ -head_223^post17+head_223^0 == 0 /\ -r_39^post17+r_39^0 == 0 /\ -a_184^post17+a_184^0 == 0 /\ f_263^0-f_263^post17 == 0 /\ -rcd_88^post17+rcd_88^0 == 0 /\ a_147^0-a_147^post17 == 0 /\ temp_35^0-temp_35^post17 == 0 /\ -result_11^post17+result_11^0 == 0 /\ -r_124^post17+r_124^0 == 0 /\ -a_116^post17+a_116^0 == 0 /\ t_23^post17-x_20^0 == 0 /\ a_210^0-a_210^post17 == 0 /\ -head_32^post17+head_32^0 == 0 /\ -r_218^post17+r_218^0 == 0), cost: 1 18: l15 -> l16 : temp0_15^0'=temp0_15^post18, a_241^0'=a_241^post18, head_27^0'=head_27^post18, head_129^0'=head_129^post18, r_124^0'=r_124^post18, len_183^0'=len_183^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post18, a_147^0'=a_147^post18, rcd_58^0'=rcd_58^post18, head_175^0'=head_175^post18, y_19^0'=y_19^post18, ct_17^0'=ct_17^post18, temp_35^0'=temp_35^post18, i_30^0'=i_30^post18, head_SLAM_f_26^0'=head_SLAM_f_26^post18, r_218^0'=r_218^post18, len_276^0'=len_276^post18, a_308^0'=a_308^post18, t_23^0'=t_23^post18, a_210^0'=a_210^post18, result_11^0'=result_11^post18, head_268^0'=head_268^post18, f_263^0'=f_263^post18, x_16^0'=x_16^post18, len_132^0'=len_132^post18, i_167^0'=i_167^post18, a_116^0'=a_116^post18, r_39^0'=r_39^post18, nondet_12^0'=nondet_12^post18, x_SLAM_f_18^0'=x_SLAM_f_18^post18, a_353^0'=a_353^post18, temp0_31^0'=temp0_31^post18, a_277^0'=a_277^post18, head_32^0'=head_32^post18, head_14^0'=head_14^post18, r_163^0'=r_163^post18, len_226^0'=len_226^post18, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post18, a_184^0'=a_184^post18, rcd_88^0'=rcd_88^post18, head_223^0'=head_223^post18, f_170^0'=f_170^post18, tmp_34^0'=tmp_34^post18, i_94^0'=i_94^post18, i_108^0'=i_108^post18, r_260^0'=r_260^post18, length_29^0'=length_29^post18, x_20^0'=x_20^post18, a_330^0'=a_330^post18, (head_SLAM_f_26^0-head_SLAM_f_26^post18 == 0 /\ -result_11^post18+result_11^0 == 0 /\ -length_29^post18+length_29^0 == 0 /\ y_19^0-y_19^post18 == 0 /\ -r_260^post18+r_260^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post18 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post18+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_268^0-head_268^post18 == 0 /\ -a_353^post18+a_353^0 == 0 /\ i_30^0-i_30^post18 == 0 /\ head_27^0-head_27^post18 == 0 /\ a_147^0-a_147^post18 == 0 /\ -r_163^post18+r_163^0 == 0 /\ -i_167^post18+i_167^0 == 0 /\ len_183^0-len_183^post18 == 0 /\ -x_16^post18+x_16^0 == 0 /\ -a_308^post18+a_308^0 == 0 /\ -x_20^post18+x_20^0 == 0 /\ r_124^0-r_124^post18 == 0 /\ -head_14^post18+head_14^0 == 0 /\ -a_330^post18+a_330^0 == 0 /\ -tmp_34^post18+tmp_34^0 == 0 /\ len_276^0-len_276^post18 == 0 /\ head_175^0-head_175^post18 == 0 /\ -i_94^post18+i_94^0 == 0 /\ head_32^0-head_32^post18 == 0 /\ -temp_35^post18+temp_35^0 == 0 /\ -f_170^post18+f_170^0 == 0 /\ 1-head_14^0 <= 0 /\ ct_17^0-ct_17^post18 == 0 /\ -head_223^post18+head_223^0 == 0 /\ f_263^0-f_263^post18 == 0 /\ temp0_15^0-temp0_15^post18 == 0 /\ t_23^0-t_23^post18 == 0 /\ a_241^0-a_241^post18 == 0 /\ -rcd_88^post18+rcd_88^0 == 0 /\ a_210^0-a_210^post18 == 0 /\ -a_277^post18+a_277^0 == 0 /\ len_132^0-len_132^post18 == 0 /\ temp0_31^0-temp0_31^post18 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post18 == 0 /\ i_108^0-i_108^post18 == 0 /\ -r_218^post18+r_218^0 == 0 /\ head_129^0-head_129^post18 == 0 /\ rcd_58^0-rcd_58^post18 == 0 /\ r_39^0-r_39^post18 == 0 /\ -a_184^post18+a_184^0 == 0 /\ -nondet_12^post18+nondet_12^0 == 0 /\ len_226^0-len_226^post18 == 0 /\ -a_116^post18+a_116^0 == 0), cost: 1 19: l15 -> l16 : temp0_15^0'=temp0_15^post19, a_241^0'=a_241^post19, head_27^0'=head_27^post19, head_129^0'=head_129^post19, r_124^0'=r_124^post19, len_183^0'=len_183^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19, a_147^0'=a_147^post19, rcd_58^0'=rcd_58^post19, head_175^0'=head_175^post19, y_19^0'=y_19^post19, ct_17^0'=ct_17^post19, temp_35^0'=temp_35^post19, i_30^0'=i_30^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post19, r_218^0'=r_218^post19, len_276^0'=len_276^post19, a_308^0'=a_308^post19, t_23^0'=t_23^post19, a_210^0'=a_210^post19, result_11^0'=result_11^post19, head_268^0'=head_268^post19, f_263^0'=f_263^post19, x_16^0'=x_16^post19, len_132^0'=len_132^post19, i_167^0'=i_167^post19, a_116^0'=a_116^post19, r_39^0'=r_39^post19, nondet_12^0'=nondet_12^post19, x_SLAM_f_18^0'=x_SLAM_f_18^post19, a_353^0'=a_353^post19, temp0_31^0'=temp0_31^post19, a_277^0'=a_277^post19, head_32^0'=head_32^post19, head_14^0'=head_14^post19, r_163^0'=r_163^post19, len_226^0'=len_226^post19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, a_184^0'=a_184^post19, rcd_88^0'=rcd_88^post19, head_223^0'=head_223^post19, f_170^0'=f_170^post19, tmp_34^0'=tmp_34^post19, i_94^0'=i_94^post19, i_108^0'=i_108^post19, r_260^0'=r_260^post19, length_29^0'=length_29^post19, x_20^0'=x_20^post19, a_330^0'=a_330^post19, (head_27^0-head_27^post19 == 0 /\ -a_116^post19+a_116^0 == 0 /\ t_23^0-t_23^post19 == 0 /\ len_132^0-len_132^post19 == 0 /\ -rcd_88^post19+rcd_88^0 == 0 /\ ct_17^0-ct_17^post19 == 0 /\ -r_218^post19+r_218^0 == 0 /\ -f_263^post19+f_263^0 == 0 /\ y_19^0-y_19^post19 == 0 /\ -x_20^post19+x_20^0 == 0 /\ len_276^0-len_276^post19 == 0 /\ rcd_58^0-rcd_58^post19 == 0 /\ -head_14^post19+head_14^0 == 0 /\ -i_167^post19+i_167^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post19+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1+head_14^0 <= 0 /\ a_147^0-a_147^post19 == 0 /\ -head_SLAM_f_26^post19+head_SLAM_f_26^0 == 0 /\ -nondet_12^post19+nondet_12^0 == 0 /\ i_30^0-i_30^post19 == 0 /\ len_183^0-len_183^post19 == 0 /\ -a_353^post19+a_353^0 == 0 /\ -a_210^post19+a_210^0 == 0 /\ -tmp_34^post19+tmp_34^0 == 0 /\ a_184^0-a_184^post19 == 0 /\ -len_226^post19+len_226^0 == 0 /\ -r_260^post19+r_260^0 == 0 /\ -i_94^post19+i_94^0 == 0 /\ r_124^0-r_124^post19 == 0 /\ temp_35^0-temp_35^post19 == 0 /\ a_241^0-a_241^post19 == 0 /\ r_39^0-r_39^post19 == 0 /\ -head_223^post19+head_223^0 == 0 /\ temp0_31^0-temp0_31^post19 == 0 /\ temp0_15^0-temp0_15^post19 == 0 /\ head_32^0-head_32^post19 == 0 /\ -result_11^post19+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19 == 0 /\ -a_330^post19+a_330^0 == 0 /\ -head_129^post19+head_129^0 == 0 /\ -x_16^post19+x_16^0 == 0 /\ -a_277^post19+a_277^0 == 0 /\ -x_SLAM_f_18^post19+x_SLAM_f_18^0 == 0 /\ -f_170^post19+f_170^0 == 0 /\ -length_29^post19+length_29^0 == 0 /\ head_175^0-head_175^post19 == 0 /\ -i_108^post19+i_108^0 == 0 /\ a_308^0-a_308^post19 == 0 /\ head_268^0-head_268^post19 == 0 /\ -r_163^post19+r_163^0 == 0), cost: 1 20: l16 -> l17 : temp0_15^0'=temp0_15^post20, a_241^0'=a_241^post20, head_27^0'=head_27^post20, head_129^0'=head_129^post20, r_124^0'=r_124^post20, len_183^0'=len_183^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20, a_147^0'=a_147^post20, rcd_58^0'=rcd_58^post20, head_175^0'=head_175^post20, y_19^0'=y_19^post20, ct_17^0'=ct_17^post20, temp_35^0'=temp_35^post20, i_30^0'=i_30^post20, head_SLAM_f_26^0'=head_SLAM_f_26^post20, r_218^0'=r_218^post20, len_276^0'=len_276^post20, a_308^0'=a_308^post20, t_23^0'=t_23^post20, a_210^0'=a_210^post20, result_11^0'=result_11^post20, head_268^0'=head_268^post20, f_263^0'=f_263^post20, x_16^0'=x_16^post20, len_132^0'=len_132^post20, i_167^0'=i_167^post20, a_116^0'=a_116^post20, r_39^0'=r_39^post20, nondet_12^0'=nondet_12^post20, x_SLAM_f_18^0'=x_SLAM_f_18^post20, a_353^0'=a_353^post20, temp0_31^0'=temp0_31^post20, a_277^0'=a_277^post20, head_32^0'=head_32^post20, head_14^0'=head_14^post20, r_163^0'=r_163^post20, len_226^0'=len_226^post20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, a_184^0'=a_184^post20, rcd_88^0'=rcd_88^post20, head_223^0'=head_223^post20, f_170^0'=f_170^post20, tmp_34^0'=tmp_34^post20, i_94^0'=i_94^post20, i_108^0'=i_108^post20, r_260^0'=r_260^post20, length_29^0'=length_29^post20, x_20^0'=x_20^post20, a_330^0'=a_330^post20, (r_124^0-r_124^post20 == 0 /\ a_308^0-a_308^post20 == 0 /\ len_276^0-len_276^post20 == 0 /\ -i_108^post20+i_108^0 == 0 /\ -head_223^post20+head_223^0 == 0 /\ a_241^0-a_241^post20 == 0 /\ -rcd_88^post20+rcd_88^0 == 0 /\ a_184^0-a_184^post20 == 0 /\ len_132^0-len_132^post20 == 0 /\ -nondet_12^post20+nondet_12^0 == 0 /\ -x_16^post20+x_16^0 == 0 /\ f_170^0-f_170^post20 == 0 /\ temp0_15^0-temp0_15^post20 == 0 /\ tmp_34^0-tmp_34^post20 == 0 /\ -x_20^post20+x_20^0 == 0 /\ -i_94^post20+i_94^0 == 0 /\ ct_17^0-ct_17^post20 == 0 /\ -a_330^post20+a_330^0 == 0 /\ t_23^0-t_23^post20 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post20+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_30^0-i_30^post20 == 0 /\ -head_14^post20+head_14^0 == 0 /\ head_129^0-head_129^post20 == 0 /\ a_147^0-a_147^post20 == 0 /\ -i_167^post20+i_167^0 == 0 /\ 1-y_19^0+head_14^0 <= 0 /\ head_175^0-head_175^post20 == 0 /\ r_218^0-r_218^post20 == 0 /\ -head_SLAM_f_26^post20+head_SLAM_f_26^0 == 0 /\ -r_260^post20+r_260^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post20 == 0 /\ -a_277^post20+a_277^0 == 0 /\ head_27^0-head_27^post20 == 0 /\ head_268^0-head_268^post20 == 0 /\ -head_32^post20+head_32^0 == 0 /\ -a_210^post20+a_210^0 == 0 /\ len_226^0-len_226^post20 == 0 /\ -f_263^post20+f_263^0 == 0 /\ r_39^0-r_39^post20 == 0 /\ y_19^0-y_19^post20 == 0 /\ a_353^0-a_353^post20 == 0 /\ rcd_58^0-rcd_58^post20 == 0 /\ -len_183^post20+len_183^0 == 0 /\ -temp_35^post20+temp_35^0 == 0 /\ result_11^0-result_11^post20 == 0 /\ a_116^0-a_116^post20 == 0 /\ -temp0_31^post20+temp0_31^0 == 0 /\ -length_29^post20+length_29^0 == 0 /\ -r_163^post20+r_163^0 == 0), cost: 1 21: l16 -> l17 : temp0_15^0'=temp0_15^post21, a_241^0'=a_241^post21, head_27^0'=head_27^post21, head_129^0'=head_129^post21, r_124^0'=r_124^post21, len_183^0'=len_183^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21, a_147^0'=a_147^post21, rcd_58^0'=rcd_58^post21, head_175^0'=head_175^post21, y_19^0'=y_19^post21, ct_17^0'=ct_17^post21, temp_35^0'=temp_35^post21, i_30^0'=i_30^post21, head_SLAM_f_26^0'=head_SLAM_f_26^post21, r_218^0'=r_218^post21, len_276^0'=len_276^post21, a_308^0'=a_308^post21, t_23^0'=t_23^post21, a_210^0'=a_210^post21, result_11^0'=result_11^post21, head_268^0'=head_268^post21, f_263^0'=f_263^post21, x_16^0'=x_16^post21, len_132^0'=len_132^post21, i_167^0'=i_167^post21, a_116^0'=a_116^post21, r_39^0'=r_39^post21, nondet_12^0'=nondet_12^post21, x_SLAM_f_18^0'=x_SLAM_f_18^post21, a_353^0'=a_353^post21, temp0_31^0'=temp0_31^post21, a_277^0'=a_277^post21, head_32^0'=head_32^post21, head_14^0'=head_14^post21, r_163^0'=r_163^post21, len_226^0'=len_226^post21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post21, a_184^0'=a_184^post21, rcd_88^0'=rcd_88^post21, head_223^0'=head_223^post21, f_170^0'=f_170^post21, tmp_34^0'=tmp_34^post21, i_94^0'=i_94^post21, i_108^0'=i_108^post21, r_260^0'=r_260^post21, length_29^0'=length_29^post21, x_20^0'=x_20^post21, a_330^0'=a_330^post21, (a_116^0-a_116^post21 == 0 /\ -f_263^post21+f_263^0 == 0 /\ r_124^0-r_124^post21 == 0 /\ -x_20^post21+x_20^0 == 0 /\ head_223^0-head_223^post21 == 0 /\ head_175^0-head_175^post21 == 0 /\ -a_330^post21+a_330^0 == 0 /\ 1+y_19^0-head_14^0 <= 0 /\ -i_108^post21+i_108^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post21 == 0 /\ r_39^0-r_39^post21 == 0 /\ -i_94^post21+i_94^0 == 0 /\ -nondet_12^post21+nondet_12^0 == 0 /\ f_170^0-f_170^post21 == 0 /\ temp0_15^0-temp0_15^post21 == 0 /\ -head_32^post21+head_32^0 == 0 /\ -r_163^post21+r_163^0 == 0 /\ result_11^0-result_11^post21 == 0 /\ -a_184^post21+a_184^0 == 0 /\ -r_260^post21+r_260^0 == 0 /\ x_16^0-x_16^post21 == 0 /\ a_241^0-a_241^post21 == 0 /\ -temp0_31^post21+temp0_31^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21 == 0 /\ -a_277^post21+a_277^0 == 0 /\ -head_SLAM_f_26^post21+head_SLAM_f_26^0 == 0 /\ head_129^0-head_129^post21 == 0 /\ a_353^0-a_353^post21 == 0 /\ a_308^0-a_308^post21 == 0 /\ -rcd_88^post21+rcd_88^0 == 0 /\ -y_19^post21+y_19^0 == 0 /\ -len_132^post21+len_132^0 == 0 /\ -len_276^post21+len_276^0 == 0 /\ head_27^0-head_27^post21 == 0 /\ -a_210^post21+a_210^0 == 0 /\ -len_183^post21+len_183^0 == 0 /\ i_167^0-i_167^post21 == 0 /\ -head_268^post21+head_268^0 == 0 /\ -rcd_58^post21+rcd_58^0 == 0 /\ ct_17^0-ct_17^post21 == 0 /\ t_23^0-t_23^post21 == 0 /\ -tmp_34^post21+tmp_34^0 == 0 /\ temp_35^0-temp_35^post21 == 0 /\ -length_29^post21+length_29^0 == 0 /\ a_147^0-a_147^post21 == 0 /\ i_30^0-i_30^post21 == 0 /\ -head_14^post21+head_14^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post21+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_226^post21+len_226^0 == 0 /\ r_218^0-r_218^post21 == 0), cost: 1 22: l17 -> l18 : temp0_15^0'=temp0_15^post22, a_241^0'=a_241^post22, head_27^0'=head_27^post22, head_129^0'=head_129^post22, r_124^0'=r_124^post22, len_183^0'=len_183^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22, a_147^0'=a_147^post22, rcd_58^0'=rcd_58^post22, head_175^0'=head_175^post22, y_19^0'=y_19^post22, ct_17^0'=ct_17^post22, temp_35^0'=temp_35^post22, i_30^0'=i_30^post22, head_SLAM_f_26^0'=head_SLAM_f_26^post22, r_218^0'=r_218^post22, len_276^0'=len_276^post22, a_308^0'=a_308^post22, t_23^0'=t_23^post22, a_210^0'=a_210^post22, result_11^0'=result_11^post22, head_268^0'=head_268^post22, f_263^0'=f_263^post22, x_16^0'=x_16^post22, len_132^0'=len_132^post22, i_167^0'=i_167^post22, a_116^0'=a_116^post22, r_39^0'=r_39^post22, nondet_12^0'=nondet_12^post22, x_SLAM_f_18^0'=x_SLAM_f_18^post22, a_353^0'=a_353^post22, temp0_31^0'=temp0_31^post22, a_277^0'=a_277^post22, head_32^0'=head_32^post22, head_14^0'=head_14^post22, r_163^0'=r_163^post22, len_226^0'=len_226^post22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_184^0'=a_184^post22, rcd_88^0'=rcd_88^post22, head_223^0'=head_223^post22, f_170^0'=f_170^post22, tmp_34^0'=tmp_34^post22, i_94^0'=i_94^post22, i_108^0'=i_108^post22, r_260^0'=r_260^post22, length_29^0'=length_29^post22, x_20^0'=x_20^post22, a_330^0'=a_330^post22, (-a_277^post22+a_277^0 == 0 /\ -head_268^post22+head_268^0 == 0 /\ -len_132^post22+len_132^0 == 0 /\ len_183^0-len_183^post22 == 0 /\ -a_184^post22+a_184^0 == 0 /\ a_241^0-a_241^post22 == 0 /\ a_210^0-a_210^post22 == 0 /\ r_163^0-r_163^post22 == 0 /\ -head_32^post22+head_32^0 == 0 /\ -tmp_34^post22+tmp_34^0 == 0 /\ i_167^0-i_167^post22 == 0 /\ i_30^0-i_30^post22 == 0 /\ -i_94^post22+i_94^0 == 0 /\ x_16^0-x_16^post22 == 0 /\ -x_SLAM_f_18^post22+x_SLAM_f_18^0 == 0 /\ r_124^0-r_124^post22 == 0 /\ -length_29^post22+length_29^0 == 0 /\ rcd_88^0-rcd_88^post22 == 0 /\ len_276^0-len_276^post22 == 0 /\ -f_170^post22+f_170^0 == 0 /\ -head_223^post22+head_223^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post22 == 0 /\ -temp0_31^post22+temp0_31^0 == 0 /\ f_263^0-f_263^post22 == 0 /\ temp_35^0-temp_35^post22 == 0 /\ -y_19^post22+y_19^0 == 0 /\ -ct_17^post22+ct_17^0 == 0 /\ rcd_58^0-rcd_58^post22 == 0 /\ head_175^0-head_175^post22 == 0 /\ -x_20^post22+x_20^0 == 0 /\ r_260^0-r_260^post22 == 0 /\ r_218^0-r_218^post22 == 0 /\ -a_330^post22+a_330^0 == 0 /\ -a_116^post22+a_116^0 == 0 /\ 1+y_19^0-t_23^0 <= 0 /\ head_129^0-head_129^post22 == 0 /\ -i_108^post22+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_308^0-a_308^post22 == 0 /\ head_27^0-head_27^post22 == 0 /\ result_11^0-result_11^post22 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post22+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_353^post22+a_353^0 == 0 /\ -r_39^post22+r_39^0 == 0 /\ temp0_15^0-temp0_15^post22 == 0 /\ t_23^0-t_23^post22 == 0 /\ -len_226^post22+len_226^0 == 0 /\ -a_147^post22+a_147^0 == 0 /\ head_14^0-head_14^post22 == 0 /\ nondet_12^0-nondet_12^post22 == 0), cost: 1 23: l17 -> l18 : temp0_15^0'=temp0_15^post23, a_241^0'=a_241^post23, head_27^0'=head_27^post23, head_129^0'=head_129^post23, r_124^0'=r_124^post23, len_183^0'=len_183^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23, a_147^0'=a_147^post23, rcd_58^0'=rcd_58^post23, head_175^0'=head_175^post23, y_19^0'=y_19^post23, ct_17^0'=ct_17^post23, temp_35^0'=temp_35^post23, i_30^0'=i_30^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post23, r_218^0'=r_218^post23, len_276^0'=len_276^post23, a_308^0'=a_308^post23, t_23^0'=t_23^post23, a_210^0'=a_210^post23, result_11^0'=result_11^post23, head_268^0'=head_268^post23, f_263^0'=f_263^post23, x_16^0'=x_16^post23, len_132^0'=len_132^post23, i_167^0'=i_167^post23, a_116^0'=a_116^post23, r_39^0'=r_39^post23, nondet_12^0'=nondet_12^post23, x_SLAM_f_18^0'=x_SLAM_f_18^post23, a_353^0'=a_353^post23, temp0_31^0'=temp0_31^post23, a_277^0'=a_277^post23, head_32^0'=head_32^post23, head_14^0'=head_14^post23, r_163^0'=r_163^post23, len_226^0'=len_226^post23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post23, a_184^0'=a_184^post23, rcd_88^0'=rcd_88^post23, head_223^0'=head_223^post23, f_170^0'=f_170^post23, tmp_34^0'=tmp_34^post23, i_94^0'=i_94^post23, i_108^0'=i_108^post23, r_260^0'=r_260^post23, length_29^0'=length_29^post23, x_20^0'=x_20^post23, a_330^0'=a_330^post23, (i_167^0-i_167^post23 == 0 /\ -i_30^post23+i_30^0 == 0 /\ len_183^0-len_183^post23 == 0 /\ -len_132^post23+len_132^0 == 0 /\ r_218^0-r_218^post23 == 0 /\ -r_260^post23+r_260^0 == 0 /\ -head_175^post23+head_175^0 == 0 /\ -x_SLAM_f_18^post23+x_SLAM_f_18^0 == 0 /\ -f_170^post23+f_170^0 == 0 /\ a_241^0-a_241^post23 == 0 /\ -tmp_34^post23+tmp_34^0 == 0 /\ rcd_88^0-rcd_88^post23 == 0 /\ f_263^0-f_263^post23 == 0 /\ -a_116^post23+a_116^0 == 0 /\ -i_94^post23+i_94^0 == 0 /\ r_124^0-r_124^post23 == 0 /\ head_268^0-head_268^post23 == 0 /\ -head_32^post23+head_32^0 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ a_210^0-a_210^post23 == 0 /\ head_129^0-head_129^post23 == 0 /\ -head_223^post23+head_223^0 == 0 /\ y_19^0-y_19^post23 == 0 /\ -a_330^post23+a_330^0 == 0 /\ a_277^0-a_277^post23 == 0 /\ rcd_58^0-rcd_58^post23 == 0 /\ -temp0_31^post23+temp0_31^0 == 0 /\ head_14^0-head_14^post23 == 0 /\ -a_308^post23+a_308^0 == 0 /\ -length_29^post23+length_29^0 == 0 /\ -a_353^post23+a_353^0 == 0 /\ x_16^0-x_16^post23 == 0 /\ -a_184^post23+a_184^0 == 0 /\ -r_39^post23+r_39^0 == 0 /\ result_11^0-result_11^post23 == 0 /\ -len_226^post23+len_226^0 == 0 /\ len_276^0-len_276^post23 == 0 /\ r_163^0-r_163^post23 == 0 /\ head_27^0-head_27^post23 == 0 /\ -i_108^post23+i_108^0 == 0 /\ -t_23^post23+t_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post23 == 0 /\ temp0_15^0-temp0_15^post23 == 0 /\ ct_17^0-ct_17^post23 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post23+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_147^0-a_147^post23 == 0 /\ 1-y_19^0+t_23^0 <= 0 /\ temp_35^0-temp_35^post23 == 0 /\ -x_20^post23+x_20^0 == 0), cost: 1 24: l18 -> l12 : temp0_15^0'=temp0_15^post24, a_241^0'=a_241^post24, head_27^0'=head_27^post24, head_129^0'=head_129^post24, r_124^0'=r_124^post24, len_183^0'=len_183^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24, a_147^0'=a_147^post24, rcd_58^0'=rcd_58^post24, head_175^0'=head_175^post24, y_19^0'=y_19^post24, ct_17^0'=ct_17^post24, temp_35^0'=temp_35^post24, i_30^0'=i_30^post24, head_SLAM_f_26^0'=head_SLAM_f_26^post24, r_218^0'=r_218^post24, len_276^0'=len_276^post24, a_308^0'=a_308^post24, t_23^0'=t_23^post24, a_210^0'=a_210^post24, result_11^0'=result_11^post24, head_268^0'=head_268^post24, f_263^0'=f_263^post24, x_16^0'=x_16^post24, len_132^0'=len_132^post24, i_167^0'=i_167^post24, a_116^0'=a_116^post24, r_39^0'=r_39^post24, nondet_12^0'=nondet_12^post24, x_SLAM_f_18^0'=x_SLAM_f_18^post24, a_353^0'=a_353^post24, temp0_31^0'=temp0_31^post24, a_277^0'=a_277^post24, head_32^0'=head_32^post24, head_14^0'=head_14^post24, r_163^0'=r_163^post24, len_226^0'=len_226^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, a_184^0'=a_184^post24, rcd_88^0'=rcd_88^post24, head_223^0'=head_223^post24, f_170^0'=f_170^post24, tmp_34^0'=tmp_34^post24, i_94^0'=i_94^post24, i_108^0'=i_108^post24, r_260^0'=r_260^post24, length_29^0'=length_29^post24, x_20^0'=x_20^post24, a_330^0'=a_330^post24, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ r_218^0-r_218^post24 == 0 /\ a_330^post24-a_353^0 <= 0 /\ f_263^0-f_263^post24 == 0 /\ -r_260^post24+r_260^0 == 0 /\ temp_35^0-temp_35^post24 == 0 /\ -a_353^post24+a_353^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 == 0 /\ -len_132^post24+len_132^0 == 0 /\ -f_170^post24+f_170^0 == 0 /\ -a_330^post24+a_353^0 <= 0 /\ nondet_12^0-nondet_12^post24 == 0 /\ i_167^0-i_167^post24 == 0 /\ -a_308^post24+a_308^0 == 0 /\ temp0_31^0-temp0_31^post24 == 0 /\ -r_39^post24+r_39^0 == 0 /\ -ct_17^post24+ct_17^0 == 0 /\ -i_94^post24+i_94^0 == 0 /\ head_27^0-head_27^post24 == 0 /\ head_129^0-head_129^post24 == 0 /\ -head_223^post24+head_223^0 == 0 /\ -result_11^post24+result_11^0 == 0 /\ i_30^0-i_30^post24 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_14^post24+head_14^0 == 0 /\ len_183^0-len_183^post24 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post24 == 0 /\ temp0_15^0-temp0_15^post24 == 0 /\ -a_277^post24+a_277^0 == 0 /\ -t_23^post24+t_23^0 == 0 /\ -head_175^post24+head_175^0 == 0 /\ r_163^0-r_163^post24 == 0 /\ -x_SLAM_f_18^post24+x_SLAM_f_18^0 == 0 /\ -tmp_34^post24+tmp_34^0 == 0 /\ head_268^0-head_268^post24 == 0 /\ rcd_58^0-rcd_58^post24 == 0 /\ a_147^0-a_147^post24 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24 == 0 /\ -len_226^post24+len_226^0 == 0 /\ -length_29^post24+length_29^0 == 0 /\ a_241^0-a_241^post24 == 0 /\ a_210^0-a_210^post24 == 0 /\ i_108^0-i_108^post24 == 0 /\ -head_32^post24+head_32^0 == 0 /\ -a_116^post24+a_116^0 == 0 /\ -a_184^post24+a_184^0 == 0 /\ x_16^0-x_16^post24 == 0 /\ -rcd_88^post24+rcd_88^0 == 0 /\ r_124^0-r_124^post24 == 0 /\ y_19^0-y_19^post24 == 0 /\ -x_20^post24+x_20^0 == 0 /\ len_276^0-len_276^post24 == 0), cost: 1 25: l12 -> l10 : temp0_15^0'=temp0_15^post25, a_241^0'=a_241^post25, head_27^0'=head_27^post25, head_129^0'=head_129^post25, r_124^0'=r_124^post25, len_183^0'=len_183^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25, a_147^0'=a_147^post25, rcd_58^0'=rcd_58^post25, head_175^0'=head_175^post25, y_19^0'=y_19^post25, ct_17^0'=ct_17^post25, temp_35^0'=temp_35^post25, i_30^0'=i_30^post25, head_SLAM_f_26^0'=head_SLAM_f_26^post25, r_218^0'=r_218^post25, len_276^0'=len_276^post25, a_308^0'=a_308^post25, t_23^0'=t_23^post25, a_210^0'=a_210^post25, result_11^0'=result_11^post25, head_268^0'=head_268^post25, f_263^0'=f_263^post25, x_16^0'=x_16^post25, len_132^0'=len_132^post25, i_167^0'=i_167^post25, a_116^0'=a_116^post25, r_39^0'=r_39^post25, nondet_12^0'=nondet_12^post25, x_SLAM_f_18^0'=x_SLAM_f_18^post25, a_353^0'=a_353^post25, temp0_31^0'=temp0_31^post25, a_277^0'=a_277^post25, head_32^0'=head_32^post25, head_14^0'=head_14^post25, r_163^0'=r_163^post25, len_226^0'=len_226^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, a_184^0'=a_184^post25, rcd_88^0'=rcd_88^post25, head_223^0'=head_223^post25, f_170^0'=f_170^post25, tmp_34^0'=tmp_34^post25, i_94^0'=i_94^post25, i_108^0'=i_108^post25, r_260^0'=r_260^post25, length_29^0'=length_29^post25, x_20^0'=x_20^post25, a_330^0'=a_330^post25, (-length_29^post25+length_29^0 == 0 /\ -i_94^post25+i_94^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post25 == 0 /\ -a_353^post25+a_353^0 == 0 /\ -a_184^post25+a_184^0 == 0 /\ rcd_58^0-rcd_58^post25 == 0 /\ head_268^0-head_268^post25 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post25 == 0 /\ a_147^0-a_147^post25 == 0 /\ -r_39^post25+r_39^0 == 0 /\ -head_223^post25+head_223^0 == 0 /\ -rcd_88^post25+rcd_88^0 == 0 /\ -x_20^post25+x_20^0 == 0 /\ a_241^0-a_241^post25 == 0 /\ -x_16^post25+x_16^0 == 0 /\ temp0_15^0-temp0_15^post25 == 0 /\ -a_330^post25+a_330^0 == 0 /\ y_19^0-y_19^post25 == 0 /\ temp0_31^0-temp0_31^post25 == 0 /\ len_276^0-len_276^post25 == 0 /\ -x_SLAM_f_18^post25+x_SLAM_f_18^0 == 0 /\ r_163^0-r_163^post25 == 0 /\ len_132^0-len_132^post25 == 0 /\ -result_11^post25+result_11^0 == 0 /\ -f_170^post25+f_170^0 == 0 /\ a_210^0-a_210^post25 == 0 /\ -len_226^post25+len_226^0 == 0 /\ -i_108^post25+i_108^0 == 0 /\ -r_260^post25+r_260^0 == 0 /\ ct_17^0-ct_17^post25 == 0 /\ temp_35^0-temp_35^post25 == 0 /\ len_183^0-len_183^post25 == 0 /\ head_27^0-head_27^post25 == 0 /\ -i_30^post25+i_30^0 == 0 /\ -r_218^post25+r_218^0 == 0 /\ -i_167^post25+i_167^0 == 0 /\ t_23^0-t_23^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25 == 0 /\ -r_124^post25+r_124^0 == 0 /\ -head_14^post25+head_14^0 == 0 /\ -head_32^post25+head_32^0 == 0 /\ -a_116^post25+a_116^0 == 0 /\ -a_308^post25+a_308^0 == 0 /\ f_263^0-f_263^post25 == 0 /\ -tmp_34^post25+tmp_34^0 == 0 /\ -head_129^post25+head_129^0 == 0 /\ a_277^0-a_277^post25 == 0 /\ -nondet_12^post25+nondet_12^0 == 0 /\ head_175^0-head_175^post25 == 0), cost: 1 42: l28 -> l29 : temp0_15^0'=temp0_15^post42, a_241^0'=a_241^post42, head_27^0'=head_27^post42, head_129^0'=head_129^post42, r_124^0'=r_124^post42, len_183^0'=len_183^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42, a_147^0'=a_147^post42, rcd_58^0'=rcd_58^post42, head_175^0'=head_175^post42, y_19^0'=y_19^post42, ct_17^0'=ct_17^post42, temp_35^0'=temp_35^post42, i_30^0'=i_30^post42, head_SLAM_f_26^0'=head_SLAM_f_26^post42, r_218^0'=r_218^post42, len_276^0'=len_276^post42, a_308^0'=a_308^post42, t_23^0'=t_23^post42, a_210^0'=a_210^post42, result_11^0'=result_11^post42, head_268^0'=head_268^post42, f_263^0'=f_263^post42, x_16^0'=x_16^post42, len_132^0'=len_132^post42, i_167^0'=i_167^post42, a_116^0'=a_116^post42, r_39^0'=r_39^post42, nondet_12^0'=nondet_12^post42, x_SLAM_f_18^0'=x_SLAM_f_18^post42, a_353^0'=a_353^post42, temp0_31^0'=temp0_31^post42, a_277^0'=a_277^post42, head_32^0'=head_32^post42, head_14^0'=head_14^post42, r_163^0'=r_163^post42, len_226^0'=len_226^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, a_184^0'=a_184^post42, rcd_88^0'=rcd_88^post42, head_223^0'=head_223^post42, f_170^0'=f_170^post42, tmp_34^0'=tmp_34^post42, i_94^0'=i_94^post42, i_108^0'=i_108^post42, r_260^0'=r_260^post42, length_29^0'=length_29^post42, x_20^0'=x_20^post42, a_330^0'=a_330^post42, (-a_210^post42+a_210^0 == 0 /\ -len_276^post42+len_276^0 == 0 /\ -head_268^post42+head_268^0 == 0 /\ r_39^0-r_39^post42 == 0 /\ -x_20^post42+x_20^0 == 0 /\ a_116^0-a_116^post42 == 0 /\ head_175^0-head_175^post42 == 0 /\ r_124^0-r_124^post42 == 0 /\ result_11^0-result_11^post42 == 0 /\ tmp_34^0-tmp_34^post42 == 0 /\ -a_330^post42+a_330^0 == 0 /\ r_218^0-r_218^post42 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post42 == 0 /\ -head_32^post42+head_32^0 == 0 /\ temp0_15^0-temp0_15^post42 == 0 /\ f_170^0-f_170^post42 == 0 /\ a_308^0-a_308^post42 == 0 /\ -r_163^post42+r_163^0 == 0 /\ -r_260^post42+r_260^0 == 0 /\ -i_94^post42+i_94^0 == 0 /\ a_353^0-a_353^post42 == 0 /\ t_23^0-t_23^post42 == 0 /\ a_184^0-a_184^post42 == 0 /\ len_132^0-len_132^post42 == 0 /\ a_241^0-a_241^post42 == 0 /\ -temp0_31^post42+temp0_31^0 == 0 /\ head_129^0-head_129^post42 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42 == 0 /\ y_19^0-y_19^post42 == 0 /\ -nondet_12^post42+nondet_12^0 == 0 /\ 1+y_19^0-x_20^0 <= 0 /\ a_147^0-a_147^post42 == 0 /\ -rcd_88^post42+rcd_88^0 == 0 /\ head_27^0-head_27^post42 == 0 /\ -a_277^post42+a_277^0 == 0 /\ -len_183^post42+len_183^0 == 0 /\ -x_16^post42+x_16^0 == 0 /\ -rcd_58^post42+rcd_58^0 == 0 /\ i_30^0-i_30^post42 == 0 /\ i_167^0-i_167^post42 == 0 /\ -length_29^post42+length_29^0 == 0 /\ -head_223^post42+head_223^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post42+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_14^post42+head_14^0 == 0 /\ -i_108^post42+i_108^0 == 0 /\ -len_226^post42+len_226^0 == 0 /\ -head_SLAM_f_26^post42+head_SLAM_f_26^0 == 0 /\ ct_17^0-ct_17^post42 == 0 /\ -f_263^post42+f_263^0 == 0 /\ temp_35^0-temp_35^post42 == 0), cost: 1 43: l28 -> l29 : temp0_15^0'=temp0_15^post43, a_241^0'=a_241^post43, head_27^0'=head_27^post43, head_129^0'=head_129^post43, r_124^0'=r_124^post43, len_183^0'=len_183^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43, a_147^0'=a_147^post43, rcd_58^0'=rcd_58^post43, head_175^0'=head_175^post43, y_19^0'=y_19^post43, ct_17^0'=ct_17^post43, temp_35^0'=temp_35^post43, i_30^0'=i_30^post43, head_SLAM_f_26^0'=head_SLAM_f_26^post43, r_218^0'=r_218^post43, len_276^0'=len_276^post43, a_308^0'=a_308^post43, t_23^0'=t_23^post43, a_210^0'=a_210^post43, result_11^0'=result_11^post43, head_268^0'=head_268^post43, f_263^0'=f_263^post43, x_16^0'=x_16^post43, len_132^0'=len_132^post43, i_167^0'=i_167^post43, a_116^0'=a_116^post43, r_39^0'=r_39^post43, nondet_12^0'=nondet_12^post43, x_SLAM_f_18^0'=x_SLAM_f_18^post43, a_353^0'=a_353^post43, temp0_31^0'=temp0_31^post43, a_277^0'=a_277^post43, head_32^0'=head_32^post43, head_14^0'=head_14^post43, r_163^0'=r_163^post43, len_226^0'=len_226^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, a_184^0'=a_184^post43, rcd_88^0'=rcd_88^post43, head_223^0'=head_223^post43, f_170^0'=f_170^post43, tmp_34^0'=tmp_34^post43, i_94^0'=i_94^post43, i_108^0'=i_108^post43, r_260^0'=r_260^post43, length_29^0'=length_29^post43, x_20^0'=x_20^post43, a_330^0'=a_330^post43, (-rcd_58^post43+rcd_58^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post43 == 0 /\ -a_277^post43+a_277^0 == 0 /\ -head_268^post43+head_268^0 == 0 /\ -len_132^post43+len_132^0 == 0 /\ -a_147^post43+a_147^0 == 0 /\ -r_260^post43+r_260^0 == 0 /\ head_129^0-head_129^post43 == 0 /\ -tmp_34^post43+tmp_34^0 == 0 /\ a_210^0-a_210^post43 == 0 /\ x_16^0-x_16^post43 == 0 /\ i_30^0-i_30^post43 == 0 /\ -head_14^post43+head_14^0 == 0 /\ -f_170^post43+f_170^0 == 0 /\ a_353^0-a_353^post43 == 0 /\ -head_32^post43+head_32^0 == 0 /\ len_276^0-len_276^post43 == 0 /\ -a_184^post43+a_184^0 == 0 /\ head_27^0-head_27^post43 == 0 /\ -f_263^post43+f_263^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post43 == 0 /\ temp0_15^0-temp0_15^post43 == 0 /\ -r_39^post43+r_39^0 == 0 /\ -head_223^post43+head_223^0 == 0 /\ temp_35^0-temp_35^post43 == 0 /\ a_116^0-a_116^post43 == 0 /\ -ct_17^post43+ct_17^0 == 0 /\ i_167^0-i_167^post43 == 0 /\ -a_330^post43+a_330^0 == 0 /\ len_183^0-len_183^post43 == 0 /\ -temp0_31^post43+temp0_31^0 == 0 /\ result_11^0-result_11^post43 == 0 /\ r_218^0-r_218^post43 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43 == 0 /\ -rcd_88^post43+rcd_88^0 == 0 /\ -r_163^post43+r_163^0 == 0 /\ -length_29^post43+length_29^0 == 0 /\ a_241^0-a_241^post43 == 0 /\ -i_108^post43+i_108^0 == 0 /\ -len_226^post43+len_226^0 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ head_175^0-head_175^post43 == 0 /\ a_308^0-a_308^post43 == 0 /\ r_124^0-r_124^post43 == 0 /\ t_23^0-t_23^post43 == 0 /\ nondet_12^0-nondet_12^post43 == 0 /\ i_94^0-i_94^post43 == 0 /\ -y_19^post43+y_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post43+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_20^post43+x_20^0 == 0), cost: 1 44: l29 -> l30 : temp0_15^0'=temp0_15^post44, a_241^0'=a_241^post44, head_27^0'=head_27^post44, head_129^0'=head_129^post44, r_124^0'=r_124^post44, len_183^0'=len_183^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44, a_147^0'=a_147^post44, rcd_58^0'=rcd_58^post44, head_175^0'=head_175^post44, y_19^0'=y_19^post44, ct_17^0'=ct_17^post44, temp_35^0'=temp_35^post44, i_30^0'=i_30^post44, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_218^0'=r_218^post44, len_276^0'=len_276^post44, a_308^0'=a_308^post44, t_23^0'=t_23^post44, a_210^0'=a_210^post44, result_11^0'=result_11^post44, head_268^0'=head_268^post44, f_263^0'=f_263^post44, x_16^0'=x_16^post44, len_132^0'=len_132^post44, i_167^0'=i_167^post44, a_116^0'=a_116^post44, r_39^0'=r_39^post44, nondet_12^0'=nondet_12^post44, x_SLAM_f_18^0'=x_SLAM_f_18^post44, a_353^0'=a_353^post44, temp0_31^0'=temp0_31^post44, a_277^0'=a_277^post44, head_32^0'=head_32^post44, head_14^0'=head_14^post44, r_163^0'=r_163^post44, len_226^0'=len_226^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_184^0'=a_184^post44, rcd_88^0'=rcd_88^post44, head_223^0'=head_223^post44, f_170^0'=f_170^post44, tmp_34^0'=tmp_34^post44, i_94^0'=i_94^post44, i_108^0'=i_108^post44, r_260^0'=r_260^post44, length_29^0'=length_29^post44, x_20^0'=x_20^post44, a_330^0'=a_330^post44, (0 == 0 /\ x_16^0-head_14^0 <= 0 /\ len_183^0-len_183^post44 == 0 /\ i_167^0-i_167^post44 == 0 /\ temp0_15^0-temp0_15^post44 == 0 /\ x_16^0-x_16^post44 == 0 /\ -tmp_34^post44+tmp_34^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ y_19^0-y_19^post44 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ len_276^0-len_276^post44 == 0 /\ -r_260^post44+r_260^0 == 0 /\ i_30^0-i_30^post44 == 0 /\ -x_SLAM_f_18^post44+x_SLAM_f_18^0 == 0 /\ a_241^0-a_241^post44 == 0 /\ -len_132^post44+len_132^0 == 0 /\ y_19^0 <= 0 /\ -f_170^post44+f_170^0 == 0 /\ ct_17^0 <= 0 /\ -len_226^post44+len_226^0 == 0 /\ -a_147^post44+a_147^0 == 0 /\ a_210^0-a_210^post44 == 0 /\ -x_16^0+head_14^0 <= 0 /\ rcd_88^0-rcd_88^post44 == 0 /\ a_277^0-a_277^post44 == 0 /\ r_218^0-r_218^post44 == 0 /\ -head_32^post44+head_32^0 == 0 /\ f_263^0-f_263^post44 == 0 /\ -a_116^post44+a_116^0 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ r_124^0-r_124^post44 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post44 == 0 /\ -head_223^post44+head_223^0 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ -head_268^post44+head_268^0 == 0 /\ temp_35^0-temp_35^post44 == 0 /\ t_23^post44-x_20^0 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ -head_175^post44+head_175^0 == 0 /\ result_11^0-result_11^post44 == 0 /\ -a_330^post44+a_330^0 == 0 /\ rcd_58^0-rcd_58^post44 == 0 /\ -temp0_31^post44+temp0_31^0 == 0 /\ head_14^0-head_14^post44 == 0 /\ nondet_12^0-nondet_12^post44 == 0 /\ -t_23^post44+head_14^0 <= 0 /\ -ct_17^0 <= 0 /\ -y_19^0 <= 0 /\ head_129^0-head_129^post44 == 0 /\ -a_353^post44+a_353^0 == 0 /\ a_308^post44-a_330^0 <= 0 /\ -length_29^post44+length_29^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ -i_108^post44+i_108^0 == 0 /\ -a_184^post44+a_184^0 == 0 /\ -r_39^post44+r_39^0 == 0 /\ head_27^0-head_27^post44 == 0 /\ r_163^0-r_163^post44 == 0 /\ -ct_17^post44+ct_17^0 == 0 /\ t_23^post44-head_14^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post44+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_94^0-i_94^post44 == 0 /\ -x_20^post44+x_20^0 == 0 /\ -a_308^post44+a_330^0 <= 0), cost: 1 45: l30 -> l31 : temp0_15^0'=temp0_15^post45, a_241^0'=a_241^post45, head_27^0'=head_27^post45, head_129^0'=head_129^post45, r_124^0'=r_124^post45, len_183^0'=len_183^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45, a_147^0'=a_147^post45, rcd_58^0'=rcd_58^post45, head_175^0'=head_175^post45, y_19^0'=y_19^post45, ct_17^0'=ct_17^post45, temp_35^0'=temp_35^post45, i_30^0'=i_30^post45, head_SLAM_f_26^0'=head_SLAM_f_26^post45, r_218^0'=r_218^post45, len_276^0'=len_276^post45, a_308^0'=a_308^post45, t_23^0'=t_23^post45, a_210^0'=a_210^post45, result_11^0'=result_11^post45, head_268^0'=head_268^post45, f_263^0'=f_263^post45, x_16^0'=x_16^post45, len_132^0'=len_132^post45, i_167^0'=i_167^post45, a_116^0'=a_116^post45, r_39^0'=r_39^post45, nondet_12^0'=nondet_12^post45, x_SLAM_f_18^0'=x_SLAM_f_18^post45, a_353^0'=a_353^post45, temp0_31^0'=temp0_31^post45, a_277^0'=a_277^post45, head_32^0'=head_32^post45, head_14^0'=head_14^post45, r_163^0'=r_163^post45, len_226^0'=len_226^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, a_184^0'=a_184^post45, rcd_88^0'=rcd_88^post45, head_223^0'=head_223^post45, f_170^0'=f_170^post45, tmp_34^0'=tmp_34^post45, i_94^0'=i_94^post45, i_108^0'=i_108^post45, r_260^0'=r_260^post45, length_29^0'=length_29^post45, x_20^0'=x_20^post45, a_330^0'=a_330^post45, (a_353^0-a_353^post45 == 0 /\ -i_94^post45+i_94^0 == 0 /\ r_218^0-r_218^post45 == 0 /\ -tmp_34^post45+tmp_34^0 == 0 /\ -length_29^post45+length_29^0 == 0 /\ -r_163^post45+r_163^0 == 0 /\ -a_184^post45+a_184^0 == 0 /\ i_167^0-i_167^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post45+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp_35^0-temp_35^post45 == 0 /\ len_183^0-len_183^post45 == 0 /\ head_27^0-head_27^post45 == 0 /\ -r_39^post45+r_39^0 == 0 /\ -temp0_31^post45+temp0_31^0 == 0 /\ a_210^0-a_210^post45 == 0 /\ -x_20^post45+x_20^0 == 0 /\ -a_308^post45+a_308^0 == 0 /\ -len_132^post45+len_132^0 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ -ct_17^post45+ct_17^0 == 0 /\ -head_223^post45+head_223^0 == 0 /\ -a_330^post45+a_330^0 == 0 /\ i_30^0-i_30^post45 == 0 /\ rcd_88^0-rcd_88^post45 == 0 /\ f_263^0-f_263^post45 == 0 /\ r_124^0-r_124^post45 == 0 /\ -x_SLAM_f_18^post45+x_SLAM_f_18^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post45 == 0 /\ -f_170^post45+f_170^0 == 0 /\ -len_226^post45+len_226^0 == 0 /\ -i_108^post45+i_108^0 == 0 /\ 1-head_14^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_129^0-head_129^post45 == 0 /\ head_268^0-head_268^post45 == 0 /\ y_19^0-y_19^post45 == 0 /\ a_147^0-a_147^post45 == 0 /\ -t_23^post45+t_23^0 == 0 /\ a_241^0-a_241^post45 == 0 /\ a_277^0-a_277^post45 == 0 /\ temp0_15^0-temp0_15^post45 == 0 /\ x_16^0-x_16^post45 == 0 /\ -a_116^post45+a_116^0 == 0 /\ -head_32^post45+head_32^0 == 0 /\ rcd_58^0-rcd_58^post45 == 0 /\ -head_175^post45+head_175^0 == 0 /\ -r_260^post45+r_260^0 == 0 /\ head_14^0-head_14^post45 == 0 /\ len_276^0-len_276^post45 == 0 /\ result_11^0-result_11^post45 == 0), cost: 1 46: l30 -> l31 : temp0_15^0'=temp0_15^post46, a_241^0'=a_241^post46, head_27^0'=head_27^post46, head_129^0'=head_129^post46, r_124^0'=r_124^post46, len_183^0'=len_183^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46, a_147^0'=a_147^post46, rcd_58^0'=rcd_58^post46, head_175^0'=head_175^post46, y_19^0'=y_19^post46, ct_17^0'=ct_17^post46, temp_35^0'=temp_35^post46, i_30^0'=i_30^post46, head_SLAM_f_26^0'=head_SLAM_f_26^post46, r_218^0'=r_218^post46, len_276^0'=len_276^post46, a_308^0'=a_308^post46, t_23^0'=t_23^post46, a_210^0'=a_210^post46, result_11^0'=result_11^post46, head_268^0'=head_268^post46, f_263^0'=f_263^post46, x_16^0'=x_16^post46, len_132^0'=len_132^post46, i_167^0'=i_167^post46, a_116^0'=a_116^post46, r_39^0'=r_39^post46, nondet_12^0'=nondet_12^post46, x_SLAM_f_18^0'=x_SLAM_f_18^post46, a_353^0'=a_353^post46, temp0_31^0'=temp0_31^post46, a_277^0'=a_277^post46, head_32^0'=head_32^post46, head_14^0'=head_14^post46, r_163^0'=r_163^post46, len_226^0'=len_226^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, a_184^0'=a_184^post46, rcd_88^0'=rcd_88^post46, head_223^0'=head_223^post46, f_170^0'=f_170^post46, tmp_34^0'=tmp_34^post46, i_94^0'=i_94^post46, i_108^0'=i_108^post46, r_260^0'=r_260^post46, length_29^0'=length_29^post46, x_20^0'=x_20^post46, a_330^0'=a_330^post46, (-a_353^post46+a_353^0 == 0 /\ -length_29^post46+length_29^0 == 0 /\ -i_94^post46+i_94^0 == 0 /\ temp_35^0-temp_35^post46 == 0 /\ -a_184^post46+a_184^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post46 == 0 /\ -r_39^post46+r_39^0 == 0 /\ r_218^0-r_218^post46 == 0 /\ -x_20^post46+x_20^0 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ head_129^0-head_129^post46 == 0 /\ -a_330^post46+a_330^0 == 0 /\ temp0_15^0-temp0_15^post46 == 0 /\ -i_30^post46+i_30^0 == 0 /\ a_241^0-a_241^post46 == 0 /\ 1+head_14^0 <= 0 /\ -tmp_34^post46+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post46 == 0 /\ rcd_58^0-rcd_58^post46 == 0 /\ -a_308^post46+a_308^0 == 0 /\ -len_132^post46+len_132^0 == 0 /\ -x_SLAM_f_18^post46+x_SLAM_f_18^0 == 0 /\ -result_11^post46+result_11^0 == 0 /\ r_163^0-r_163^post46 == 0 /\ -f_170^post46+f_170^0 == 0 /\ -len_226^post46+len_226^0 == 0 /\ -head_223^post46+head_223^0 == 0 /\ a_210^0-a_210^post46 == 0 /\ -i_108^post46+i_108^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46 == 0 /\ -a_116^post46+a_116^0 == 0 /\ a_147^0-a_147^post46 == 0 /\ x_16^0-x_16^post46 == 0 /\ len_183^0-len_183^post46 == 0 /\ y_19^0-y_19^post46 == 0 /\ -t_23^post46+t_23^0 == 0 /\ head_268^0-head_268^post46 == 0 /\ head_27^0-head_27^post46 == 0 /\ len_276^0-len_276^post46 == 0 /\ -head_175^post46+head_175^0 == 0 /\ -i_167^post46+i_167^0 == 0 /\ -r_124^post46+r_124^0 == 0 /\ -head_32^post46+head_32^0 == 0 /\ f_263^0-f_263^post46 == 0 /\ ct_17^0-ct_17^post46 == 0 /\ -r_260^post46+r_260^0 == 0 /\ a_277^0-a_277^post46 == 0 /\ -rcd_88^post46+rcd_88^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post46 == 0 /\ -head_14^post46+head_14^0 == 0), cost: 1 47: l31 -> l32 : temp0_15^0'=temp0_15^post47, a_241^0'=a_241^post47, head_27^0'=head_27^post47, head_129^0'=head_129^post47, r_124^0'=r_124^post47, len_183^0'=len_183^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47, a_147^0'=a_147^post47, rcd_58^0'=rcd_58^post47, head_175^0'=head_175^post47, y_19^0'=y_19^post47, ct_17^0'=ct_17^post47, temp_35^0'=temp_35^post47, i_30^0'=i_30^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, r_218^0'=r_218^post47, len_276^0'=len_276^post47, a_308^0'=a_308^post47, t_23^0'=t_23^post47, a_210^0'=a_210^post47, result_11^0'=result_11^post47, head_268^0'=head_268^post47, f_263^0'=f_263^post47, x_16^0'=x_16^post47, len_132^0'=len_132^post47, i_167^0'=i_167^post47, a_116^0'=a_116^post47, r_39^0'=r_39^post47, nondet_12^0'=nondet_12^post47, x_SLAM_f_18^0'=x_SLAM_f_18^post47, a_353^0'=a_353^post47, temp0_31^0'=temp0_31^post47, a_277^0'=a_277^post47, head_32^0'=head_32^post47, head_14^0'=head_14^post47, r_163^0'=r_163^post47, len_226^0'=len_226^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, a_184^0'=a_184^post47, rcd_88^0'=rcd_88^post47, head_223^0'=head_223^post47, f_170^0'=f_170^post47, tmp_34^0'=tmp_34^post47, i_94^0'=i_94^post47, i_108^0'=i_108^post47, r_260^0'=r_260^post47, length_29^0'=length_29^post47, x_20^0'=x_20^post47, a_330^0'=a_330^post47, (-a_116^post47+a_116^0 == 0 /\ i_30^0-i_30^post47 == 0 /\ a_147^0-a_147^post47 == 0 /\ -i_94^post47+i_94^0 == 0 /\ rcd_58^0-rcd_58^post47 == 0 /\ head_268^0-head_268^post47 == 0 /\ y_19^0-y_19^post47 == 0 /\ -result_11^post47+result_11^0 == 0 /\ -a_184^post47+a_184^0 == 0 /\ -i_167^post47+i_167^0 == 0 /\ len_276^0-len_276^post47 == 0 /\ head_27^0-head_27^post47 == 0 /\ 1-y_19^0+head_14^0 <= 0 /\ -rcd_88^post47+rcd_88^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 == 0 /\ temp0_15^0-temp0_15^post47 == 0 /\ -f_170^post47+f_170^0 == 0 /\ -length_29^post47+length_29^0 == 0 /\ ct_17^0-ct_17^post47 == 0 /\ -a_308^post47+a_308^0 == 0 /\ -head_14^post47+head_14^0 == 0 /\ -a_353^post47+a_353^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post47 == 0 /\ -len_226^post47+len_226^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47 == 0 /\ -head_223^post47+head_223^0 == 0 /\ temp_35^0-temp_35^post47 == 0 /\ len_183^0-len_183^post47 == 0 /\ -x_20^post47+x_20^0 == 0 /\ temp0_31^0-temp0_31^post47 == 0 /\ -a_330^post47+a_330^0 == 0 /\ -x_16^post47+x_16^0 == 0 /\ -i_108^post47+i_108^0 == 0 /\ f_263^0-f_263^post47 == 0 /\ -r_218^post47+r_218^0 == 0 /\ -r_124^post47+r_124^0 == 0 /\ head_32^0-head_32^post47 == 0 /\ -head_129^post47+head_129^0 == 0 /\ -tmp_34^post47+tmp_34^0 == 0 /\ -r_260^post47+r_260^0 == 0 /\ -nondet_12^post47+nondet_12^0 == 0 /\ a_210^0-a_210^post47 == 0 /\ -a_241^post47+a_241^0 == 0 /\ len_132^0-len_132^post47 == 0 /\ -r_163^post47+r_163^0 == 0 /\ a_277^0-a_277^post47 == 0 /\ -x_SLAM_f_18^post47+x_SLAM_f_18^0 == 0 /\ head_175^0-head_175^post47 == 0 /\ t_23^0-t_23^post47 == 0 /\ r_39^0-r_39^post47 == 0), cost: 1 48: l31 -> l32 : temp0_15^0'=temp0_15^post48, a_241^0'=a_241^post48, head_27^0'=head_27^post48, head_129^0'=head_129^post48, r_124^0'=r_124^post48, len_183^0'=len_183^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48, a_147^0'=a_147^post48, rcd_58^0'=rcd_58^post48, head_175^0'=head_175^post48, y_19^0'=y_19^post48, ct_17^0'=ct_17^post48, temp_35^0'=temp_35^post48, i_30^0'=i_30^post48, head_SLAM_f_26^0'=head_SLAM_f_26^post48, r_218^0'=r_218^post48, len_276^0'=len_276^post48, a_308^0'=a_308^post48, t_23^0'=t_23^post48, a_210^0'=a_210^post48, result_11^0'=result_11^post48, head_268^0'=head_268^post48, f_263^0'=f_263^post48, x_16^0'=x_16^post48, len_132^0'=len_132^post48, i_167^0'=i_167^post48, a_116^0'=a_116^post48, r_39^0'=r_39^post48, nondet_12^0'=nondet_12^post48, x_SLAM_f_18^0'=x_SLAM_f_18^post48, a_353^0'=a_353^post48, temp0_31^0'=temp0_31^post48, a_277^0'=a_277^post48, head_32^0'=head_32^post48, head_14^0'=head_14^post48, r_163^0'=r_163^post48, len_226^0'=len_226^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, a_184^0'=a_184^post48, rcd_88^0'=rcd_88^post48, head_223^0'=head_223^post48, f_170^0'=f_170^post48, tmp_34^0'=tmp_34^post48, i_94^0'=i_94^post48, i_108^0'=i_108^post48, r_260^0'=r_260^post48, length_29^0'=length_29^post48, x_20^0'=x_20^post48, a_330^0'=a_330^post48, (len_276^0-len_276^post48 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48 == 0 /\ -i_108^post48+i_108^0 == 0 /\ 1+y_19^0-head_14^0 <= 0 /\ a_241^0-a_241^post48 == 0 /\ -nondet_12^post48+nondet_12^0 == 0 /\ -x_16^post48+x_16^0 == 0 /\ result_11^0-result_11^post48 == 0 /\ ct_17^0-ct_17^post48 == 0 /\ f_170^0-f_170^post48 == 0 /\ temp0_15^0-temp0_15^post48 == 0 /\ -x_20^post48+x_20^0 == 0 /\ a_308^0-a_308^post48 == 0 /\ t_23^0-t_23^post48 == 0 /\ r_124^0-r_124^post48 == 0 /\ -i_167^post48+i_167^0 == 0 /\ i_30^0-i_30^post48 == 0 /\ a_147^0-a_147^post48 == 0 /\ a_184^0-a_184^post48 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post48+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_14^post48+head_14^0 == 0 /\ -tmp_34^post48+tmp_34^0 == 0 /\ len_132^0-len_132^post48 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post48 == 0 /\ r_218^0-r_218^post48 == 0 /\ -r_260^post48+r_260^0 == 0 /\ r_39^0-r_39^post48 == 0 /\ -head_SLAM_f_26^post48+head_SLAM_f_26^0 == 0 /\ head_129^0-head_129^post48 == 0 /\ -head_223^post48+head_223^0 == 0 /\ head_27^0-head_27^post48 == 0 /\ head_268^0-head_268^post48 == 0 /\ -head_32^post48+head_32^0 == 0 /\ len_226^0-len_226^post48 == 0 /\ -f_263^post48+f_263^0 == 0 /\ -rcd_88^post48+rcd_88^0 == 0 /\ -i_94^post48+i_94^0 == 0 /\ head_175^0-head_175^post48 == 0 /\ a_353^0-a_353^post48 == 0 /\ -a_330^post48+a_330^0 == 0 /\ -len_183^post48+len_183^0 == 0 /\ a_116^0-a_116^post48 == 0 /\ -temp_35^post48+temp_35^0 == 0 /\ -temp0_31^post48+temp0_31^0 == 0 /\ -r_163^post48+r_163^0 == 0 /\ -a_210^post48+a_210^0 == 0 /\ -a_277^post48+a_277^0 == 0 /\ -length_29^post48+length_29^0 == 0 /\ y_19^0-y_19^post48 == 0 /\ rcd_58^0-rcd_58^post48 == 0), cost: 1 49: l32 -> l33 : temp0_15^0'=temp0_15^post49, a_241^0'=a_241^post49, head_27^0'=head_27^post49, head_129^0'=head_129^post49, r_124^0'=r_124^post49, len_183^0'=len_183^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49, a_147^0'=a_147^post49, rcd_58^0'=rcd_58^post49, head_175^0'=head_175^post49, y_19^0'=y_19^post49, ct_17^0'=ct_17^post49, temp_35^0'=temp_35^post49, i_30^0'=i_30^post49, head_SLAM_f_26^0'=head_SLAM_f_26^post49, r_218^0'=r_218^post49, len_276^0'=len_276^post49, a_308^0'=a_308^post49, t_23^0'=t_23^post49, a_210^0'=a_210^post49, result_11^0'=result_11^post49, head_268^0'=head_268^post49, f_263^0'=f_263^post49, x_16^0'=x_16^post49, len_132^0'=len_132^post49, i_167^0'=i_167^post49, a_116^0'=a_116^post49, r_39^0'=r_39^post49, nondet_12^0'=nondet_12^post49, x_SLAM_f_18^0'=x_SLAM_f_18^post49, a_353^0'=a_353^post49, temp0_31^0'=temp0_31^post49, a_277^0'=a_277^post49, head_32^0'=head_32^post49, head_14^0'=head_14^post49, r_163^0'=r_163^post49, len_226^0'=len_226^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, a_184^0'=a_184^post49, rcd_88^0'=rcd_88^post49, head_223^0'=head_223^post49, f_170^0'=f_170^post49, tmp_34^0'=tmp_34^post49, i_94^0'=i_94^post49, i_108^0'=i_108^post49, r_260^0'=r_260^post49, length_29^0'=length_29^post49, x_20^0'=x_20^post49, a_330^0'=a_330^post49, (head_129^0-head_129^post49 == 0 /\ -a_210^post49+a_210^0 == 0 /\ -a_277^post49+a_277^0 == 0 /\ r_39^0-r_39^post49 == 0 /\ r_124^0-r_124^post49 == 0 /\ result_11^0-result_11^post49 == 0 /\ -x_20^post49+x_20^0 == 0 /\ -a_330^post49+a_330^0 == 0 /\ -i_108^post49+i_108^0 == 0 /\ head_175^0-head_175^post49 == 0 /\ -tmp_34^post49+tmp_34^0 == 0 /\ f_170^0-f_170^post49 == 0 /\ temp0_15^0-temp0_15^post49 == 0 /\ a_308^0-a_308^post49 == 0 /\ a_184^0-a_184^post49 == 0 /\ -r_260^post49+r_260^0 == 0 /\ -i_167^post49+i_167^0 == 0 /\ x_16^0-x_16^post49 == 0 /\ -head_223^post49+head_223^0 == 0 /\ len_132^0-len_132^post49 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post49 == 0 /\ -head_SLAM_f_26^post49+head_SLAM_f_26^0 == 0 /\ len_226^0-len_226^post49 == 0 /\ -y_19^post49+y_19^0 == 0 /\ -rcd_88^post49+rcd_88^0 == 0 /\ head_27^0-head_27^post49 == 0 /\ ct_17^0-ct_17^post49 == 0 /\ a_353^0-a_353^post49 == 0 /\ a_241^0-a_241^post49 == 0 /\ -len_276^post49+len_276^0 == 0 /\ -head_14^post49+head_14^0 == 0 /\ -len_183^post49+len_183^0 == 0 /\ -nondet_12^post49+nondet_12^0 == 0 /\ -head_268^post49+head_268^0 == 0 /\ -head_32^post49+head_32^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49 == 0 /\ 1+y_19^0-t_23^0 <= 0 /\ -i_94^post49+i_94^0 == 0 /\ t_23^0-t_23^post49 == 0 /\ temp_35^0-temp_35^post49 == 0 /\ a_116^0-a_116^post49 == 0 /\ i_30^0-i_30^post49 == 0 /\ a_147^0-a_147^post49 == 0 /\ -r_163^post49+r_163^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post49+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_58^post49+rcd_58^0 == 0 /\ -length_29^post49+length_29^0 == 0 /\ r_218^0-r_218^post49 == 0 /\ -f_263^post49+f_263^0 == 0 /\ -temp0_31^post49+temp0_31^0 == 0), cost: 1 50: l32 -> l33 : temp0_15^0'=temp0_15^post50, a_241^0'=a_241^post50, head_27^0'=head_27^post50, head_129^0'=head_129^post50, r_124^0'=r_124^post50, len_183^0'=len_183^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50, a_147^0'=a_147^post50, rcd_58^0'=rcd_58^post50, head_175^0'=head_175^post50, y_19^0'=y_19^post50, ct_17^0'=ct_17^post50, temp_35^0'=temp_35^post50, i_30^0'=i_30^post50, head_SLAM_f_26^0'=head_SLAM_f_26^post50, r_218^0'=r_218^post50, len_276^0'=len_276^post50, a_308^0'=a_308^post50, t_23^0'=t_23^post50, a_210^0'=a_210^post50, result_11^0'=result_11^post50, head_268^0'=head_268^post50, f_263^0'=f_263^post50, x_16^0'=x_16^post50, len_132^0'=len_132^post50, i_167^0'=i_167^post50, a_116^0'=a_116^post50, r_39^0'=r_39^post50, nondet_12^0'=nondet_12^post50, x_SLAM_f_18^0'=x_SLAM_f_18^post50, a_353^0'=a_353^post50, temp0_31^0'=temp0_31^post50, a_277^0'=a_277^post50, head_32^0'=head_32^post50, head_14^0'=head_14^post50, r_163^0'=r_163^post50, len_226^0'=len_226^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, a_184^0'=a_184^post50, rcd_88^0'=rcd_88^post50, head_223^0'=head_223^post50, f_170^0'=f_170^post50, tmp_34^0'=tmp_34^post50, i_94^0'=i_94^post50, i_108^0'=i_108^post50, r_260^0'=r_260^post50, length_29^0'=length_29^post50, x_20^0'=x_20^post50, a_330^0'=a_330^post50, (x_SLAM_f_18^0-x_SLAM_f_18^post50 == 0 /\ -nondet_12^post50+nondet_12^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post50+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_277^post50+a_277^0 == 0 /\ head_175^0-head_175^post50 == 0 /\ -x_20^post50+x_20^0 == 0 /\ head_27^0-head_27^post50 == 0 /\ -a_330^post50+a_330^0 == 0 /\ -i_108^post50+i_108^0 == 0 /\ -tmp_34^post50+tmp_34^0 == 0 /\ -head_14^post50+head_14^0 == 0 /\ result_11^0-result_11^post50 == 0 /\ -r_260^post50+r_260^0 == 0 /\ -head_32^post50+head_32^0 == 0 /\ -head_223^post50+head_223^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50 == 0 /\ head_129^0-head_129^post50 == 0 /\ -f_263^post50+f_263^0 == 0 /\ a_353^0-a_353^post50 == 0 /\ a_116^0-a_116^post50 == 0 /\ a_241^0-a_241^post50 == 0 /\ -len_183^post50+len_183^0 == 0 /\ i_167^0-i_167^post50 == 0 /\ -head_SLAM_f_26^post50+head_SLAM_f_26^0 == 0 /\ -temp0_31^post50+temp0_31^0 == 0 /\ -rcd_58^post50+rcd_58^0 == 0 /\ y_19^0-y_19^post50 == 0 /\ a_308^0-a_308^post50 == 0 /\ r_124^0-r_124^post50 == 0 /\ -head_268^post50+head_268^0 == 0 /\ t_23^0-t_23^post50 == 0 /\ -r_163^post50+r_163^0 == 0 /\ -len_132^post50+len_132^0 == 0 /\ -a_184^post50+a_184^0 == 0 /\ -a_210^post50+a_210^0 == 0 /\ -len_226^post50+len_226^0 == 0 /\ temp0_15^0-temp0_15^post50 == 0 /\ i_30^0-i_30^post50 == 0 /\ -f_170^post50+f_170^0 == 0 /\ -length_29^post50+length_29^0 == 0 /\ ct_17^0-ct_17^post50 == 0 /\ r_218^0-r_218^post50 == 0 /\ -rcd_88^post50+rcd_88^0 == 0 /\ temp_35^0-temp_35^post50 == 0 /\ i_94^0-i_94^post50 == 0 /\ -x_16^post50+x_16^0 == 0 /\ -len_276^post50+len_276^0 == 0 /\ 1-y_19^0+t_23^0 <= 0 /\ -r_39^post50+r_39^0 == 0 /\ a_147^0-a_147^post50 == 0), cost: 1 51: l33 -> l10 : temp0_15^0'=temp0_15^post51, a_241^0'=a_241^post51, head_27^0'=head_27^post51, head_129^0'=head_129^post51, r_124^0'=r_124^post51, len_183^0'=len_183^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51, a_147^0'=a_147^post51, rcd_58^0'=rcd_58^post51, head_175^0'=head_175^post51, y_19^0'=y_19^post51, ct_17^0'=ct_17^post51, temp_35^0'=temp_35^post51, i_30^0'=i_30^post51, head_SLAM_f_26^0'=head_SLAM_f_26^post51, r_218^0'=r_218^post51, len_276^0'=len_276^post51, a_308^0'=a_308^post51, t_23^0'=t_23^post51, a_210^0'=a_210^post51, result_11^0'=result_11^post51, head_268^0'=head_268^post51, f_263^0'=f_263^post51, x_16^0'=x_16^post51, len_132^0'=len_132^post51, i_167^0'=i_167^post51, a_116^0'=a_116^post51, r_39^0'=r_39^post51, nondet_12^0'=nondet_12^post51, x_SLAM_f_18^0'=x_SLAM_f_18^post51, a_353^0'=a_353^post51, temp0_31^0'=temp0_31^post51, a_277^0'=a_277^post51, head_32^0'=head_32^post51, head_14^0'=head_14^post51, r_163^0'=r_163^post51, len_226^0'=len_226^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, a_184^0'=a_184^post51, rcd_88^0'=rcd_88^post51, head_223^0'=head_223^post51, f_170^0'=f_170^post51, tmp_34^0'=tmp_34^post51, i_94^0'=i_94^post51, i_108^0'=i_108^post51, r_260^0'=r_260^post51, length_29^0'=length_29^post51, x_20^0'=x_20^post51, a_330^0'=a_330^post51, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_147^post51+a_147^0 == 0 /\ head_223^0-head_223^post51 == 0 /\ -r_260^post51+r_260^0 == 0 /\ x_16^0-x_16^post51 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post51+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post51 == 0 /\ y_19^0-y_19^post51 == 0 /\ -f_170^post51+f_170^0 == 0 /\ a_353^0-a_353^post51 == 0 /\ -head_14^post51+head_14^0 == 0 /\ 1-len_226^post51+a_308^0 <= 0 /\ i_30^0-i_30^post51 == 0 /\ len_276^0-len_276^post51 == 0 /\ -len_132^post51+len_132^0 == 0 /\ len_183^0-len_183^post51 == 0 /\ -f_263^post51+f_263^0 == 0 /\ r_218^0-r_218^post51 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post51 == 0 /\ temp_35^0-temp_35^post51 == 0 /\ a_116^0-a_116^post51 == 0 /\ head_27^0-head_27^post51 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_94^post51+i_94^0 == 0 /\ -head_32^post51+head_32^0 == 0 /\ -a_330^post51+a_330^0 == 0 /\ rcd_88^0-rcd_88^post51 == 0 /\ temp0_15^0-temp0_15^post51 == 0 /\ -tmp_34^post51+tmp_34^0 == 0 /\ head_175^0-head_175^post51 == 0 /\ i_167^0-i_167^post51 == 0 /\ -length_29^post51+length_29^0 == 0 /\ -1+len_226^post51-a_308^0 <= 0 /\ a_308^0-a_308^post51 == 0 /\ r_124^0-r_124^post51 == 0 /\ -temp0_31^post51+temp0_31^0 == 0 /\ result_11^0-result_11^post51 == 0 /\ -r_163^post51+r_163^0 == 0 /\ -a_277^post51+a_277^0 == 0 /\ a_210^0-a_210^post51 == 0 /\ -r_39^post51+r_39^0 == 0 /\ rcd_58^0-rcd_58^post51 == 0 /\ t_23^0-t_23^post51 == 0 /\ -ct_17^post51+ct_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51 == 0 /\ -x_20^post51+x_20^0 == 0 /\ -nondet_12^post51+nondet_12^0 == 0 /\ head_129^0-head_129^post51 == 0 /\ -head_268^post51+head_268^0 == 0 /\ a_241^0-a_241^post51 == 0 /\ -i_108^post51+i_108^0 == 0 /\ -a_184^post51+a_184^0 == 0), cost: 1 52: l34 -> l35 : temp0_15^0'=temp0_15^post52, a_241^0'=a_241^post52, head_27^0'=head_27^post52, head_129^0'=head_129^post52, r_124^0'=r_124^post52, len_183^0'=len_183^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52, a_147^0'=a_147^post52, rcd_58^0'=rcd_58^post52, head_175^0'=head_175^post52, y_19^0'=y_19^post52, ct_17^0'=ct_17^post52, temp_35^0'=temp_35^post52, i_30^0'=i_30^post52, head_SLAM_f_26^0'=head_SLAM_f_26^post52, r_218^0'=r_218^post52, len_276^0'=len_276^post52, a_308^0'=a_308^post52, t_23^0'=t_23^post52, a_210^0'=a_210^post52, result_11^0'=result_11^post52, head_268^0'=head_268^post52, f_263^0'=f_263^post52, x_16^0'=x_16^post52, len_132^0'=len_132^post52, i_167^0'=i_167^post52, a_116^0'=a_116^post52, r_39^0'=r_39^post52, nondet_12^0'=nondet_12^post52, x_SLAM_f_18^0'=x_SLAM_f_18^post52, a_353^0'=a_353^post52, temp0_31^0'=temp0_31^post52, a_277^0'=a_277^post52, head_32^0'=head_32^post52, head_14^0'=head_14^post52, r_163^0'=r_163^post52, len_226^0'=len_226^post52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post52, a_184^0'=a_184^post52, rcd_88^0'=rcd_88^post52, head_223^0'=head_223^post52, f_170^0'=f_170^post52, tmp_34^0'=tmp_34^post52, i_94^0'=i_94^post52, i_108^0'=i_108^post52, r_260^0'=r_260^post52, length_29^0'=length_29^post52, x_20^0'=x_20^post52, a_330^0'=a_330^post52, (0 == 0 /\ len_276^0-len_276^post52 == 0 /\ -a_308^post52+a_308^0 == 0 /\ head_27^0-head_27^post52 == 0 /\ -tmp_34^post52+tmp_34^0 == 0 /\ -y_19^post52+y_19^0 == 0 /\ -head_32^post52 <= 0 /\ f_170^0-f_170^post52 == 0 /\ -r_39^post52+r_39^0 == 0 /\ a_210^0-a_210^post52 == 0 /\ temp0_15^0-temp0_15^post52 == 0 /\ -ct_17^post52+ct_17^0 == 0 /\ -a_330^post52+a_330^0 == 0 /\ i_167^0-i_167^post52 == 0 /\ -a_277^post52+a_277^0 == 0 /\ -t_23^post52+t_23^0 == 0 /\ -i_30^post52 <= 0 /\ len_183^0-len_183^post52 == 0 /\ -head_223^post52+head_223^0 == 0 /\ -x_SLAM_f_18^post52+x_SLAM_f_18^0 == 0 /\ rcd_88^0-rcd_88^post52 == 0 /\ -temp0_31^post52+temp0_31^0 == 0 /\ head_32^post52 <= 0 /\ head_32^post52 == 0 /\ -x_20^post52+x_20^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post52 == 0 /\ r_218^0-r_218^post52 == 0 /\ -i_108^post52+i_108^0 == 0 /\ -a_184^post52+a_184^0 == 0 /\ f_263^0-f_263^post52 == 0 /\ -r_163^post52+r_163^0 == 0 /\ temp_35^0-temp_35^post52 == 0 /\ -a_116^post52+a_116^0 == 0 /\ r_124^0-r_124^post52 == 0 /\ -r_260^post52+r_260^0 == 0 /\ -length_29^post52+result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 <= 0 /\ -head_268^post52+head_268^0 == 0 /\ rcd_58^0-rcd_58^post52 == 0 /\ i_30^post52 <= 0 /\ i_30^post52 == 0 /\ length_29^post52-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 <= 0 /\ length_29^post52-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ -nondet_12^10+result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ head_14^0-head_14^post52 == 0 /\ x_16^0-x_16^post52 == 0 /\ a_241^0-a_241^post52 == 0 /\ head_175^0-head_175^post52 == 0 /\ result_11^0-result_11^post52 == 0 /\ -a_147^post52+a_147^0 == 0 /\ -a_353^post52+a_353^0 == 0 /\ -i_94^post52+i_94^0 == 0 /\ -len_226^post52+len_226^0 == 0 /\ -len_132^post52+len_132^0 == 0 /\ head_129^0-head_129^post52 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52 == 0), cost: 1 130: l35 -> l62 : temp0_15^0'=temp0_15^post130, a_241^0'=a_241^post130, head_27^0'=head_27^post130, head_129^0'=head_129^post130, r_124^0'=r_124^post130, len_183^0'=len_183^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post130, a_147^0'=a_147^post130, rcd_58^0'=rcd_58^post130, head_175^0'=head_175^post130, y_19^0'=y_19^post130, ct_17^0'=ct_17^post130, temp_35^0'=temp_35^post130, i_30^0'=i_30^post130, head_SLAM_f_26^0'=head_SLAM_f_26^post130, r_218^0'=r_218^post130, len_276^0'=len_276^post130, a_308^0'=a_308^post130, t_23^0'=t_23^post130, a_210^0'=a_210^post130, result_11^0'=result_11^post130, head_268^0'=head_268^post130, f_263^0'=f_263^post130, x_16^0'=x_16^post130, len_132^0'=len_132^post130, i_167^0'=i_167^post130, a_116^0'=a_116^post130, r_39^0'=r_39^post130, nondet_12^0'=nondet_12^post130, x_SLAM_f_18^0'=x_SLAM_f_18^post130, a_353^0'=a_353^post130, temp0_31^0'=temp0_31^post130, a_277^0'=a_277^post130, head_32^0'=head_32^post130, head_14^0'=head_14^post130, r_163^0'=r_163^post130, len_226^0'=len_226^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post130, a_184^0'=a_184^post130, rcd_88^0'=rcd_88^post130, head_223^0'=head_223^post130, f_170^0'=f_170^post130, tmp_34^0'=tmp_34^post130, i_94^0'=i_94^post130, i_108^0'=i_108^post130, r_260^0'=r_260^post130, length_29^0'=length_29^post130, x_20^0'=x_20^post130, a_330^0'=a_330^post130, (0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post130-tmp_34^post130 <= 0 /\ 1-length_29^0 <= 0 /\ -x_SLAM_f_18^post130+x_SLAM_f_18^0 == 0 /\ -result_11^post130+result_11^0 == 0 /\ -f_170^post130+f_170^0 == 0 /\ y_19^0-y_19^post130 == 0 /\ t_23^0-t_23^post130 == 0 /\ -r_260^post130+r_260^0 == 0 /\ head_268^0-head_268^post130 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post130-length_29^0 <= 0 /\ len_276^0-len_276^post130 == 0 /\ len_183^0-len_183^post130 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post130 == 0 /\ ct_17^0-ct_17^post130 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post130+tmp_34^post130 <= 0 /\ -r_218^post130+r_218^0 == 0 /\ 1-i_30^post130 <= 0 /\ -1+i_30^post130 <= 0 /\ -a_308^post130+a_308^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post130+length_29^0 <= 0 /\ a_147^0-a_147^post130 == 0 /\ -a_116^post130+a_116^0 == 0 /\ -head_14^post130+head_14^0 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ head_27^0-head_27^post130 == 0 /\ -i_94^post130+i_94^0 == 0 /\ -r_163^post130+r_163^0 == 0 /\ head_175^0-head_175^post130 == 0 /\ -a_353^post130+a_353^0 == 0 /\ temp0_31^0-temp0_31^post130 == 0 /\ -length_29^post130+length_29^0 == 0 /\ temp0_15^0-temp0_15^post130 == 0 /\ -i_167^post130+i_167^0 == 0 /\ -head_223^post130+head_223^0 == 0 /\ f_263^0-f_263^post130 == 0 /\ -head_32^post130+tmp_34^post130 <= 0 /\ -r_39^post130+r_39^0 == 0 /\ r_124^0-r_124^post130 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post130+head_32^post130 <= 0 /\ -1-i_30^0+i_30^post130 == 0 /\ -temp_35^0+tmp_34^post130 == 0 /\ a_210^0-a_210^post130 == 0 /\ a_241^0-a_241^post130 == 0 /\ -a_277^post130+a_277^0 == 0 /\ len_132^0-len_132^post130 == 0 /\ i_108^0-i_108^post130 == 0 /\ -x_20^post130+x_20^0 == 0 /\ -rcd_88^post130+rcd_88^0 == 0 /\ rcd_58^0-rcd_58^post130 == 0 /\ -a_330^post130+a_330^0 == 0 /\ head_129^0-head_129^post130 == 0 /\ -x_16^post130+x_16^0 == 0 /\ head_32^post130-tmp_34^post130 <= 0 /\ head_32^post130-tmp_34^post130 == 0 /\ -a_184^post130+a_184^0 == 0 /\ -nondet_12^post130+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post130-head_32^post130 <= 0 /\ len_226^0-len_226^post130 == 0), cost: 1 53: l36 -> l37 : temp0_15^0'=temp0_15^post53, a_241^0'=a_241^post53, head_27^0'=head_27^post53, head_129^0'=head_129^post53, r_124^0'=r_124^post53, len_183^0'=len_183^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53, a_147^0'=a_147^post53, rcd_58^0'=rcd_58^post53, head_175^0'=head_175^post53, y_19^0'=y_19^post53, ct_17^0'=ct_17^post53, temp_35^0'=temp_35^post53, i_30^0'=i_30^post53, head_SLAM_f_26^0'=head_SLAM_f_26^post53, r_218^0'=r_218^post53, len_276^0'=len_276^post53, a_308^0'=a_308^post53, t_23^0'=t_23^post53, a_210^0'=a_210^post53, result_11^0'=result_11^post53, head_268^0'=head_268^post53, f_263^0'=f_263^post53, x_16^0'=x_16^post53, len_132^0'=len_132^post53, i_167^0'=i_167^post53, a_116^0'=a_116^post53, r_39^0'=r_39^post53, nondet_12^0'=nondet_12^post53, x_SLAM_f_18^0'=x_SLAM_f_18^post53, a_353^0'=a_353^post53, temp0_31^0'=temp0_31^post53, a_277^0'=a_277^post53, head_32^0'=head_32^post53, head_14^0'=head_14^post53, r_163^0'=r_163^post53, len_226^0'=len_226^post53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post53, a_184^0'=a_184^post53, rcd_88^0'=rcd_88^post53, head_223^0'=head_223^post53, f_170^0'=f_170^post53, tmp_34^0'=tmp_34^post53, i_94^0'=i_94^post53, i_108^0'=i_108^post53, r_260^0'=r_260^post53, length_29^0'=length_29^post53, x_20^0'=x_20^post53, a_330^0'=a_330^post53, (0 == 0 /\ -len_226^post53+len_226^0 == 0 /\ -rcd_58^post53+rcd_58^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post53 == 0 /\ a_184^0-a_184^post53 == 0 /\ head_175^0-head_175^post53 == 0 /\ head_27^0 <= 0 /\ head_129^0-head_129^post53 == 0 /\ -a_210^post53+a_210^0 == 0 /\ head_SLAM_f_26^post53-head_14^0 <= 0 /\ head_SLAM_f_26^post53-head_14^0 == 0 /\ -head_14^post53+head_14^0 == 0 /\ result_11^0-result_11^post53 == 0 /\ -tmp_34^post53+tmp_34^0 == 0 /\ -head_32^post53+head_32^0 == 0 /\ a_308^0-a_308^post53 == 0 /\ -head_268^post53+head_268^0 == 0 /\ -nondet_12^post53+nondet_12^0 == 0 /\ -f_263^post53+f_263^0 == 0 /\ -rcd_88^post53+rcd_88^0 == 0 /\ -head_SLAM_f_26^post53+head_14^0 <= 0 /\ len_132^0-len_132^post53 == 0 /\ -f_170^post53+f_170^0 == 0 /\ -length_29^post53+length_29^0 == 0 /\ a_116^0-a_116^post53 == 0 /\ len_183^0-len_183^post53 == 0 /\ -a_353^post53+a_353^0 == 0 /\ -a_147^0 <= 0 /\ -i_108^post53+i_108^0 == 0 /\ i_167^0-i_167^post53 == 0 /\ -a_330^post53+a_330^0 == 0 /\ -temp0_31^post53+temp0_31^0 == 0 /\ t_23^0-t_23^post53 == 0 /\ y_19^0-y_19^post53 == 0 /\ -head_223^post53+head_223^0 == 0 /\ -len_226^0 <= 0 /\ i_30^0-i_30^post53 == 0 /\ a_241^0-len_132^0 <= 0 /\ -head_27^post53+head_SLAM_f_26^post53 <= 0 /\ -i_94^post53+i_94^0 == 0 /\ -head_27^post53+head_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53 == 0 /\ a_241^0-a_241^post53 == 0 /\ -x_20^post53+x_20^0 == 0 /\ len_226^0 <= 0 /\ ct_17^0-ct_17^post53 == 0 /\ -r_39^post53+r_39^0 == 0 /\ r_218^0-r_218^post53 == 0 /\ r_124^0-r_124^post53 == 0 /\ -len_132^0 <= 0 /\ -len_276^post53+len_276^0 == 0 /\ -a_241^0+len_132^0 <= 0 /\ -a_277^post53+a_277^0 == 0 /\ head_27^post53-head_SLAM_f_26^post53 <= 0 /\ head_27^post53-head_SLAM_f_26^post53 == 0 /\ temp_35^0-temp_35^post53 == 0 /\ head_27^post53-head_14^0 <= 0 /\ temp0_15^0-temp0_15^post53 == 0 /\ r_163^0-r_163^post53 == 0 /\ -r_260^post53+r_260^0 == 0 /\ a_147^0-a_147^post53 == 0 /\ -x_16^post53+x_16^0 == 0 /\ -head_27^0 <= 0), cost: 1 57: l36 -> l40 : temp0_15^0'=temp0_15^post57, a_241^0'=a_241^post57, head_27^0'=head_27^post57, head_129^0'=head_129^post57, r_124^0'=r_124^post57, len_183^0'=len_183^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57, a_147^0'=a_147^post57, rcd_58^0'=rcd_58^post57, head_175^0'=head_175^post57, y_19^0'=y_19^post57, ct_17^0'=ct_17^post57, temp_35^0'=temp_35^post57, i_30^0'=i_30^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_218^0'=r_218^post57, len_276^0'=len_276^post57, a_308^0'=a_308^post57, t_23^0'=t_23^post57, a_210^0'=a_210^post57, result_11^0'=result_11^post57, head_268^0'=head_268^post57, f_263^0'=f_263^post57, x_16^0'=x_16^post57, len_132^0'=len_132^post57, i_167^0'=i_167^post57, a_116^0'=a_116^post57, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post57, x_SLAM_f_18^0'=x_SLAM_f_18^post57, a_353^0'=a_353^post57, temp0_31^0'=temp0_31^post57, a_277^0'=a_277^post57, head_32^0'=head_32^post57, head_14^0'=head_14^post57, r_163^0'=r_163^post57, len_226^0'=len_226^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=a_184^post57, rcd_88^0'=rcd_88^post57, head_223^0'=head_223^post57, f_170^0'=f_170^post57, tmp_34^0'=tmp_34^post57, i_94^0'=i_94^post57, i_108^0'=i_108^post57, r_260^0'=r_260^post57, length_29^0'=length_29^post57, x_20^0'=x_20^post57, a_330^0'=a_330^post57, (0 == 0 /\ temp0_15^0-temp0_15^post57 == 0 /\ tmp_34^0-tmp_34^post57 == 0 /\ -r_260^post57+r_260^0 == 0 /\ t_23^0-t_23^post57 == 0 /\ y_19^0-y_19^post57 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57 == 0 /\ a_308^0-a_308^post57 == 0 /\ r_124^0-r_124^post57 == 0 /\ i_30^0-i_30^post57 == 0 /\ len_183^0-len_183^post57 == 0 /\ len_276^0-len_276^post57 == 0 /\ -r_218^post57+r_218^0 == 0 /\ -f_263^post57+f_263^0 == 0 /\ len_132^0-len_132^post57 == 0 /\ ct_17^0-ct_17^post57 == 0 /\ a_147^0-a_147^post57 == 0 /\ -i_94^post57+i_94^0 == 0 /\ a_184^0-a_184^post57 == 0 /\ -temp_35^post57+temp_35^0 == 0 /\ -a_147^0 <= 0 /\ head_129^0-head_129^post57 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post57 == 0 /\ -temp0_31^post57+temp0_31^0 == 0 /\ -a_277^post57+a_277^0 == 0 /\ -len_226^post57+len_226^0 == 0 /\ -a_210^post57+a_210^0 == 0 /\ head_268^0-head_268^post57 == 0 /\ -a_353^post57+a_353^0 == 0 /\ -length_29^post57+length_29^0 == 0 /\ -r_163^post57+r_163^0 == 0 /\ -i_167^post57+i_167^0 == 0 /\ a_241^0-a_241^post57 == 0 /\ -rcd_88^post57+rcd_88^0 == 0 /\ result_11^0-result_11^post57 == 0 /\ -x_16^post57+x_16^0 == 0 /\ head_32^0-head_32^post57 == 0 /\ -head_223^post57+head_223^0 == 0 /\ -len_132^0 <= 0 /\ head_27^0-head_27^post57 == 0 /\ rcd_58^0-rcd_58^post57 == 0 /\ a_116^0-a_116^post57 == 0 /\ -x_20^post57+x_20^0 == 0 /\ -nondet_12^post57+nondet_12^0 == 0 /\ -i_108^post57+i_108^0 == 0 /\ -a_330^post57+a_330^0 == 0), cost: 1 54: l37 -> l38 : temp0_15^0'=temp0_15^post54, a_241^0'=a_241^post54, head_27^0'=head_27^post54, head_129^0'=head_129^post54, r_124^0'=r_124^post54, len_183^0'=len_183^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54, a_147^0'=a_147^post54, rcd_58^0'=rcd_58^post54, head_175^0'=head_175^post54, y_19^0'=y_19^post54, ct_17^0'=ct_17^post54, temp_35^0'=temp_35^post54, i_30^0'=i_30^post54, head_SLAM_f_26^0'=head_SLAM_f_26^post54, r_218^0'=r_218^post54, len_276^0'=len_276^post54, a_308^0'=a_308^post54, t_23^0'=t_23^post54, a_210^0'=a_210^post54, result_11^0'=result_11^post54, head_268^0'=head_268^post54, f_263^0'=f_263^post54, x_16^0'=x_16^post54, len_132^0'=len_132^post54, i_167^0'=i_167^post54, a_116^0'=a_116^post54, r_39^0'=r_39^post54, nondet_12^0'=nondet_12^post54, x_SLAM_f_18^0'=x_SLAM_f_18^post54, a_353^0'=a_353^post54, temp0_31^0'=temp0_31^post54, a_277^0'=a_277^post54, head_32^0'=head_32^post54, head_14^0'=head_14^post54, r_163^0'=r_163^post54, len_226^0'=len_226^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_184^0'=a_184^post54, rcd_88^0'=rcd_88^post54, head_223^0'=head_223^post54, f_170^0'=f_170^post54, tmp_34^0'=tmp_34^post54, i_94^0'=i_94^post54, i_108^0'=i_108^post54, r_260^0'=r_260^post54, length_29^0'=length_29^post54, x_20^0'=x_20^post54, a_330^0'=a_330^post54, (head_129^0-head_129^post54 == 0 /\ r_124^0-r_124^post54 == 0 /\ -len_132^post54+len_132^0 == 0 /\ -rcd_88^post54+rcd_88^0 == 0 /\ head_268^0-head_268^post54 == 0 /\ -head_223^post54+head_223^0 == 0 /\ -x_20^post54+x_20^0 == 0 /\ temp0_15^0-temp0_15^post54 == 0 /\ head_175^0-head_175^post54 == 0 /\ -a_330^post54+a_330^0 == 0 /\ -r_218^post54+r_218^0 == 0 /\ -a_116^post54+a_116^0 == 0 /\ f_263^0-f_263^post54 == 0 /\ nondet_12^0-nondet_12^post54 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post54 == 0 /\ -x_16^post54+x_16^0 == 0 /\ -i_108^post54+i_108^0 == 0 /\ -tmp_34^post54+tmp_34^0 == 0 /\ -r_260^post54+r_260^0 == 0 /\ -t_23^post54+t_23^0 == 0 /\ -result_11^post54+result_11^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post54+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_241^0-a_241^post54 == 0 /\ -a_353^post54+a_353^0 == 0 /\ -len_226^post54+len_226^0 == 0 /\ i_167^0-i_167^post54 == 0 /\ y_19^0-y_19^post54 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54 == 0 /\ rcd_58^0-rcd_58^post54 == 0 /\ len_276^0-len_276^post54 == 0 /\ head_27^0-head_27^post54 == 0 /\ 1-head_14^0 <= 0 /\ -r_39^post54+r_39^0 == 0 /\ a_277^0-a_277^post54 == 0 /\ ct_17^0-ct_17^post54 == 0 /\ a_210^0-a_210^post54 == 0 /\ -a_184^post54+a_184^0 == 0 /\ head_14^0-head_14^post54 == 0 /\ -i_94^post54+i_94^0 == 0 /\ -head_32^post54+head_32^0 == 0 /\ -x_SLAM_f_18^post54+x_SLAM_f_18^0 == 0 /\ temp_35^0-temp_35^post54 == 0 /\ -f_170^post54+f_170^0 == 0 /\ -length_29^post54+length_29^0 == 0 /\ a_147^0-a_147^post54 == 0 /\ len_183^0-len_183^post54 == 0 /\ r_163^0-r_163^post54 == 0 /\ -i_30^post54+i_30^0 == 0 /\ -temp0_31^post54+temp0_31^0 == 0 /\ -a_308^post54+a_308^0 == 0), cost: 1 55: l37 -> l38 : temp0_15^0'=temp0_15^post55, a_241^0'=a_241^post55, head_27^0'=head_27^post55, head_129^0'=head_129^post55, r_124^0'=r_124^post55, len_183^0'=len_183^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55, a_147^0'=a_147^post55, rcd_58^0'=rcd_58^post55, head_175^0'=head_175^post55, y_19^0'=y_19^post55, ct_17^0'=ct_17^post55, temp_35^0'=temp_35^post55, i_30^0'=i_30^post55, head_SLAM_f_26^0'=head_SLAM_f_26^post55, r_218^0'=r_218^post55, len_276^0'=len_276^post55, a_308^0'=a_308^post55, t_23^0'=t_23^post55, a_210^0'=a_210^post55, result_11^0'=result_11^post55, head_268^0'=head_268^post55, f_263^0'=f_263^post55, x_16^0'=x_16^post55, len_132^0'=len_132^post55, i_167^0'=i_167^post55, a_116^0'=a_116^post55, r_39^0'=r_39^post55, nondet_12^0'=nondet_12^post55, x_SLAM_f_18^0'=x_SLAM_f_18^post55, a_353^0'=a_353^post55, temp0_31^0'=temp0_31^post55, a_277^0'=a_277^post55, head_32^0'=head_32^post55, head_14^0'=head_14^post55, r_163^0'=r_163^post55, len_226^0'=len_226^post55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post55, a_184^0'=a_184^post55, rcd_88^0'=rcd_88^post55, head_223^0'=head_223^post55, f_170^0'=f_170^post55, tmp_34^0'=tmp_34^post55, i_94^0'=i_94^post55, i_108^0'=i_108^post55, r_260^0'=r_260^post55, length_29^0'=length_29^post55, x_20^0'=x_20^post55, a_330^0'=a_330^post55, (head_27^0-head_27^post55 == 0 /\ -x_20^post55+x_20^0 == 0 /\ -i_30^post55+i_30^0 == 0 /\ -head_32^post55+head_32^0 == 0 /\ -head_14^post55+head_14^0 == 0 /\ -i_108^post55+i_108^0 == 0 /\ -a_308^post55+a_308^0 == 0 /\ -a_330^post55+a_330^0 == 0 /\ -rcd_88^post55+rcd_88^0 == 0 /\ -head_175^post55+head_175^0 == 0 /\ -x_SLAM_f_18^post55+x_SLAM_f_18^0 == 0 /\ -r_260^post55+r_260^0 == 0 /\ -tmp_34^post55+tmp_34^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post55 == 0 /\ len_183^0-len_183^post55 == 0 /\ rcd_58^0-rcd_58^post55 == 0 /\ head_268^0-head_268^post55 == 0 /\ 1+head_14^0 <= 0 /\ -r_218^post55+r_218^0 == 0 /\ nondet_12^0-nondet_12^post55 == 0 /\ head_129^0-head_129^post55 == 0 /\ -head_223^post55+head_223^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55 == 0 /\ temp0_31^0-temp0_31^post55 == 0 /\ r_124^0-r_124^post55 == 0 /\ y_19^0-y_19^post55 == 0 /\ -i_167^post55+i_167^0 == 0 /\ r_163^0-r_163^post55 == 0 /\ temp0_15^0-temp0_15^post55 == 0 /\ -a_116^post55+a_116^0 == 0 /\ -a_184^post55+a_184^0 == 0 /\ len_132^0-len_132^post55 == 0 /\ len_276^0-len_276^post55 == 0 /\ x_16^0-x_16^post55 == 0 /\ -i_94^post55+i_94^0 == 0 /\ f_263^0-f_263^post55 == 0 /\ ct_17^0-ct_17^post55 == 0 /\ -result_11^post55+result_11^0 == 0 /\ -a_353^post55+a_353^0 == 0 /\ -length_29^post55+length_29^0 == 0 /\ -len_226^post55+len_226^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post55 == 0 /\ -f_170^post55+f_170^0 == 0 /\ a_241^0-a_241^post55 == 0 /\ a_210^0-a_210^post55 == 0 /\ -r_39^post55+r_39^0 == 0 /\ -a_277^post55+a_277^0 == 0 /\ temp_35^0-temp_35^post55 == 0 /\ a_147^0-a_147^post55 == 0 /\ -t_23^post55+t_23^0 == 0), cost: 1 56: l38 -> l4 : temp0_15^0'=temp0_15^post56, a_241^0'=a_241^post56, head_27^0'=head_27^post56, head_129^0'=head_129^post56, r_124^0'=r_124^post56, len_183^0'=len_183^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56, a_147^0'=a_147^post56, rcd_58^0'=rcd_58^post56, head_175^0'=head_175^post56, y_19^0'=y_19^post56, ct_17^0'=ct_17^post56, temp_35^0'=temp_35^post56, i_30^0'=i_30^post56, head_SLAM_f_26^0'=head_SLAM_f_26^post56, r_218^0'=r_218^post56, len_276^0'=len_276^post56, a_308^0'=a_308^post56, t_23^0'=t_23^post56, a_210^0'=a_210^post56, result_11^0'=result_11^post56, head_268^0'=head_268^post56, f_263^0'=f_263^post56, x_16^0'=x_16^post56, len_132^0'=len_132^post56, i_167^0'=i_167^post56, a_116^0'=a_116^post56, r_39^0'=r_39^post56, nondet_12^0'=nondet_12^post56, x_SLAM_f_18^0'=x_SLAM_f_18^post56, a_353^0'=a_353^post56, temp0_31^0'=temp0_31^post56, a_277^0'=a_277^post56, head_32^0'=head_32^post56, head_14^0'=head_14^post56, r_163^0'=r_163^post56, len_226^0'=len_226^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post56, a_184^0'=a_184^post56, rcd_88^0'=rcd_88^post56, head_223^0'=head_223^post56, f_170^0'=f_170^post56, tmp_34^0'=tmp_34^post56, i_94^0'=i_94^post56, i_108^0'=i_108^post56, r_260^0'=r_260^post56, length_29^0'=length_29^post56, x_20^0'=x_20^post56, a_330^0'=a_330^post56, (2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_14^post56+head_14^0 == 0 /\ y_19^0-y_19^post56 == 0 /\ -x_SLAM_f_18^post56+x_SLAM_f_18^0 == 0 /\ -rcd_88^post56+rcd_88^0 == 0 /\ len_276^0-len_276^post56 == 0 /\ -f_170^post56+f_170^0 == 0 /\ -len_226^post56+len_226^0 == 0 /\ -r_260^post56+r_260^0 == 0 /\ i_30^0-i_30^post56 == 0 /\ -a_308^post56+a_308^0 == 0 /\ -a_116^post56+a_116^0 == 0 /\ ct_17^0-ct_17^post56 == 0 /\ head_32^0-head_32^post56 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post56 == 0 /\ head_27^0-head_27^post56 == 0 /\ -r_218^post56+r_218^0 == 0 /\ -i_94^post56+i_94^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post56+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_147^0-a_147^post56 == 0 /\ len_183^0-len_183^post56 == 0 /\ temp0_15^0-temp0_15^post56 == 0 /\ head_175^0-head_175^post56 == 0 /\ -tmp_34^post56+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post56 == 0 /\ -temp_35^post56+temp_35^0 == 0 /\ -length_29^post56+length_29^0 == 0 /\ -a_277^post56+a_277^0 == 0 /\ r_124^0-r_124^post56 == 0 /\ -a_353^post56+a_353^0 == 0 /\ -i_167^post56+i_167^0 == 0 /\ len_132^0-len_132^post56 == 0 /\ -r_163^post56+r_163^0 == 0 /\ rcd_58^0-rcd_58^post56 == 0 /\ -r_39^post56+r_39^0 == 0 /\ f_263^0-f_263^post56 == 0 /\ head_268^0-head_268^post56 == 0 /\ i_108^0-i_108^post56 == 0 /\ -head_223^post56+head_223^0 == 0 /\ -result_11^post56+result_11^0 == 0 /\ t_23^0-t_23^post56 == 0 /\ -x_20^post56+x_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56 == 0 /\ -nondet_12^post56+nondet_12^0 == 0 /\ head_129^0-head_129^post56 == 0 /\ a_241^0-a_241^post56 == 0 /\ -x_16^post56+x_16^0 == 0 /\ -a_184^post56+a_184^0 == 0 /\ -a_330^post56+a_330^0 == 0 /\ a_210^0-a_210^post56 == 0), cost: 1 58: l40 -> l41 : temp0_15^0'=temp0_15^post58, a_241^0'=a_241^post58, head_27^0'=head_27^post58, head_129^0'=head_129^post58, r_124^0'=r_124^post58, len_183^0'=len_183^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58, a_147^0'=a_147^post58, rcd_58^0'=rcd_58^post58, head_175^0'=head_175^post58, y_19^0'=y_19^post58, ct_17^0'=ct_17^post58, temp_35^0'=temp_35^post58, i_30^0'=i_30^post58, head_SLAM_f_26^0'=head_SLAM_f_26^post58, r_218^0'=r_218^post58, len_276^0'=len_276^post58, a_308^0'=a_308^post58, t_23^0'=t_23^post58, a_210^0'=a_210^post58, result_11^0'=result_11^post58, head_268^0'=head_268^post58, f_263^0'=f_263^post58, x_16^0'=x_16^post58, len_132^0'=len_132^post58, i_167^0'=i_167^post58, a_116^0'=a_116^post58, r_39^0'=r_39^post58, nondet_12^0'=nondet_12^post58, x_SLAM_f_18^0'=x_SLAM_f_18^post58, a_353^0'=a_353^post58, temp0_31^0'=temp0_31^post58, a_277^0'=a_277^post58, head_32^0'=head_32^post58, head_14^0'=head_14^post58, r_163^0'=r_163^post58, len_226^0'=len_226^post58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post58, a_184^0'=a_184^post58, rcd_88^0'=rcd_88^post58, head_223^0'=head_223^post58, f_170^0'=f_170^post58, tmp_34^0'=tmp_34^post58, i_94^0'=i_94^post58, i_108^0'=i_108^post58, r_260^0'=r_260^post58, length_29^0'=length_29^post58, x_20^0'=x_20^post58, a_330^0'=a_330^post58, (x_16^0-x_16^post58 == 0 /\ -f_170^post58+f_170^0 == 0 /\ y_19^0-y_19^post58 == 0 /\ -r_260^post58+r_260^0 == 0 /\ a_353^0-a_353^post58 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post58+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_276^0-len_276^post58 == 0 /\ i_30^0-i_30^post58 == 0 /\ -a_147^post58+a_147^0 == 0 /\ head_223^0-head_223^post58 == 0 /\ len_183^0-len_183^post58 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post58 == 0 /\ r_218^0-r_218^post58 == 0 /\ -len_132^post58+len_132^0 == 0 /\ temp_35^0-temp_35^post58 == 0 /\ a_116^0-a_116^post58 == 0 /\ -head_14^post58+head_14^0 == 0 /\ -head_32^post58+head_32^0 == 0 /\ -a_330^post58+a_330^0 == 0 /\ head_27^0-head_27^post58 == 0 /\ rcd_88^0-rcd_88^post58 == 0 /\ -tmp_34^post58+tmp_34^0 == 0 /\ head_175^0-head_175^post58 == 0 /\ -i_94^post58+i_94^0 == 0 /\ -r_163^post58+r_163^0 == 0 /\ -length_29^post58+length_29^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_15^0-temp0_15^post58 == 0 /\ i_167^0-i_167^post58 == 0 /\ -len_226^post58+len_226^0 == 0 /\ a_308^0-a_308^post58 == 0 /\ -r_39^post58+r_39^0 == 0 /\ r_124^0-r_124^post58 == 0 /\ result_11^0-result_11^post58 == 0 /\ -temp0_31^post58+temp0_31^0 == 0 /\ -f_263^post58+f_263^0 == 0 /\ a_241^0-a_241^post58 == 0 /\ -head_268^post58+head_268^0 == 0 /\ t_23^0-t_23^post58 == 0 /\ a_210^0-a_210^post58 == 0 /\ -a_277^post58+a_277^0 == 0 /\ -ct_17^post58+ct_17^0 == 0 /\ -x_20^post58+x_20^0 == 0 /\ 1-head_27^0 <= 0 /\ head_129^0-head_129^post58 == 0 /\ rcd_58^0-rcd_58^post58 == 0 /\ -i_108^post58+i_108^0 == 0 /\ -a_184^post58+a_184^0 == 0 /\ -x_SLAM_f_18^post58+x_SLAM_f_18^0 == 0 /\ -nondet_12^post58+nondet_12^0 == 0), cost: 1 59: l40 -> l41 : temp0_15^0'=temp0_15^post59, a_241^0'=a_241^post59, head_27^0'=head_27^post59, head_129^0'=head_129^post59, r_124^0'=r_124^post59, len_183^0'=len_183^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59, a_147^0'=a_147^post59, rcd_58^0'=rcd_58^post59, head_175^0'=head_175^post59, y_19^0'=y_19^post59, ct_17^0'=ct_17^post59, temp_35^0'=temp_35^post59, i_30^0'=i_30^post59, head_SLAM_f_26^0'=head_SLAM_f_26^post59, r_218^0'=r_218^post59, len_276^0'=len_276^post59, a_308^0'=a_308^post59, t_23^0'=t_23^post59, a_210^0'=a_210^post59, result_11^0'=result_11^post59, head_268^0'=head_268^post59, f_263^0'=f_263^post59, x_16^0'=x_16^post59, len_132^0'=len_132^post59, i_167^0'=i_167^post59, a_116^0'=a_116^post59, r_39^0'=r_39^post59, nondet_12^0'=nondet_12^post59, x_SLAM_f_18^0'=x_SLAM_f_18^post59, a_353^0'=a_353^post59, temp0_31^0'=temp0_31^post59, a_277^0'=a_277^post59, head_32^0'=head_32^post59, head_14^0'=head_14^post59, r_163^0'=r_163^post59, len_226^0'=len_226^post59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post59, a_184^0'=a_184^post59, rcd_88^0'=rcd_88^post59, head_223^0'=head_223^post59, f_170^0'=f_170^post59, tmp_34^0'=tmp_34^post59, i_94^0'=i_94^post59, i_108^0'=i_108^post59, r_260^0'=r_260^post59, length_29^0'=length_29^post59, x_20^0'=x_20^post59, a_330^0'=a_330^post59, (-f_170^post59+f_170^0 == 0 /\ -result_11^post59+result_11^0 == 0 /\ a_353^0-a_353^post59 == 0 /\ -r_260^post59+r_260^0 == 0 /\ temp0_15^0-temp0_15^post59 == 0 /\ i_167^0-i_167^post59 == 0 /\ 1+head_27^0 <= 0 /\ f_263^0-f_263^post59 == 0 /\ len_183^0-len_183^post59 == 0 /\ -ct_17^post59+ct_17^0 == 0 /\ len_276^0-len_276^post59 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post59+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_210^0-a_210^post59 == 0 /\ nondet_12^0-nondet_12^post59 == 0 /\ temp_35^0-temp_35^post59 == 0 /\ i_30^0-i_30^post59 == 0 /\ a_147^0-a_147^post59 == 0 /\ -a_330^post59+a_330^0 == 0 /\ -a_308^post59+a_308^0 == 0 /\ -len_132^post59+len_132^0 == 0 /\ -a_116^post59+a_116^0 == 0 /\ rcd_88^0-rcd_88^post59 == 0 /\ -r_163^post59+r_163^0 == 0 /\ -head_32^post59+head_32^0 == 0 /\ -tmp_34^post59+tmp_34^0 == 0 /\ r_124^0-r_124^post59 == 0 /\ r_218^0-r_218^post59 == 0 /\ -length_29^post59+length_29^0 == 0 /\ -i_94^post59+i_94^0 == 0 /\ -len_226^post59+len_226^0 == 0 /\ -a_184^post59+a_184^0 == 0 /\ head_129^0-head_129^post59 == 0 /\ -t_23^post59+t_23^0 == 0 /\ -r_39^post59+r_39^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_175^0-head_175^post59 == 0 /\ head_14^0-head_14^post59 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post59 == 0 /\ a_277^0-a_277^post59 == 0 /\ -head_223^post59+head_223^0 == 0 /\ head_268^0-head_268^post59 == 0 /\ -temp0_31^post59+temp0_31^0 == 0 /\ -x_20^post59+x_20^0 == 0 /\ a_241^0-a_241^post59 == 0 /\ x_16^0-x_16^post59 == 0 /\ y_19^0-y_19^post59 == 0 /\ -i_108^post59+i_108^0 == 0 /\ head_27^0-head_27^post59 == 0 /\ rcd_58^0-rcd_58^post59 == 0 /\ -x_SLAM_f_18^post59+x_SLAM_f_18^0 == 0), cost: 1 60: l41 -> l42 : temp0_15^0'=temp0_15^post60, a_241^0'=a_241^post60, head_27^0'=head_27^post60, head_129^0'=head_129^post60, r_124^0'=r_124^post60, len_183^0'=len_183^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60, a_147^0'=a_147^post60, rcd_58^0'=rcd_58^post60, head_175^0'=head_175^post60, y_19^0'=y_19^post60, ct_17^0'=ct_17^post60, temp_35^0'=temp_35^post60, i_30^0'=i_30^post60, head_SLAM_f_26^0'=head_SLAM_f_26^post60, r_218^0'=r_218^post60, len_276^0'=len_276^post60, a_308^0'=a_308^post60, t_23^0'=t_23^post60, a_210^0'=a_210^post60, result_11^0'=result_11^post60, head_268^0'=head_268^post60, f_263^0'=f_263^post60, x_16^0'=x_16^post60, len_132^0'=len_132^post60, i_167^0'=i_167^post60, a_116^0'=a_116^post60, r_39^0'=r_39^post60, nondet_12^0'=nondet_12^post60, x_SLAM_f_18^0'=x_SLAM_f_18^post60, a_353^0'=a_353^post60, temp0_31^0'=temp0_31^post60, a_277^0'=a_277^post60, head_32^0'=head_32^post60, head_14^0'=head_14^post60, r_163^0'=r_163^post60, len_226^0'=len_226^post60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post60, a_184^0'=a_184^post60, rcd_88^0'=rcd_88^post60, head_223^0'=head_223^post60, f_170^0'=f_170^post60, tmp_34^0'=tmp_34^post60, i_94^0'=i_94^post60, i_108^0'=i_108^post60, r_260^0'=r_260^post60, length_29^0'=length_29^post60, x_20^0'=x_20^post60, a_330^0'=a_330^post60, (0 == 0 /\ len_276^0-len_276^post60 == 0 /\ -a_308^post60+a_308^0 == 0 /\ head_129^0-head_129^post60 == 0 /\ -i_108^post60+i_108^0 == 0 /\ -1+a_147^0-a_184^post60 <= 0 /\ -rcd_88^post60+rcd_88^0 == 0 /\ -r_39^post60+r_39^0 == 0 /\ -r_218^post60+r_218^0 == 0 /\ temp0_15^0-temp0_15^post60 == 0 /\ -x_20^post60+x_20^0 == 0 /\ head_175^0-head_175^post60 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post60 == 0 /\ -head_27^0+f_170^0 <= 0 /\ i_167^0-i_167^post60 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post60+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1-len_132^0+len_183^post60 <= 0 /\ -x_SLAM_f_18^post60+x_SLAM_f_18^0 == 0 /\ -a_330^post60+a_330^0 == 0 /\ a_241^0-a_241^post60 == 0 /\ -t_23^post60+t_23^0 == 0 /\ -tmp_34^post60+tmp_34^0 == 0 /\ a_210^0-a_210^post60 == 0 /\ y_19^0-y_19^post60 == 0 /\ -a_353^post60+a_353^0 == 0 /\ -len_226^post60+len_226^0 == 0 /\ rcd_58^0-rcd_58^post60 == 0 /\ head_27^0-f_170^0 <= 0 /\ -temp0_31^post60+temp0_31^0 == 0 /\ -r_260^post60+r_260^0 == 0 /\ f_263^0-f_263^post60 == 0 /\ -head_223^post60+head_223^0 == 0 /\ -head_32^post60+head_32^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60 == 0 /\ -len_132^post60+len_132^0 == 0 /\ 1-a_147^0+a_184^post60 <= 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ -i_94^post60+i_94^0 == 0 /\ ct_17^0-ct_17^post60 == 0 /\ a_277^0-a_277^post60 == 0 /\ -a_116^post60+a_116^0 == 0 /\ nondet_12^0-nondet_12^post60 == 0 /\ -head_268^post60+head_268^0 == 0 /\ head_27^0-head_27^post60 == 0 /\ -r_124^post60+r_124^0 == 0 /\ 1+len_132^0-len_183^post60 <= 0 /\ result_11^0-result_11^post60 == 0 /\ temp_35^0-temp_35^post60 == 0 /\ a_147^0-a_147^post60 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ -i_30^post60+i_30^0 == 0 /\ -f_170^post60+f_170^0 == 0 /\ -length_29^post60+length_29^0 == 0 /\ x_16^0-x_16^post60 == 0 /\ head_14^0-head_14^post60 == 0 /\ r_163^0-r_163^post60 == 0), cost: 1 61: l42 -> l43 : temp0_15^0'=temp0_15^post61, a_241^0'=a_241^post61, head_27^0'=head_27^post61, head_129^0'=head_129^post61, r_124^0'=r_124^post61, len_183^0'=len_183^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61, a_147^0'=a_147^post61, rcd_58^0'=rcd_58^post61, head_175^0'=head_175^post61, y_19^0'=y_19^post61, ct_17^0'=ct_17^post61, temp_35^0'=temp_35^post61, i_30^0'=i_30^post61, head_SLAM_f_26^0'=head_SLAM_f_26^post61, r_218^0'=r_218^post61, len_276^0'=len_276^post61, a_308^0'=a_308^post61, t_23^0'=t_23^post61, a_210^0'=a_210^post61, result_11^0'=result_11^post61, head_268^0'=head_268^post61, f_263^0'=f_263^post61, x_16^0'=x_16^post61, len_132^0'=len_132^post61, i_167^0'=i_167^post61, a_116^0'=a_116^post61, r_39^0'=r_39^post61, nondet_12^0'=nondet_12^post61, x_SLAM_f_18^0'=x_SLAM_f_18^post61, a_353^0'=a_353^post61, temp0_31^0'=temp0_31^post61, a_277^0'=a_277^post61, head_32^0'=head_32^post61, head_14^0'=head_14^post61, r_163^0'=r_163^post61, len_226^0'=len_226^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, a_184^0'=a_184^post61, rcd_88^0'=rcd_88^post61, head_223^0'=head_223^post61, f_170^0'=f_170^post61, tmp_34^0'=tmp_34^post61, i_94^0'=i_94^post61, i_108^0'=i_108^post61, r_260^0'=r_260^post61, length_29^0'=length_29^post61, x_20^0'=x_20^post61, a_330^0'=a_330^post61, (head_268^0-head_268^post61 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 == 0 /\ -i_30^post61+i_30^0 == 0 /\ r_124^0-r_124^post61 == 0 /\ -a_308^post61+a_308^0 == 0 /\ -a_330^post61+a_330^0 == 0 /\ r_218^0-r_218^post61 == 0 /\ -a_116^post61+a_116^0 == 0 /\ -head_175^post61+head_175^0 == 0 /\ -a_184^post61+a_184^0 == 0 /\ -x_16^post61+x_16^0 == 0 /\ nondet_12^0-nondet_12^post61 == 0 /\ temp0_15^0-temp0_15^post61 == 0 /\ -i_94^post61+i_94^0 == 0 /\ -rcd_88^post61+rcd_88^0 == 0 /\ -x_SLAM_f_18^post61+x_SLAM_f_18^0 == 0 /\ rcd_58^0-rcd_58^post61 == 0 /\ -a_353^post61+a_353^0 == 0 /\ -length_29^post61+length_29^0 == 0 /\ -t_23^post61+t_23^0 == 0 /\ -len_226^post61+len_226^0 == 0 /\ -f_170^post61+f_170^0 == 0 /\ a_241^0-a_241^post61 == 0 /\ head_129^0-head_129^post61 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61 == 0 /\ temp0_31^0-temp0_31^post61 == 0 /\ y_19^0-y_19^post61 == 0 /\ a_147^0-a_147^post61 == 0 /\ head_27^0-head_27^post61 == 0 /\ 1-head_14^0 <= 0 /\ len_276^0-len_276^post61 == 0 /\ -x_20^post61+x_20^0 == 0 /\ len_132^0-len_132^post61 == 0 /\ -head_32^post61+head_32^0 == 0 /\ ct_17^0-ct_17^post61 == 0 /\ -tmp_34^post61+tmp_34^0 == 0 /\ -r_260^post61+r_260^0 == 0 /\ -head_14^post61+head_14^0 == 0 /\ len_183^0-len_183^post61 == 0 /\ -result_11^post61+result_11^0 == 0 /\ r_163^0-r_163^post61 == 0 /\ a_277^0-a_277^post61 == 0 /\ -r_39^post61+r_39^0 == 0 /\ a_210^0-a_210^post61 == 0 /\ -i_167^post61+i_167^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post61 == 0 /\ -head_223^post61+head_223^0 == 0 /\ i_108^0-i_108^post61 == 0 /\ f_263^0-f_263^post61 == 0 /\ temp_35^0-temp_35^post61 == 0), cost: 1 62: l42 -> l43 : temp0_15^0'=temp0_15^post62, a_241^0'=a_241^post62, head_27^0'=head_27^post62, head_129^0'=head_129^post62, r_124^0'=r_124^post62, len_183^0'=len_183^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62, a_147^0'=a_147^post62, rcd_58^0'=rcd_58^post62, head_175^0'=head_175^post62, y_19^0'=y_19^post62, ct_17^0'=ct_17^post62, temp_35^0'=temp_35^post62, i_30^0'=i_30^post62, head_SLAM_f_26^0'=head_SLAM_f_26^post62, r_218^0'=r_218^post62, len_276^0'=len_276^post62, a_308^0'=a_308^post62, t_23^0'=t_23^post62, a_210^0'=a_210^post62, result_11^0'=result_11^post62, head_268^0'=head_268^post62, f_263^0'=f_263^post62, x_16^0'=x_16^post62, len_132^0'=len_132^post62, i_167^0'=i_167^post62, a_116^0'=a_116^post62, r_39^0'=r_39^post62, nondet_12^0'=nondet_12^post62, x_SLAM_f_18^0'=x_SLAM_f_18^post62, a_353^0'=a_353^post62, temp0_31^0'=temp0_31^post62, a_277^0'=a_277^post62, head_32^0'=head_32^post62, head_14^0'=head_14^post62, r_163^0'=r_163^post62, len_226^0'=len_226^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, a_184^0'=a_184^post62, rcd_88^0'=rcd_88^post62, head_223^0'=head_223^post62, f_170^0'=f_170^post62, tmp_34^0'=tmp_34^post62, i_94^0'=i_94^post62, i_108^0'=i_108^post62, r_260^0'=r_260^post62, length_29^0'=length_29^post62, x_20^0'=x_20^post62, a_330^0'=a_330^post62, (y_19^0-y_19^post62 == 0 /\ -x_20^post62+x_20^0 == 0 /\ -x_16^post62+x_16^0 == 0 /\ head_27^0-head_27^post62 == 0 /\ head_268^0-head_268^post62 == 0 /\ -i_167^post62+i_167^0 == 0 /\ -a_330^post62+a_330^0 == 0 /\ nondet_12^0-nondet_12^post62 == 0 /\ -r_260^post62+r_260^0 == 0 /\ -x_SLAM_f_18^post62+x_SLAM_f_18^0 == 0 /\ -a_116^post62+a_116^0 == 0 /\ -rcd_88^post62+rcd_88^0 == 0 /\ -a_308^post62+a_308^0 == 0 /\ i_30^0-i_30^post62 == 0 /\ -head_14^post62+head_14^0 == 0 /\ -f_170^post62+f_170^0 == 0 /\ len_183^0-len_183^post62 == 0 /\ -a_353^post62+a_353^0 == 0 /\ -len_226^post62+len_226^0 == 0 /\ 1+head_14^0 <= 0 /\ -i_94^post62+i_94^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post62+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_276^0-len_276^post62 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post62 == 0 /\ a_147^0-a_147^post62 == 0 /\ -t_23^post62+t_23^0 == 0 /\ ct_17^0-ct_17^post62 == 0 /\ temp0_31^0-temp0_31^post62 == 0 /\ -a_277^post62+a_277^0 == 0 /\ head_175^0-head_175^post62 == 0 /\ r_124^0-r_124^post62 == 0 /\ -tmp_34^post62+tmp_34^0 == 0 /\ head_32^0-head_32^post62 == 0 /\ -length_29^post62+length_29^0 == 0 /\ len_132^0-len_132^post62 == 0 /\ -temp_35^post62+temp_35^0 == 0 /\ temp0_15^0-temp0_15^post62 == 0 /\ -head_129^post62+head_129^0 == 0 /\ i_108^0-i_108^post62 == 0 /\ -r_39^post62+r_39^0 == 0 /\ -a_184^post62+a_184^0 == 0 /\ rcd_58^0-rcd_58^post62 == 0 /\ f_263^0-f_263^post62 == 0 /\ -head_223^post62+head_223^0 == 0 /\ -r_163^post62+r_163^0 == 0 /\ -r_218^post62+r_218^0 == 0 /\ a_241^0-a_241^post62 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62 == 0 /\ a_210^0-a_210^post62 == 0 /\ -result_11^post62+result_11^0 == 0), cost: 1 63: l43 -> l44 : temp0_15^0'=temp0_15^post63, a_241^0'=a_241^post63, head_27^0'=head_27^post63, head_129^0'=head_129^post63, r_124^0'=r_124^post63, len_183^0'=len_183^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63, a_147^0'=a_147^post63, rcd_58^0'=rcd_58^post63, head_175^0'=head_175^post63, y_19^0'=y_19^post63, ct_17^0'=ct_17^post63, temp_35^0'=temp_35^post63, i_30^0'=i_30^post63, head_SLAM_f_26^0'=head_SLAM_f_26^post63, r_218^0'=r_218^post63, len_276^0'=len_276^post63, a_308^0'=a_308^post63, t_23^0'=t_23^post63, a_210^0'=a_210^post63, result_11^0'=result_11^post63, head_268^0'=head_268^post63, f_263^0'=f_263^post63, x_16^0'=x_16^post63, len_132^0'=len_132^post63, i_167^0'=i_167^post63, a_116^0'=a_116^post63, r_39^0'=r_39^post63, nondet_12^0'=nondet_12^post63, x_SLAM_f_18^0'=x_SLAM_f_18^post63, a_353^0'=a_353^post63, temp0_31^0'=temp0_31^post63, a_277^0'=a_277^post63, head_32^0'=head_32^post63, head_14^0'=head_14^post63, r_163^0'=r_163^post63, len_226^0'=len_226^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, a_184^0'=a_184^post63, rcd_88^0'=rcd_88^post63, head_223^0'=head_223^post63, f_170^0'=f_170^post63, tmp_34^0'=tmp_34^post63, i_94^0'=i_94^post63, i_108^0'=i_108^post63, r_260^0'=r_260^post63, length_29^0'=length_29^post63, x_20^0'=x_20^post63, a_330^0'=a_330^post63, (len_183^0-len_183^post63 == 0 /\ tmp_34^0-tmp_34^post63 == 0 /\ r_39^0-r_39^post63 == 0 /\ -len_276^post63+len_276^0 == 0 /\ -head_268^post63+head_268^0 == 0 /\ -a_210^post63+a_210^0 == 0 /\ result_11^0-result_11^post63 == 0 /\ r_218^0-r_218^post63 == 0 /\ -temp_35^post63+temp_35^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63 == 0 /\ a_241^0-a_241^post63 == 0 /\ -f_170^post63+f_170^0 == 0 /\ -r_260^post63+r_260^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post63 == 0 /\ head_175^0-head_175^post63 == 0 /\ a_308^0-a_308^post63 == 0 /\ -i_94^post63+i_94^0 == 0 /\ r_124^0-r_124^post63 == 0 /\ a_184^0-a_184^post63 == 0 /\ t_23^0-t_23^post63 == 0 /\ len_132^0-len_132^post63 == 0 /\ i_30^0-i_30^post63 == 0 /\ -x_16^post63+x_16^0 == 0 /\ -i_167^post63+i_167^0 == 0 /\ -nondet_12^post63+nondet_12^0 == 0 /\ -a_330^post63+a_330^0 == 0 /\ -temp0_31^post63+temp0_31^0 == 0 /\ 1-head_175^0 <= 0 /\ rcd_58^0-rcd_58^post63 == 0 /\ -a_277^post63+a_277^0 == 0 /\ -head_14^post63+head_14^0 == 0 /\ head_129^0-head_129^post63 == 0 /\ -r_163^post63+r_163^0 == 0 /\ -rcd_88^post63+rcd_88^0 == 0 /\ -length_29^post63+length_29^0 == 0 /\ a_147^0-a_147^post63 == 0 /\ -a_353^post63+a_353^0 == 0 /\ -i_108^post63+i_108^0 == 0 /\ -head_223^post63+head_223^0 == 0 /\ len_226^0-len_226^post63 == 0 /\ y_19^0-y_19^post63 == 0 /\ head_32^0-head_32^post63 == 0 /\ -head_27^post63+head_27^0 == 0 /\ -head_SLAM_f_26^post63+head_SLAM_f_26^0 == 0 /\ -f_263^post63+f_263^0 == 0 /\ temp0_15^0-temp0_15^post63 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post63+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ ct_17^0-ct_17^post63 == 0 /\ -x_20^post63+x_20^0 == 0 /\ a_116^0-a_116^post63 == 0), cost: 1 64: l43 -> l44 : temp0_15^0'=temp0_15^post64, a_241^0'=a_241^post64, head_27^0'=head_27^post64, head_129^0'=head_129^post64, r_124^0'=r_124^post64, len_183^0'=len_183^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64, a_147^0'=a_147^post64, rcd_58^0'=rcd_58^post64, head_175^0'=head_175^post64, y_19^0'=y_19^post64, ct_17^0'=ct_17^post64, temp_35^0'=temp_35^post64, i_30^0'=i_30^post64, head_SLAM_f_26^0'=head_SLAM_f_26^post64, r_218^0'=r_218^post64, len_276^0'=len_276^post64, a_308^0'=a_308^post64, t_23^0'=t_23^post64, a_210^0'=a_210^post64, result_11^0'=result_11^post64, head_268^0'=head_268^post64, f_263^0'=f_263^post64, x_16^0'=x_16^post64, len_132^0'=len_132^post64, i_167^0'=i_167^post64, a_116^0'=a_116^post64, r_39^0'=r_39^post64, nondet_12^0'=nondet_12^post64, x_SLAM_f_18^0'=x_SLAM_f_18^post64, a_353^0'=a_353^post64, temp0_31^0'=temp0_31^post64, a_277^0'=a_277^post64, head_32^0'=head_32^post64, head_14^0'=head_14^post64, r_163^0'=r_163^post64, len_226^0'=len_226^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, a_184^0'=a_184^post64, rcd_88^0'=rcd_88^post64, head_223^0'=head_223^post64, f_170^0'=f_170^post64, tmp_34^0'=tmp_34^post64, i_94^0'=i_94^post64, i_108^0'=i_108^post64, r_260^0'=r_260^post64, length_29^0'=length_29^post64, x_20^0'=x_20^post64, a_330^0'=a_330^post64, (x_SLAM_f_18^0-x_SLAM_f_18^post64 == 0 /\ result_11^0-result_11^post64 == 0 /\ -rcd_58^post64+rcd_58^0 == 0 /\ -tmp_34^post64+tmp_34^0 == 0 /\ r_39^0-r_39^post64 == 0 /\ -a_277^post64+a_277^0 == 0 /\ -a_210^post64+a_210^0 == 0 /\ head_129^0-head_129^post64 == 0 /\ -f_170^post64+f_170^0 == 0 /\ -len_226^post64+len_226^0 == 0 /\ 1+head_175^0 <= 0 /\ a_353^0-a_353^post64 == 0 /\ -head_32^post64+head_32^0 == 0 /\ head_27^0-head_27^post64 == 0 /\ -head_223^post64+head_223^0 == 0 /\ a_308^0-a_308^post64 == 0 /\ -head_268^post64+head_268^0 == 0 /\ -nondet_12^post64+nondet_12^0 == 0 /\ -i_108^post64+i_108^0 == 0 /\ a_116^0-a_116^post64 == 0 /\ -a_184^post64+a_184^0 == 0 /\ len_132^0-len_132^post64 == 0 /\ -head_SLAM_f_26^post64+head_SLAM_f_26^0 == 0 /\ -head_14^post64+head_14^0 == 0 /\ len_183^0-len_183^post64 == 0 /\ i_167^0-i_167^post64 == 0 /\ -a_330^post64+a_330^0 == 0 /\ -temp0_31^post64+temp0_31^0 == 0 /\ t_23^0-t_23^post64 == 0 /\ -r_163^post64+r_163^0 == 0 /\ -rcd_88^post64+rcd_88^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64 == 0 /\ -r_260^post64+r_260^0 == 0 /\ temp_35^0-temp_35^post64 == 0 /\ a_241^0-a_241^post64 == 0 /\ -length_29^post64+length_29^0 == 0 /\ ct_17^0-ct_17^post64 == 0 /\ -temp0_15^post64+temp0_15^0 == 0 /\ -f_263^post64+f_263^0 == 0 /\ head_175^0-head_175^post64 == 0 /\ r_218^0-r_218^post64 == 0 /\ r_124^0-r_124^post64 == 0 /\ -len_276^post64+len_276^0 == 0 /\ a_147^0-a_147^post64 == 0 /\ -x_16^post64+x_16^0 == 0 /\ -i_94^post64+i_94^0 == 0 /\ -y_19^post64+y_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post64+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_20^post64+x_20^0 == 0 /\ i_30^0-i_30^post64 == 0), cost: 1 65: l44 -> l39 : temp0_15^0'=temp0_15^post65, a_241^0'=a_241^post65, head_27^0'=head_27^post65, head_129^0'=head_129^post65, r_124^0'=r_124^post65, len_183^0'=len_183^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, a_147^0'=a_147^post65, rcd_58^0'=rcd_58^post65, head_175^0'=head_175^post65, y_19^0'=y_19^post65, ct_17^0'=ct_17^post65, temp_35^0'=temp_35^post65, i_30^0'=i_30^post65, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_218^0'=r_218^post65, len_276^0'=len_276^post65, a_308^0'=a_308^post65, t_23^0'=t_23^post65, a_210^0'=a_210^post65, result_11^0'=result_11^post65, head_268^0'=head_268^post65, f_263^0'=f_263^post65, x_16^0'=x_16^post65, len_132^0'=len_132^post65, i_167^0'=i_167^post65, a_116^0'=a_116^post65, r_39^0'=r_39^post65, nondet_12^0'=nondet_12^post65, x_SLAM_f_18^0'=x_SLAM_f_18^post65, a_353^0'=a_353^post65, temp0_31^0'=temp0_31^post65, a_277^0'=a_277^post65, head_32^0'=head_32^post65, head_14^0'=head_14^post65, r_163^0'=r_163^post65, len_226^0'=len_226^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, a_184^0'=a_184^post65, rcd_88^0'=rcd_88^post65, head_223^0'=head_223^post65, f_170^0'=f_170^post65, tmp_34^0'=tmp_34^post65, i_94^0'=i_94^post65, i_108^0'=i_108^post65, r_260^0'=r_260^post65, length_29^0'=length_29^post65, x_20^0'=x_20^post65, a_330^0'=a_330^post65, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_16^0-x_16^post65 == 0 /\ -tmp_34^post65+tmp_34^0 == 0 /\ -r_163^post65+r_163^0 == 0 /\ a_116^0-a_116^post65 == 0 /\ -f_170^post65+f_170^0 == 0 /\ -r_260^post65+r_260^0 == 0 /\ -t_23^post65+t_23^0 == 0 /\ len_276^0-len_276^post65 == 0 /\ i_30^0-i_30^post65 == 0 /\ rcd_58^0-rcd_58^post65 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post65+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post65 == 0 /\ -len_183^0+len_132^post65 <= 0 /\ a_210^0-a_210^post65 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post65 == 0 /\ -temp0_31^post65+temp0_31^0 == 0 /\ a_277^0-a_277^post65 == 0 /\ r_218^0-r_218^post65 == 0 /\ -r_39^post65+r_39^0 == 0 /\ -head_223^post65+head_223^0 == 0 /\ head_27^0-head_27^post65 == 0 /\ -head_268^post65+head_268^0 == 0 /\ len_183^0-len_183^post65 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_108^post65+i_108^0 == 0 /\ len_183^0-len_132^post65 <= 0 /\ -a_184^post65+a_184^0 == 0 /\ a_241^0-a_241^post65 == 0 /\ a_353^0-a_353^post65 == 0 /\ -len_226^post65+len_226^0 == 0 /\ result_11^0-result_11^post65 == 0 /\ f_263^0-f_263^post65 == 0 /\ temp0_15^0-temp0_15^post65 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ -length_29^post65+length_29^0 == 0 /\ temp_35^0-temp_35^post65 == 0 /\ r_124^0-r_124^post65 == 0 /\ a_147^post65-a_184^0 <= 0 /\ -y_19^post65+y_19^0 == 0 /\ -i_167^post65+i_167^0 == 0 /\ -x_20^post65+x_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65 == 0 /\ head_129^0-head_129^post65 == 0 /\ -head_14^post65+head_14^0 == 0 /\ a_308^0-a_308^post65 == 0 /\ -head_32^post65+head_32^0 == 0 /\ -ct_17^post65+ct_17^0 == 0 /\ -a_330^post65+a_330^0 == 0 /\ -rcd_88^post65+rcd_88^0 == 0 /\ -a_147^post65+a_184^0 <= 0 /\ i_94^0-i_94^post65 == 0 /\ head_175^0-head_175^post65 == 0), cost: 1 66: l39 -> l36 : temp0_15^0'=temp0_15^post66, a_241^0'=a_241^post66, head_27^0'=head_27^post66, head_129^0'=head_129^post66, r_124^0'=r_124^post66, len_183^0'=len_183^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66, a_147^0'=a_147^post66, rcd_58^0'=rcd_58^post66, head_175^0'=head_175^post66, y_19^0'=y_19^post66, ct_17^0'=ct_17^post66, temp_35^0'=temp_35^post66, i_30^0'=i_30^post66, head_SLAM_f_26^0'=head_SLAM_f_26^post66, r_218^0'=r_218^post66, len_276^0'=len_276^post66, a_308^0'=a_308^post66, t_23^0'=t_23^post66, a_210^0'=a_210^post66, result_11^0'=result_11^post66, head_268^0'=head_268^post66, f_263^0'=f_263^post66, x_16^0'=x_16^post66, len_132^0'=len_132^post66, i_167^0'=i_167^post66, a_116^0'=a_116^post66, r_39^0'=r_39^post66, nondet_12^0'=nondet_12^post66, x_SLAM_f_18^0'=x_SLAM_f_18^post66, a_353^0'=a_353^post66, temp0_31^0'=temp0_31^post66, a_277^0'=a_277^post66, head_32^0'=head_32^post66, head_14^0'=head_14^post66, r_163^0'=r_163^post66, len_226^0'=len_226^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, a_184^0'=a_184^post66, rcd_88^0'=rcd_88^post66, head_223^0'=head_223^post66, f_170^0'=f_170^post66, tmp_34^0'=tmp_34^post66, i_94^0'=i_94^post66, i_108^0'=i_108^post66, r_260^0'=r_260^post66, length_29^0'=length_29^post66, x_20^0'=x_20^post66, a_330^0'=a_330^post66, (-length_29^post66+length_29^0 == 0 /\ a_353^0-a_353^post66 == 0 /\ -r_163^post66+r_163^0 == 0 /\ i_30^0-i_30^post66 == 0 /\ -head_32^post66+head_32^0 == 0 /\ i_167^0-i_167^post66 == 0 /\ head_223^0-head_223^post66 == 0 /\ x_16^0-x_16^post66 == 0 /\ len_183^0-len_183^post66 == 0 /\ -len_276^post66+len_276^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post66+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_27^0-head_27^post66 == 0 /\ -x_20^post66+x_20^0 == 0 /\ -temp0_31^post66+temp0_31^0 == 0 /\ -a_330^post66+a_330^0 == 0 /\ -tmp_34^post66+tmp_34^0 == 0 /\ rcd_88^0-rcd_88^post66 == 0 /\ f_263^0-f_263^post66 == 0 /\ r_124^0-r_124^post66 == 0 /\ -len_132^post66+len_132^0 == 0 /\ -f_170^post66+f_170^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post66 == 0 /\ -x_SLAM_f_18^post66+x_SLAM_f_18^0 == 0 /\ -r_39^post66+r_39^0 == 0 /\ -a_184^post66+a_184^0 == 0 /\ -len_226^post66+len_226^0 == 0 /\ head_129^0-head_129^post66 == 0 /\ -i_108^post66+i_108^0 == 0 /\ temp_35^0-temp_35^post66 == 0 /\ -a_116^post66+a_116^0 == 0 /\ result_11^0-result_11^post66 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_175^0-head_175^post66 == 0 /\ -ct_17^post66+ct_17^0 == 0 /\ r_218^0-r_218^post66 == 0 /\ a_308^0-a_308^post66 == 0 /\ i_94^0-i_94^post66 == 0 /\ -a_147^post66+a_147^0 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ a_210^0-a_210^post66 == 0 /\ temp0_15^0-temp0_15^post66 == 0 /\ a_241^0-a_241^post66 == 0 /\ -head_268^post66+head_268^0 == 0 /\ -r_260^post66+r_260^0 == 0 /\ -a_277^post66+a_277^0 == 0 /\ rcd_58^0-rcd_58^post66 == 0 /\ y_19^0-y_19^post66 == 0 /\ t_23^0-t_23^post66 == 0 /\ head_14^0-head_14^post66 == 0), cost: 1 122: l62 -> l81 : temp0_15^0'=temp0_15^post122, a_241^0'=a_241^post122, head_27^0'=head_27^post122, head_129^0'=head_129^post122, r_124^0'=r_124^post122, len_183^0'=len_183^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post122, a_147^0'=a_147^post122, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post122, y_19^0'=y_19^post122, ct_17^0'=ct_17^post122, temp_35^0'=temp_35^post122, i_30^0'=i_30^post122, head_SLAM_f_26^0'=head_SLAM_f_26^post122, r_218^0'=r_218^post122, len_276^0'=len_276^post122, a_308^0'=a_308^post122, t_23^0'=t_23^post122, a_210^0'=a_210^post122, result_11^0'=result_11^post122, head_268^0'=head_268^post122, f_263^0'=f_263^post122, x_16^0'=x_16^post122, len_132^0'=len_132^post122, i_167^0'=i_167^post122, a_116^0'=a_116^post122, r_39^0'=r_39^post122, nondet_12^0'=nondet_12^post122, x_SLAM_f_18^0'=x_SLAM_f_18^post122, a_353^0'=a_353^post122, temp0_31^0'=temp0_31^post122, a_277^0'=a_277^post122, head_32^0'=head_32^post122, head_14^0'=head_14^post122, r_163^0'=r_163^post122, len_226^0'=len_226^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post122, a_184^0'=a_184^post122, rcd_88^0'=rcd_88^post122, head_223^0'=head_223^post122, f_170^0'=f_170^post122, tmp_34^0'=tmp_34^post122, i_94^0'=i_94^post122, i_108^0'=i_108^post122, r_260^0'=r_260^post122, length_29^0'=length_29^post122, x_20^0'=x_20^post122, a_330^0'=a_330^post122, (0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post122+length_29^0 <= 0 /\ a_147^0-a_147^post122 == 0 /\ f_263^0-f_263^post122 == 0 /\ 1-length_29^0 <= 0 /\ 2-i_30^post122 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post122+head_32^post122 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post122-tmp_34^post122 <= 0 /\ -len_132^post122+len_132^0 == 0 /\ -a_184^post122+a_184^0 == 0 /\ y_19^0-y_19^post122 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post122-length_29^0 <= 0 /\ -a_353^post122+a_353^0 == 0 /\ -i_94^post122+i_94^0 == 0 /\ -f_170^post122+f_170^0 == 0 /\ i_167^0-i_167^post122 == 0 /\ -len_226^post122+len_226^0 == 0 /\ len_276^0-len_276^post122 == 0 /\ -length_29^post122+length_29^0 == 0 /\ temp0_31^0-temp0_31^post122 == 0 /\ head_27^0-head_27^post122 == 0 /\ -temp_35^0+tmp_34^post122 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post122-head_32^post122 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post122 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post122+tmp_34^post122 <= 0 /\ 1+i_30^0-length_29^0 <= 0 /\ temp0_15^0-temp0_15^post122 == 0 /\ ct_17^0-ct_17^post122 == 0 /\ -result_11^post122+result_11^0 == 0 /\ -r_39^post122+r_39^0 == 0 /\ 2-length_29^0 <= 0 /\ -r_218^post122+r_218^0 == 0 /\ -a_277^post122+a_277^0 == 0 /\ -x_20^post122+x_20^0 == 0 /\ -2+i_30^post122 <= 0 /\ -r_124^post122+r_124^0 == 0 /\ len_183^0-len_183^post122 == 0 /\ r_163^0-r_163^post122 == 0 /\ -1-i_30^0+i_30^post122 == 0 /\ -x_SLAM_f_18^post122+x_SLAM_f_18^0 == 0 /\ head_32^post122-tmp_34^post122 <= 0 /\ head_32^post122-tmp_34^post122 == 0 /\ -a_330^post122+a_330^0 == 0 /\ -x_16^post122+x_16^0 == 0 /\ -a_308^post122+a_308^0 == 0 /\ a_210^0-a_210^post122 == 0 /\ -nondet_12^post122+nondet_12^0 == 0 /\ -head_14^post122+head_14^0 == 0 /\ -rcd_88^post122+rcd_88^0 == 0 /\ head_268^0-head_268^post122 == 0 /\ -a_241^post122+a_241^0 == 0 /\ -a_116^post122+a_116^0 == 0 /\ -r_260^post122+r_260^0 == 0 /\ -head_129^post122+head_129^0 == 0 /\ -head_223^post122+head_223^0 == 0 /\ head_175^0-head_175^post122 == 0 /\ -head_32^post122+tmp_34^post122 <= 0 /\ i_108^0-i_108^post122 == 0 /\ t_23^0-t_23^post122 == 0), cost: 1 123: l81 -> l82 : temp0_15^0'=temp0_15^post123, a_241^0'=a_241^post123, head_27^0'=head_27^post123, head_129^0'=head_129^post123, r_124^0'=r_124^post123, len_183^0'=len_183^post123, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=a_147^post123, rcd_58^0'=rcd_58^post123, head_175^0'=head_175^post123, y_19^0'=y_19^post123, ct_17^0'=ct_17^post123, temp_35^0'=temp_35^post123, i_30^0'=i_30^post123, head_SLAM_f_26^0'=head_SLAM_f_26^post123, r_218^0'=r_218^post123, len_276^0'=len_276^post123, a_308^0'=a_308^post123, t_23^0'=t_23^post123, a_210^0'=a_210^post123, result_11^0'=result_11^post123, head_268^0'=head_268^post123, f_263^0'=f_263^post123, x_16^0'=x_16^post123, len_132^0'=len_132^post123, i_167^0'=i_167^post123, a_116^0'=a_116^post123, r_39^0'=r_39^post123, nondet_12^0'=nondet_12^post123, x_SLAM_f_18^0'=x_SLAM_f_18^post123, a_353^0'=a_353^post123, temp0_31^0'=temp0_31^post123, a_277^0'=a_277^post123, head_32^0'=head_32^post123, head_14^0'=head_14^post123, r_163^0'=r_163^post123, len_226^0'=len_226^post123, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, a_184^0'=a_184^post123, rcd_88^0'=rcd_88^post123, head_223^0'=head_223^post123, f_170^0'=f_170^post123, tmp_34^0'=tmp_34^post123, i_94^0'=i_94^post123, i_108^0'=i_108^post123, r_260^0'=r_260^post123, length_29^0'=length_29^post123, x_20^0'=x_20^post123, a_330^0'=a_330^post123, (0 == 0 /\ -a_184^post123+a_184^0 == 0 /\ -a_147^post123+a_147^0 == 0 /\ -i_94^post123+i_94^0 == 0 /\ -head_32^0+temp0_31^110 == 0 /\ -a_116^post123+a_116^0 == 0 /\ -i_30^0+length_29^0 <= 0 /\ len_276^0-len_276^post123 == 0 /\ head_14^post123-head_27^post123 <= 0 /\ head_268^0-head_268^post123 == 0 /\ -x_20^post123+x_20^0 == 0 /\ -x_16^post123+x_16^0 == 0 /\ len_183^0-len_183^post123 == 0 /\ -a_330^post123+a_330^0 == 0 /\ temp0_15^0-temp0_15^post123 == 0 /\ -i_30^0 <= 0 /\ -y_19^post123+y_19^0 == 0 /\ r_218^0-r_218^post123 == 0 /\ -a_277^post123+a_277^0 == 0 /\ -a_308^post123+a_308^0 == 0 /\ -head_14^post123+head_27^post123 <= 0 /\ -f_170^post123+f_170^0 == 0 /\ head_223^0-head_223^post123 == 0 /\ len_132^0 <= 0 /\ head_175^0-head_175^post123 == 0 /\ -result_11^11+head_14^post123 == 0 /\ head_27^post123-head_SLAM_f_26^post123 <= 0 /\ head_27^post123-head_SLAM_f_26^post123 == 0 /\ a_147^0-i_30^post123 <= 0 /\ -i_108^post123+i_108^0 == 0 /\ head_14^post123-head_SLAM_f_26^post123 <= 0 /\ f_263^0-f_263^post123 == 0 /\ r_163^0-r_163^post123 == 0 /\ t_23^0-t_23^post123 == 0 /\ -nondet_12^post123+nondet_12^0 == 0 /\ a_210^0-a_210^post123 == 0 /\ rcd_58^0-rcd_58^post123 == 0 /\ len_132^0-len_132^post123 == 0 /\ -head_27^post123+head_SLAM_f_26^post123 <= 0 /\ result_11^11-temp0_31^110 == 0 /\ -a_147^0+i_30^post123 <= 0 /\ -len_132^0 <= 0 /\ -head_14^post123+head_SLAM_f_26^post123 <= 0 /\ -head_14^post123+head_SLAM_f_26^post123 == 0 /\ -rcd_88^post123+rcd_88^0 == 0 /\ -r_260^post123+r_260^0 == 0 /\ r_39^0-r_39^post123 == 0 /\ head_129^0-head_129^post123 == 0 /\ -a_353^post123+a_353^0 == 0 /\ r_124^0-r_124^post123 == 0 /\ a_241^0-a_241^post123 == 0 /\ -x_SLAM_f_18^post123+x_SLAM_f_18^0 == 0 /\ -len_226^post123+len_226^0 == 0 /\ -ct_17^post123+ct_17^0 == 0), cost: 1 127: l81 -> l84 : temp0_15^0'=temp0_15^post127, a_241^0'=a_241^post127, head_27^0'=head_27^post127, head_129^0'=head_129^post127, r_124^0'=r_124^post127, len_183^0'=len_183^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post127, a_147^0'=a_147^post127, rcd_58^0'=rcd_58^post127, head_175^0'=head_175^post127, y_19^0'=y_19^post127, ct_17^0'=ct_17^post127, temp_35^0'=temp_35^post127, i_30^0'=i_30^post127, head_SLAM_f_26^0'=head_SLAM_f_26^post127, r_218^0'=r_218^post127, len_276^0'=len_276^post127, a_308^0'=a_308^post127, t_23^0'=t_23^post127, a_210^0'=a_210^post127, result_11^0'=result_11^post127, head_268^0'=head_268^post127, f_263^0'=f_263^post127, x_16^0'=x_16^post127, len_132^0'=len_132^post127, i_167^0'=i_167^post127, a_116^0'=a_116^post127, r_39^0'=r_39^post127, nondet_12^0'=nondet_12^post127, x_SLAM_f_18^0'=x_SLAM_f_18^post127, a_353^0'=a_353^post127, temp0_31^0'=temp0_31^post127, a_277^0'=a_277^post127, head_32^0'=head_32^post127, head_14^0'=head_14^post127, r_163^0'=r_163^post127, len_226^0'=len_226^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post127, a_184^0'=a_184^post127, rcd_88^0'=rcd_88^post127, head_223^0'=head_223^post127, f_170^0'=f_170^post127, tmp_34^0'=tmp_34^post127, i_94^0'=i_94^post127, i_108^0'=i_108^post127, r_260^0'=r_260^post127, length_29^0'=length_29^post127, x_20^0'=x_20^post127, a_330^0'=a_330^post127, (0 == 0 /\ -x_20^post127+x_20^0 == 0 /\ -a_330^post127+a_330^0 == 0 /\ -a_147^post127+a_147^0 == 0 /\ -a_308^post127+a_308^0 == 0 /\ -ct_17^post127+ct_17^0 == 0 /\ head_27^0-head_27^post127 == 0 /\ len_276^0-len_276^post127 == 0 /\ 1+i_94^post127-length_29^0 <= 0 /\ -a_184^post127+a_184^0 == 0 /\ -x_SLAM_f_18^post127+x_SLAM_f_18^0 == 0 /\ -len_226^post127+len_226^0 == 0 /\ -f_170^post127+f_170^0 == 0 /\ f_263^0-f_263^post127 == 0 /\ len_183^0-len_183^post127 == 0 /\ a_353^0-a_353^post127 == 0 /\ -i_30^0 <= 0 /\ r_218^0-r_218^post127 == 0 /\ -y_19^post127+y_19^0 == 0 /\ a_210^0-a_210^post127 == 0 /\ -t_23^post127+t_23^0 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ a_116^0-a_116^post127 == 0 /\ 1+i_94^post127-i_30^post127 <= 0 /\ -head_268^post127+head_268^0 == 0 /\ i_167^0-i_167^post127 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post127+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_132^post127+len_132^0 == 0 /\ r_124^0-r_124^post127 == 0 /\ head_175^0-head_175^post127 == 0 /\ head_14^0-head_14^post127 == 0 /\ a_277^0-a_277^post127 == 0 /\ -temp0_31^post127+temp0_31^0 == 0 /\ -1-i_30^0+i_30^post127 == 0 /\ -r_163^post127+r_163^0 == 0 /\ -i_108^post127+i_108^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post127 == 0 /\ r_260^0-r_260^post127 == 0 /\ temp0_15^0-temp0_15^post127 == 0 /\ nondet_12^0-nondet_12^post127 == 0 /\ head_32^post127-tmp_34^post127 == 0 /\ rcd_58^0-rcd_58^post127 == 0 /\ -length_29^post127+length_29^0 == 0 /\ result_11^0-result_11^post127 == 0 /\ -temp_35^0+tmp_34^post127 == 0 /\ -head_223^post127+head_223^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post127 == 0 /\ -r_39^post127+r_39^0 == 0 /\ head_129^0-head_129^post127 == 0 /\ a_241^0-a_241^post127 == 0 /\ -1-i_94^post127+i_30^post127 <= 0 /\ x_16^0-x_16^post127 == 0), cost: 1 124: l82 -> l83 : temp0_15^0'=temp0_15^post124, a_241^0'=a_241^post124, head_27^0'=head_27^post124, head_129^0'=head_129^post124, r_124^0'=r_124^post124, len_183^0'=len_183^post124, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post124, a_147^0'=a_147^post124, rcd_58^0'=rcd_58^post124, head_175^0'=head_175^post124, y_19^0'=y_19^post124, ct_17^0'=ct_17^post124, temp_35^0'=temp_35^post124, i_30^0'=i_30^post124, head_SLAM_f_26^0'=head_SLAM_f_26^post124, r_218^0'=r_218^post124, len_276^0'=len_276^post124, a_308^0'=a_308^post124, t_23^0'=t_23^post124, a_210^0'=a_210^post124, result_11^0'=result_11^post124, head_268^0'=head_268^post124, f_263^0'=f_263^post124, x_16^0'=x_16^post124, len_132^0'=len_132^post124, i_167^0'=i_167^post124, a_116^0'=a_116^post124, r_39^0'=r_39^post124, nondet_12^0'=nondet_12^post124, x_SLAM_f_18^0'=x_SLAM_f_18^post124, a_353^0'=a_353^post124, temp0_31^0'=temp0_31^post124, a_277^0'=a_277^post124, head_32^0'=head_32^post124, head_14^0'=head_14^post124, r_163^0'=r_163^post124, len_226^0'=len_226^post124, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post124, a_184^0'=a_184^post124, rcd_88^0'=rcd_88^post124, head_223^0'=head_223^post124, f_170^0'=f_170^post124, tmp_34^0'=tmp_34^post124, i_94^0'=i_94^post124, i_108^0'=i_108^post124, r_260^0'=r_260^post124, length_29^0'=length_29^post124, x_20^0'=x_20^post124, a_330^0'=a_330^post124, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post124 == 0 /\ len_183^0-len_183^post124 == 0 /\ -result_11^post124+result_11^0 == 0 /\ -r_218^post124+r_218^0 == 0 /\ -x_20^post124+x_20^0 == 0 /\ ct_17^0-ct_17^post124 == 0 /\ -i_108^post124+i_108^0 == 0 /\ -a_116^post124+a_116^0 == 0 /\ -a_330^post124+a_330^0 == 0 /\ len_276^0-len_276^post124 == 0 /\ -head_14^post124+head_14^0 == 0 /\ -tmp_34^post124+tmp_34^0 == 0 /\ -r_260^post124+r_260^0 == 0 /\ -head_SLAM_f_26^post124+head_SLAM_f_26^0 == 0 /\ i_30^0-i_30^post124 == 0 /\ a_147^0-a_147^post124 == 0 /\ -r_163^post124+r_163^0 == 0 /\ -i_167^post124+i_167^0 == 0 /\ r_124^0-r_124^post124 == 0 /\ head_129^0-head_129^post124 == 0 /\ 1-head_14^0 <= 0 /\ -head_223^post124+head_223^0 == 0 /\ -x_16^post124+x_16^0 == 0 /\ temp0_15^0-temp0_15^post124 == 0 /\ -i_94^post124+i_94^0 == 0 /\ -nondet_12^post124+nondet_12^0 == 0 /\ head_175^0-head_175^post124 == 0 /\ temp0_31^0-temp0_31^post124 == 0 /\ -a_184^post124+a_184^0 == 0 /\ f_263^0-f_263^post124 == 0 /\ a_308^0-a_308^post124 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post124+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_268^0-head_268^post124 == 0 /\ len_226^0-len_226^post124 == 0 /\ -x_SLAM_f_18^post124+x_SLAM_f_18^0 == 0 /\ a_241^0-a_241^post124 == 0 /\ a_210^0-a_210^post124 == 0 /\ -rcd_88^post124+rcd_88^0 == 0 /\ -head_27^post124+head_27^0 == 0 /\ -temp_35^post124+temp_35^0 == 0 /\ len_132^0-len_132^post124 == 0 /\ -a_277^post124+a_277^0 == 0 /\ -f_170^post124+f_170^0 == 0 /\ -length_29^post124+length_29^0 == 0 /\ y_19^0-y_19^post124 == 0 /\ t_23^0-t_23^post124 == 0 /\ rcd_58^0-rcd_58^post124 == 0 /\ r_39^0-r_39^post124 == 0 /\ -a_353^post124+a_353^0 == 0 /\ head_32^0-head_32^post124 == 0), cost: 1 125: l82 -> l83 : temp0_15^0'=temp0_15^post125, a_241^0'=a_241^post125, head_27^0'=head_27^post125, head_129^0'=head_129^post125, r_124^0'=r_124^post125, len_183^0'=len_183^post125, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post125, a_147^0'=a_147^post125, rcd_58^0'=rcd_58^post125, head_175^0'=head_175^post125, y_19^0'=y_19^post125, ct_17^0'=ct_17^post125, temp_35^0'=temp_35^post125, i_30^0'=i_30^post125, head_SLAM_f_26^0'=head_SLAM_f_26^post125, r_218^0'=r_218^post125, len_276^0'=len_276^post125, a_308^0'=a_308^post125, t_23^0'=t_23^post125, a_210^0'=a_210^post125, result_11^0'=result_11^post125, head_268^0'=head_268^post125, f_263^0'=f_263^post125, x_16^0'=x_16^post125, len_132^0'=len_132^post125, i_167^0'=i_167^post125, a_116^0'=a_116^post125, r_39^0'=r_39^post125, nondet_12^0'=nondet_12^post125, x_SLAM_f_18^0'=x_SLAM_f_18^post125, a_353^0'=a_353^post125, temp0_31^0'=temp0_31^post125, a_277^0'=a_277^post125, head_32^0'=head_32^post125, head_14^0'=head_14^post125, r_163^0'=r_163^post125, len_226^0'=len_226^post125, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post125, a_184^0'=a_184^post125, rcd_88^0'=rcd_88^post125, head_223^0'=head_223^post125, f_170^0'=f_170^post125, tmp_34^0'=tmp_34^post125, i_94^0'=i_94^post125, i_108^0'=i_108^post125, r_260^0'=r_260^post125, length_29^0'=length_29^post125, x_20^0'=x_20^post125, a_330^0'=a_330^post125, (r_124^0-r_124^post125 == 0 /\ -f_263^post125+f_263^0 == 0 /\ -rcd_88^post125+rcd_88^0 == 0 /\ -x_20^post125+x_20^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post125 == 0 /\ temp0_15^0-temp0_15^post125 == 0 /\ r_218^0-r_218^post125 == 0 /\ -a_330^post125+a_330^0 == 0 /\ f_170^0-f_170^post125 == 0 /\ -i_108^post125+i_108^0 == 0 /\ r_39^0-r_39^post125 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post125 == 0 /\ head_129^0-head_129^post125 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post125+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_260^post125+r_260^0 == 0 /\ -tmp_34^post125+tmp_34^0 == 0 /\ -nondet_12^post125+nondet_12^0 == 0 /\ -temp_35^post125+temp_35^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_268^post125+head_268^0 == 0 /\ a_184^0-a_184^post125 == 0 /\ -temp0_31^post125+temp0_31^0 == 0 /\ a_241^0-a_241^post125 == 0 /\ head_175^0-head_175^post125 == 0 /\ result_11^0-result_11^post125 == 0 /\ x_16^0-x_16^post125 == 0 /\ -a_210^post125+a_210^0 == 0 /\ a_308^0-a_308^post125 == 0 /\ head_27^0-head_27^post125 == 0 /\ i_30^0-i_30^post125 == 0 /\ a_147^0-a_147^post125 == 0 /\ -head_32^post125+head_32^0 == 0 /\ -head_223^post125+head_223^0 == 0 /\ len_226^0-len_226^post125 == 0 /\ ct_17^0-ct_17^post125 == 0 /\ -i_94^post125+i_94^0 == 0 /\ y_19^0-y_19^post125 == 0 /\ t_23^0-t_23^post125 == 0 /\ a_353^0-a_353^post125 == 0 /\ rcd_58^0-rcd_58^post125 == 0 /\ -len_276^post125+len_276^0 == 0 /\ -len_183^post125+len_183^0 == 0 /\ -i_167^post125+i_167^0 == 0 /\ a_116^0-a_116^post125 == 0 /\ -head_14^post125+head_14^0 == 0 /\ -length_29^post125+length_29^0 == 0 /\ -r_163^post125+r_163^0 == 0 /\ -len_132^post125+len_132^0 == 0 /\ -a_277^post125+a_277^0 == 0 /\ -head_SLAM_f_26^post125+head_SLAM_f_26^0 == 0), cost: 1 126: l83 -> l36 : temp0_15^0'=temp0_15^post126, a_241^0'=a_241^post126, head_27^0'=head_27^post126, head_129^0'=head_129^post126, r_124^0'=r_124^post126, len_183^0'=len_183^post126, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post126, a_147^0'=a_147^post126, rcd_58^0'=rcd_58^post126, head_175^0'=head_175^post126, y_19^0'=y_19^post126, ct_17^0'=ct_17^post126, temp_35^0'=temp_35^post126, i_30^0'=i_30^post126, head_SLAM_f_26^0'=head_SLAM_f_26^post126, r_218^0'=r_218^post126, len_276^0'=len_276^post126, a_308^0'=a_308^post126, t_23^0'=t_23^post126, a_210^0'=a_210^post126, result_11^0'=result_11^post126, head_268^0'=head_268^post126, f_263^0'=f_263^post126, x_16^0'=x_16^post126, len_132^0'=len_132^post126, i_167^0'=i_167^post126, a_116^0'=a_116^post126, r_39^0'=r_39^post126, nondet_12^0'=nondet_12^post126, x_SLAM_f_18^0'=x_SLAM_f_18^post126, a_353^0'=a_353^post126, temp0_31^0'=temp0_31^post126, a_277^0'=a_277^post126, head_32^0'=head_32^post126, head_14^0'=head_14^post126, r_163^0'=r_163^post126, len_226^0'=len_226^post126, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post126, a_184^0'=a_184^post126, rcd_88^0'=rcd_88^post126, head_223^0'=head_223^post126, f_170^0'=f_170^post126, tmp_34^0'=tmp_34^post126, i_94^0'=i_94^post126, i_108^0'=i_108^post126, r_260^0'=r_260^post126, length_29^0'=length_29^post126, x_20^0'=x_20^post126, a_330^0'=a_330^post126, (2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_30^0-i_30^post126 == 0 /\ -y_19^post126+y_19^0 == 0 /\ head_27^0-head_27^post126 == 0 /\ head_223^0-head_223^post126 == 0 /\ rcd_88^0-rcd_88^post126 == 0 /\ -x_20^post126+x_20^0 == 0 /\ -a_184^post126+a_184^0 == 0 /\ -head_14^post126+head_14^0 == 0 /\ -a_330^post126+a_330^0 == 0 /\ -nondet_12^post126+nondet_12^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post126 == 0 /\ rcd_58^0-rcd_58^post126 == 0 /\ -i_94^post126+i_94^0 == 0 /\ a_353^0-a_353^post126 == 0 /\ a_116^0-a_116^post126 == 0 /\ result_11^0-result_11^post126 == 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -f_170^post126+f_170^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post126+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -length_29^post126+length_29^0 == 0 /\ len_183^0-len_183^post126 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post126 == 0 /\ -len_226^post126+len_226^0 == 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -f_263^post126+f_263^0 == 0 /\ x_16^0-x_16^post126 == 0 /\ -temp0_31^post126+temp0_31^0 == 0 /\ r_124^0-r_124^post126 == 0 /\ -a_277^post126+a_277^0 == 0 /\ a_308^0-a_308^post126 == 0 /\ temp_35^0-temp_35^post126 == 0 /\ -len_276^post126+len_276^0 == 0 /\ -len_132^post126+len_132^0 == 0 /\ -a_210^post126+a_210^0 == 0 /\ -i_108^post126+i_108^0 == 0 /\ t_23^0-t_23^post126 == 0 /\ temp0_15^0-temp0_15^post126 == 0 /\ -head_32^post126+head_32^0 == 0 /\ -tmp_34^post126+tmp_34^0 == 0 /\ -head_268^post126+head_268^0 == 0 /\ ct_17^0-ct_17^post126 == 0 /\ head_129^0-head_129^post126 == 0 /\ -r_260^post126+r_260^0 == 0 /\ -r_39^post126+r_39^0 == 0 /\ a_241^0-a_241^post126 == 0 /\ head_175^0-head_175^post126 == 0 /\ r_218^0-r_218^post126 == 0 /\ i_167^0-i_167^post126 == 0 /\ -r_163^post126+r_163^0 == 0 /\ -a_147^post126+a_147^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post126 == 0), cost: 1 128: l84 -> l81 : temp0_15^0'=temp0_15^post128, a_241^0'=a_241^post128, head_27^0'=head_27^post128, head_129^0'=head_129^post128, r_124^0'=r_124^post128, len_183^0'=len_183^post128, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post128, a_147^0'=a_147^post128, rcd_58^0'=rcd_58^post128, head_175^0'=head_175^post128, y_19^0'=y_19^post128, ct_17^0'=ct_17^post128, temp_35^0'=temp_35^post128, i_30^0'=i_30^post128, head_SLAM_f_26^0'=head_SLAM_f_26^post128, r_218^0'=r_218^post128, len_276^0'=len_276^post128, a_308^0'=a_308^post128, t_23^0'=t_23^post128, a_210^0'=a_210^post128, result_11^0'=result_11^post128, head_268^0'=head_268^post128, f_263^0'=f_263^post128, x_16^0'=x_16^post128, len_132^0'=len_132^post128, i_167^0'=i_167^post128, a_116^0'=a_116^post128, r_39^0'=r_39^post128, nondet_12^0'=nondet_12^post128, x_SLAM_f_18^0'=x_SLAM_f_18^post128, a_353^0'=a_353^post128, temp0_31^0'=temp0_31^post128, a_277^0'=a_277^post128, head_32^0'=head_32^post128, head_14^0'=head_14^post128, r_163^0'=r_163^post128, len_226^0'=len_226^post128, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post128, a_184^0'=a_184^post128, rcd_88^0'=rcd_88^post128, head_223^0'=head_223^post128, f_170^0'=f_170^post128, tmp_34^0'=tmp_34^post128, i_94^0'=i_94^post128, i_108^0'=i_108^post128, r_260^0'=r_260^post128, length_29^0'=length_29^post128, x_20^0'=x_20^post128, a_330^0'=a_330^post128, (a_210^0-a_210^post128 == 0 /\ x_16^0-x_16^post128 == 0 /\ len_183^0-len_183^post128 == 0 /\ -tmp_34^post128+tmp_34^0 == 0 /\ temp0_15^0-temp0_15^post128 == 0 /\ i_167^0-i_167^post128 == 0 /\ -x_SLAM_f_18^post128+x_SLAM_f_18^0 == 0 /\ -t_23^post128+t_23^0 == 0 /\ r_124^0-r_124^post128 == 0 /\ -f_170^post128+f_170^0 == 0 /\ len_276^0-len_276^post128 == 0 /\ temp_35^0-temp_35^post128 == 0 /\ -len_226^post128+len_226^0 == 0 /\ -a_147^post128+a_147^0 == 0 /\ a_241^0-a_241^post128 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post128 == 0 /\ a_277^0-a_277^post128 == 0 /\ -a_116^post128+a_116^0 == 0 /\ r_218^0-r_218^post128 == 0 /\ -head_32^post128+head_32^0 == 0 /\ -head_223^post128+head_223^0 == 0 /\ -r_39^post128+r_39^0 == 0 /\ -rcd_88^post128+rcd_88^0 == 0 /\ -head_268^post128+head_268^0 == 0 /\ i_30^0-i_30^post128 == 0 /\ -i_108^post128+i_108^0 == 0 /\ -a_184^post128+a_184^0 == 0 /\ -head_175^post128+head_175^0 == 0 /\ -a_330^post128+a_330^0 == 0 /\ -r_260^post128+r_260^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post128+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_11^0-result_11^post128 == 0 /\ -temp0_31^post128+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post128 == 0 /\ rcd_58^0-rcd_58^post128 == 0 /\ f_263^0-f_263^post128 == 0 /\ -length_29^post128+length_29^0 == 0 /\ head_129^0-head_129^post128 == 0 /\ -a_353^post128+a_353^0 == 0 /\ -len_132^post128+len_132^0 == 0 /\ head_14^0-head_14^post128 == 0 /\ y_19^0-y_19^post128 == 0 /\ r_163^0-r_163^post128 == 0 /\ a_308^0-a_308^post128 == 0 /\ head_27^0-head_27^post128 == 0 /\ -ct_17^post128+ct_17^0 == 0 /\ -x_20^post128+x_20^0 == 0 /\ i_94^0-i_94^post128 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post128+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0), cost: 1 132: l85 -> l86 : temp0_15^0'=temp0_15^post132, a_241^0'=a_241^post132, head_27^0'=head_27^post132, head_129^0'=head_129^post132, r_124^0'=r_124^post132, len_183^0'=len_183^post132, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post132, a_147^0'=a_147^post132, rcd_58^0'=rcd_58^post132, head_175^0'=head_175^post132, y_19^0'=y_19^post132, ct_17^0'=ct_17^post132, temp_35^0'=temp_35^post132, i_30^0'=i_30^post132, head_SLAM_f_26^0'=head_SLAM_f_26^post132, r_218^0'=r_218^post132, len_276^0'=len_276^post132, a_308^0'=a_308^post132, t_23^0'=t_23^post132, a_210^0'=a_210^post132, result_11^0'=result_11^post132, head_268^0'=head_268^post132, f_263^0'=f_263^post132, x_16^0'=x_16^post132, len_132^0'=len_132^post132, i_167^0'=i_167^post132, a_116^0'=a_116^post132, r_39^0'=r_39^post132, nondet_12^0'=nondet_12^post132, x_SLAM_f_18^0'=x_SLAM_f_18^post132, a_353^0'=a_353^post132, temp0_31^0'=temp0_31^post132, a_277^0'=a_277^post132, head_32^0'=head_32^post132, head_14^0'=head_14^post132, r_163^0'=r_163^post132, len_226^0'=len_226^post132, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post132, a_184^0'=a_184^post132, rcd_88^0'=rcd_88^post132, head_223^0'=head_223^post132, f_170^0'=f_170^post132, tmp_34^0'=tmp_34^post132, i_94^0'=i_94^post132, i_108^0'=i_108^post132, r_260^0'=r_260^post132, length_29^0'=length_29^post132, x_20^0'=x_20^post132, a_330^0'=a_330^post132, (a_308^0-a_308^post132 == 0 /\ r_124^0-r_124^post132 == 0 /\ -f_263^post132+f_263^0 == 0 /\ -head_223^post132+head_223^0 == 0 /\ a_241^0-a_241^post132 == 0 /\ -rcd_88^post132+rcd_88^0 == 0 /\ a_184^0-a_184^post132 == 0 /\ len_132^0-len_132^post132 == 0 /\ -nondet_12^post132+nondet_12^0 == 0 /\ -x_16^post132+x_16^0 == 0 /\ tmp_34^0-tmp_34^post132 == 0 /\ -i_94^post132+i_94^0 == 0 /\ r_218^0-r_218^post132 == 0 /\ -len_276^post132+len_276^0 == 0 /\ t_23^0-t_23^post132 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post132 == 0 /\ head_129^0-head_129^post132 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post132+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_170^post132+f_170^0 == 0 /\ -temp_35^post132+temp_35^0 == 0 /\ -length_29^post132+length_29^0 == 0 /\ head_175^0-head_175^post132 == 0 /\ -a_277^post132+a_277^0 == 0 /\ head_268^0-head_268^post132 == 0 /\ a_116^0-a_116^post132 == 0 /\ len_226^0-len_226^post132 == 0 /\ -a_210^post132+a_210^0 == 0 /\ 1-head_14^0 <= 0 /\ i_30^0-i_30^post132 == 0 /\ a_147^0-a_147^post132 == 0 /\ -x_20^post132+x_20^0 == 0 /\ y_19^0-y_19^post132 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post132 == 0 /\ r_39^0-r_39^post132 == 0 /\ a_353^0-a_353^post132 == 0 /\ -i_108^post132+i_108^0 == 0 /\ rcd_58^0-rcd_58^post132 == 0 /\ -a_330^post132+a_330^0 == 0 /\ -head_SLAM_f_26^post132+head_SLAM_f_26^0 == 0 /\ -len_183^post132+len_183^0 == 0 /\ -r_260^post132+r_260^0 == 0 /\ -head_14^post132+head_14^0 == 0 /\ temp0_15^0-temp0_15^post132 == 0 /\ ct_17^0-ct_17^post132 == 0 /\ head_32^0-head_32^post132 == 0 /\ result_11^0-result_11^post132 == 0 /\ temp0_31^0-temp0_31^post132 == 0 /\ -head_27^post132+head_27^0 == 0 /\ -r_163^post132+r_163^0 == 0 /\ -i_167^post132+i_167^0 == 0), cost: 1 133: l85 -> l86 : temp0_15^0'=temp0_15^post133, a_241^0'=a_241^post133, head_27^0'=head_27^post133, head_129^0'=head_129^post133, r_124^0'=r_124^post133, len_183^0'=len_183^post133, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post133, a_147^0'=a_147^post133, rcd_58^0'=rcd_58^post133, head_175^0'=head_175^post133, y_19^0'=y_19^post133, ct_17^0'=ct_17^post133, temp_35^0'=temp_35^post133, i_30^0'=i_30^post133, head_SLAM_f_26^0'=head_SLAM_f_26^post133, r_218^0'=r_218^post133, len_276^0'=len_276^post133, a_308^0'=a_308^post133, t_23^0'=t_23^post133, a_210^0'=a_210^post133, result_11^0'=result_11^post133, head_268^0'=head_268^post133, f_263^0'=f_263^post133, x_16^0'=x_16^post133, len_132^0'=len_132^post133, i_167^0'=i_167^post133, a_116^0'=a_116^post133, r_39^0'=r_39^post133, nondet_12^0'=nondet_12^post133, x_SLAM_f_18^0'=x_SLAM_f_18^post133, a_353^0'=a_353^post133, temp0_31^0'=temp0_31^post133, a_277^0'=a_277^post133, head_32^0'=head_32^post133, head_14^0'=head_14^post133, r_163^0'=r_163^post133, len_226^0'=len_226^post133, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post133, a_184^0'=a_184^post133, rcd_88^0'=rcd_88^post133, head_223^0'=head_223^post133, f_170^0'=f_170^post133, tmp_34^0'=tmp_34^post133, i_94^0'=i_94^post133, i_108^0'=i_108^post133, r_260^0'=r_260^post133, length_29^0'=length_29^post133, x_20^0'=x_20^post133, a_330^0'=a_330^post133, (a_116^0-a_116^post133 == 0 /\ -f_263^post133+f_263^0 == 0 /\ r_124^0-r_124^post133 == 0 /\ head_175^0-head_175^post133 == 0 /\ -a_184^post133+a_184^0 == 0 /\ -a_330^post133+a_330^0 == 0 /\ r_218^0-r_218^post133 == 0 /\ r_39^0-r_39^post133 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post133 == 0 /\ -i_94^post133+i_94^0 == 0 /\ -nondet_12^post133+nondet_12^0 == 0 /\ -rcd_88^post133+rcd_88^0 == 0 /\ result_11^0-result_11^post133 == 0 /\ -f_170^post133+f_170^0 == 0 /\ -length_29^post133+length_29^0 == 0 /\ 1+head_14^0 <= 0 /\ temp0_15^0-temp0_15^post133 == 0 /\ x_16^0-x_16^post133 == 0 /\ head_223^0-head_223^post133 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post133+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_241^0-a_241^post133 == 0 /\ -a_277^post133+a_277^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post133 == 0 /\ -temp0_31^post133+temp0_31^0 == 0 /\ head_129^0-head_129^post133 == 0 /\ y_19^0-y_19^post133 == 0 /\ a_308^0-a_308^post133 == 0 /\ len_226^0-len_226^post133 == 0 /\ i_30^0-i_30^post133 == 0 /\ a_147^0-a_147^post133 == 0 /\ -len_132^post133+len_132^0 == 0 /\ -a_210^post133+a_210^0 == 0 /\ head_27^0-head_27^post133 == 0 /\ -len_183^post133+len_183^0 == 0 /\ -x_20^post133+x_20^0 == 0 /\ a_353^0-a_353^post133 == 0 /\ -len_276^post133+len_276^0 == 0 /\ -head_32^post133+head_32^0 == 0 /\ i_167^0-i_167^post133 == 0 /\ -rcd_58^post133+rcd_58^0 == 0 /\ -head_268^post133+head_268^0 == 0 /\ t_23^0-t_23^post133 == 0 /\ -i_108^post133+i_108^0 == 0 /\ -tmp_34^post133+tmp_34^0 == 0 /\ -r_260^post133+r_260^0 == 0 /\ -head_14^post133+head_14^0 == 0 /\ -r_163^post133+r_163^0 == 0 /\ -head_SLAM_f_26^post133+head_SLAM_f_26^0 == 0 /\ ct_17^0-ct_17^post133 == 0 /\ temp_35^0-temp_35^post133 == 0), cost: 1 134: l86 -> l1 : temp0_15^0'=temp0_15^post134, a_241^0'=a_241^post134, head_27^0'=head_27^post134, head_129^0'=head_129^post134, r_124^0'=r_124^post134, len_183^0'=len_183^post134, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post134, a_147^0'=a_147^post134, rcd_58^0'=rcd_58^post134, head_175^0'=head_175^post134, y_19^0'=y_19^post134, ct_17^0'=ct_17^post134, temp_35^0'=temp_35^post134, i_30^0'=i_30^post134, head_SLAM_f_26^0'=head_SLAM_f_26^post134, r_218^0'=r_218^post134, len_276^0'=len_276^post134, a_308^0'=a_308^post134, t_23^0'=t_23^post134, a_210^0'=a_210^post134, result_11^0'=result_11^post134, head_268^0'=head_268^post134, f_263^0'=f_263^post134, x_16^0'=x_16^post134, len_132^0'=len_132^post134, i_167^0'=i_167^post134, a_116^0'=a_116^post134, r_39^0'=r_39^post134, nondet_12^0'=nondet_12^post134, x_SLAM_f_18^0'=x_SLAM_f_18^post134, a_353^0'=a_353^post134, temp0_31^0'=temp0_31^post134, a_277^0'=a_277^post134, head_32^0'=head_32^post134, head_14^0'=head_14^post134, r_163^0'=r_163^post134, len_226^0'=len_226^post134, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post134, a_184^0'=a_184^post134, rcd_88^0'=rcd_88^post134, head_223^0'=head_223^post134, f_170^0'=f_170^post134, tmp_34^0'=tmp_34^post134, i_94^0'=i_94^post134, i_108^0'=i_108^post134, r_260^0'=r_260^post134, length_29^0'=length_29^post134, x_20^0'=x_20^post134, a_330^0'=a_330^post134, (2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_268^post134+head_268^0 == 0 /\ -len_132^post134+len_132^0 == 0 /\ head_27^0-head_27^post134 == 0 /\ -a_330^post134+a_330^0 == 0 /\ head_223^0-head_223^post134 == 0 /\ -len_276^post134+len_276^0 == 0 /\ -r_260^post134+r_260^0 == 0 /\ a_210^0-a_210^post134 == 0 /\ r_163^0-r_163^post134 == 0 /\ -f_170^post134+f_170^0 == 0 /\ i_30^0-i_30^post134 == 0 /\ -head_32^post134+head_32^0 == 0 /\ x_16^0-x_16^post134 == 0 /\ -i_94^post134+i_94^0 == 0 /\ rcd_88^0-rcd_88^post134 == 0 /\ len_183^0-len_183^post134 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post134 == 0 /\ -r_39^post134+r_39^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ temp_35^0-temp_35^post134 == 0 /\ -y_19^post134+y_19^0 == 0 /\ -x_20^post134+x_20^0 == 0 /\ -ct_17^post134+ct_17^0 == 0 /\ r_124^0-r_124^post134 == 0 /\ result_11^0-result_11^post134 == 0 /\ head_175^0-head_175^post134 == 0 /\ -a_277^post134+a_277^0 == 0 /\ -tmp_34^post134+tmp_34^0 == 0 /\ r_218^0-r_218^post134 == 0 /\ -x_SLAM_f_18^post134+x_SLAM_f_18^0 == 0 /\ -a_116^post134+a_116^0 == 0 /\ -nondet_12^post134+nondet_12^0 == 0 /\ -length_29^post134+length_29^0 == 0 /\ temp0_15^0-temp0_15^post134 == 0 /\ -a_184^post134+a_184^0 == 0 /\ a_308^0-a_308^post134 == 0 /\ rcd_58^0-rcd_58^post134 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post134+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_14^0-head_14^post134 == 0 /\ -i_108^post134+i_108^0 == 0 /\ -a_147^post134+a_147^0 == 0 /\ -a_353^post134+a_353^0 == 0 /\ -len_226^post134+len_226^0 == 0 /\ t_23^0-t_23^post134 == 0 /\ a_241^0-a_241^post134 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post134 == 0 /\ head_129^0-head_129^post134 == 0 /\ -temp0_31^post134+temp0_31^0 == 0 /\ -f_263^post134+f_263^0 == 0 /\ i_167^0-i_167^post134 == 0), cost: 1 136: l88 -> l89 : temp0_15^0'=temp0_15^post136, a_241^0'=a_241^post136, head_27^0'=head_27^post136, head_129^0'=head_129^post136, r_124^0'=r_124^post136, len_183^0'=len_183^post136, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post136, a_147^0'=a_147^post136, rcd_58^0'=rcd_58^post136, head_175^0'=head_175^post136, y_19^0'=y_19^post136, ct_17^0'=ct_17^post136, temp_35^0'=temp_35^post136, i_30^0'=i_30^post136, head_SLAM_f_26^0'=head_SLAM_f_26^post136, r_218^0'=r_218^post136, len_276^0'=len_276^post136, a_308^0'=a_308^post136, t_23^0'=t_23^post136, a_210^0'=a_210^post136, result_11^0'=result_11^post136, head_268^0'=head_268^post136, f_263^0'=f_263^post136, x_16^0'=x_16^post136, len_132^0'=len_132^post136, i_167^0'=i_167^post136, a_116^0'=a_116^post136, r_39^0'=r_39^post136, nondet_12^0'=nondet_12^post136, x_SLAM_f_18^0'=x_SLAM_f_18^post136, a_353^0'=a_353^post136, temp0_31^0'=temp0_31^post136, a_277^0'=a_277^post136, head_32^0'=head_32^post136, head_14^0'=head_14^post136, r_163^0'=r_163^post136, len_226^0'=len_226^post136, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post136, a_184^0'=a_184^post136, rcd_88^0'=rcd_88^post136, head_223^0'=head_223^post136, f_170^0'=f_170^post136, tmp_34^0'=tmp_34^post136, i_94^0'=i_94^post136, i_108^0'=i_108^post136, r_260^0'=r_260^post136, length_29^0'=length_29^post136, x_20^0'=x_20^post136, a_330^0'=a_330^post136, (-t_23^post136+t_23^0 == 0 /\ -tmp_34^post136+tmp_34^0 == 0 /\ f_263^0-f_263^post136 == 0 /\ rcd_58^0-rcd_58^post136 == 0 /\ nondet_12^0-nondet_12^post136 == 0 /\ head_129^0-head_129^post136 == 0 /\ a_147^0-a_147^post136 == 0 /\ -len_132^post136+len_132^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post136 == 0 /\ -i_108^post136+i_108^0 == 0 /\ -r_39^post136+r_39^0 == 0 /\ y_19^0-y_19^post136 == 0 /\ -a_116^post136+a_116^0 == 0 /\ head_27^0-head_27^post136 == 0 /\ -head_223^post136+head_223^0 == 0 /\ head_32^0-head_32^post136 == 0 /\ head_268^0-head_268^post136 == 0 /\ -result_11^post136+result_11^0 == 0 /\ temp0_15^0-temp0_15^post136 == 0 /\ -a_184^post136+a_184^0 == 0 /\ -r_218^post136+r_218^0 == 0 /\ len_183^0-len_183^post136 == 0 /\ -head_14^post136+head_14^0 == 0 /\ -i_167^post136+i_167^0 == 0 /\ -a_330^post136+a_330^0 == 0 /\ temp0_31^0-temp0_31^post136 == 0 /\ x_16^0-x_16^post136 == 0 /\ -x_SLAM_f_18^post136+x_SLAM_f_18^0 == 0 /\ -i_30^post136+i_30^0 == 0 /\ -f_170^post136+f_170^0 == 0 /\ len_276^0-len_276^post136 == 0 /\ -r_163^post136+r_163^0 == 0 /\ -rcd_88^post136+rcd_88^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post136 == 0 /\ -length_29^post136+length_29^0 == 0 /\ a_241^0-a_241^post136 == 0 /\ temp_35^0-temp_35^post136 == 0 /\ -r_260^post136+r_260^0 == 0 /\ -a_308^post136+a_308^0 == 0 /\ a_210^0-a_210^post136 == 0 /\ -a_353^post136+a_353^0 == 0 /\ -len_226^post136+len_226^0 == 0 /\ ct_17^0-ct_17^post136 == 0 /\ a_277^0-a_277^post136 == 0 /\ head_175^0-head_175^post136 == 0 /\ r_124^0-r_124^post136 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post136 == 0 /\ 1-head_27^0 <= 0 /\ -i_94^post136+i_94^0 == 0 /\ -x_20^post136+x_20^0 == 0), cost: 1 137: l88 -> l89 : temp0_15^0'=temp0_15^post137, a_241^0'=a_241^post137, head_27^0'=head_27^post137, head_129^0'=head_129^post137, r_124^0'=r_124^post137, len_183^0'=len_183^post137, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post137, a_147^0'=a_147^post137, rcd_58^0'=rcd_58^post137, head_175^0'=head_175^post137, y_19^0'=y_19^post137, ct_17^0'=ct_17^post137, temp_35^0'=temp_35^post137, i_30^0'=i_30^post137, head_SLAM_f_26^0'=head_SLAM_f_26^post137, r_218^0'=r_218^post137, len_276^0'=len_276^post137, a_308^0'=a_308^post137, t_23^0'=t_23^post137, a_210^0'=a_210^post137, result_11^0'=result_11^post137, head_268^0'=head_268^post137, f_263^0'=f_263^post137, x_16^0'=x_16^post137, len_132^0'=len_132^post137, i_167^0'=i_167^post137, a_116^0'=a_116^post137, r_39^0'=r_39^post137, nondet_12^0'=nondet_12^post137, x_SLAM_f_18^0'=x_SLAM_f_18^post137, a_353^0'=a_353^post137, temp0_31^0'=temp0_31^post137, a_277^0'=a_277^post137, head_32^0'=head_32^post137, head_14^0'=head_14^post137, r_163^0'=r_163^post137, len_226^0'=len_226^post137, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post137, a_184^0'=a_184^post137, rcd_88^0'=rcd_88^post137, head_223^0'=head_223^post137, f_170^0'=f_170^post137, tmp_34^0'=tmp_34^post137, i_94^0'=i_94^post137, i_108^0'=i_108^post137, r_260^0'=r_260^post137, length_29^0'=length_29^post137, x_20^0'=x_20^post137, a_330^0'=a_330^post137, (-length_29^post137+length_29^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post137 == 0 /\ -a_353^post137+a_353^0 == 0 /\ -tmp_34^post137+tmp_34^0 == 0 /\ -head_14^post137+head_14^0 == 0 /\ head_129^0-head_129^post137 == 0 /\ -result_11^post137+result_11^0 == 0 /\ 1+head_27^0 <= 0 /\ head_268^0-head_268^post137 == 0 /\ -a_277^post137+a_277^0 == 0 /\ a_147^0-a_147^post137 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post137 == 0 /\ a_241^0-a_241^post137 == 0 /\ -x_20^post137+x_20^0 == 0 /\ -x_16^post137+x_16^0 == 0 /\ -a_308^post137+a_308^0 == 0 /\ temp0_15^0-temp0_15^post137 == 0 /\ -a_330^post137+a_330^0 == 0 /\ -head_223^post137+head_223^0 == 0 /\ -head_175^post137+head_175^0 == 0 /\ temp0_31^0-temp0_31^post137 == 0 /\ y_19^0-y_19^post137 == 0 /\ rcd_58^0-rcd_58^post137 == 0 /\ -i_108^post137+i_108^0 == 0 /\ -x_SLAM_f_18^post137+x_SLAM_f_18^0 == 0 /\ -a_184^post137+a_184^0 == 0 /\ len_276^0-len_276^post137 == 0 /\ r_163^0-r_163^post137 == 0 /\ -f_170^post137+f_170^0 == 0 /\ -len_226^post137+len_226^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post137 == 0 /\ ct_17^0-ct_17^post137 == 0 /\ f_263^0-f_263^post137 == 0 /\ -r_39^post137+r_39^0 == 0 /\ len_183^0-len_183^post137 == 0 /\ -r_260^post137+r_260^0 == 0 /\ head_27^0-head_27^post137 == 0 /\ len_132^0-len_132^post137 == 0 /\ -r_218^post137+r_218^0 == 0 /\ a_210^0-a_210^post137 == 0 /\ -i_30^post137+i_30^0 == 0 /\ -r_124^post137+r_124^0 == 0 /\ -i_167^post137+i_167^0 == 0 /\ temp_35^0-temp_35^post137 == 0 /\ t_23^0-t_23^post137 == 0 /\ -head_32^post137+head_32^0 == 0 /\ -a_116^post137+a_116^0 == 0 /\ -i_94^post137+i_94^0 == 0 /\ -rcd_88^post137+rcd_88^0 == 0 /\ -nondet_12^post137+nondet_12^0 == 0), cost: 1 138: l89 -> l90 : temp0_15^0'=temp0_15^post138, a_241^0'=a_241^post138, head_27^0'=head_27^post138, head_129^0'=head_129^post138, r_124^0'=r_124^post138, len_183^0'=len_183^post138, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post138, a_147^0'=a_147^post138, rcd_58^0'=rcd_58^post138, head_175^0'=head_175^post138, y_19^0'=y_19^post138, ct_17^0'=ct_17^post138, temp_35^0'=temp_35^post138, i_30^0'=i_30^post138, head_SLAM_f_26^0'=head_SLAM_f_26^post138, r_218^0'=r_218^post138, len_276^0'=len_276^post138, a_308^0'=a_308^post138, t_23^0'=t_23^post138, a_210^0'=a_210^post138, result_11^0'=result_11^post138, head_268^0'=head_268^post138, f_263^0'=f_263^post138, x_16^0'=x_16^post138, len_132^0'=len_132^post138, i_167^0'=i_167^post138, a_116^0'=a_116^post138, r_39^0'=r_39^post138, nondet_12^0'=nondet_12^post138, x_SLAM_f_18^0'=x_SLAM_f_18^post138, a_353^0'=a_353^post138, temp0_31^0'=temp0_31^post138, a_277^0'=a_277^post138, head_32^0'=head_32^post138, head_14^0'=head_14^post138, r_163^0'=r_163^post138, len_226^0'=len_226^post138, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post138, a_184^0'=a_184^post138, rcd_88^0'=rcd_88^post138, head_223^0'=head_223^post138, f_170^0'=f_170^post138, tmp_34^0'=tmp_34^post138, i_94^0'=i_94^post138, i_108^0'=i_108^post138, r_260^0'=r_260^post138, length_29^0'=length_29^post138, x_20^0'=x_20^post138, a_330^0'=a_330^post138, (0 == 0 /\ -i_108^post138+i_108^0 == 0 /\ -a_353^post138+a_353^0 == 0 /\ -length_29^post138+length_29^0 == 0 /\ -r_163^post138+r_163^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post138 == 0 /\ a_147^0-a_147^post138 == 0 /\ i_30^0-i_30^post138 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post138+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_183^0-len_183^post138 == 0 /\ head_27^0-head_27^post138 == 0 /\ head_268^0-head_268^post138 == 0 /\ head_27^0-f_263^0 <= 0 /\ -result_11^post138+result_11^0 == 0 /\ -1-len_226^0+len_276^post138 <= 0 /\ -x_20^post138+x_20^0 == 0 /\ -x_16^post138+x_16^0 == 0 /\ -1+a_241^0-a_277^post138 <= 0 /\ -a_330^post138+a_330^0 == 0 /\ -tmp_34^post138+tmp_34^0 == 0 /\ ct_17^0-ct_17^post138 == 0 /\ -a_308^post138+a_308^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post138 == 0 /\ r_124^0-r_124^post138 == 0 /\ -head_27^0+f_263^0 <= 0 /\ head_32^0-head_32^post138 == 0 /\ -a_184^post138+a_184^0 == 0 /\ -f_170^post138+f_170^0 == 0 /\ -head_223^post138+head_223^0 == 0 /\ head_129^0-head_129^post138 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ -i_94^post138+i_94^0 == 0 /\ -r_218^post138+r_218^0 == 0 /\ a_116^0-a_116^post138 == 0 /\ f_263^0-f_263^post138 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post138 == 0 /\ head_175^0-head_175^post138 == 0 /\ 1+len_226^0-len_276^post138 <= 0 /\ t_23^0-t_23^post138 == 0 /\ len_132^0-len_132^post138 == 0 /\ -i_167^post138+i_167^0 == 0 /\ a_241^0-a_241^post138 == 0 /\ a_210^0-a_210^post138 == 0 /\ temp0_15^0-temp0_15^post138 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ 1-a_241^0+a_277^post138 <= 0 /\ -nondet_12^post138+nondet_12^0 == 0 /\ -head_14^post138+head_14^0 == 0 /\ temp0_31^0-temp0_31^post138 == 0 /\ y_19^0-y_19^post138 == 0 /\ len_226^0-len_226^post138 == 0 /\ rcd_58^0-rcd_58^post138 == 0 /\ -r_260^post138+r_260^0 == 0 /\ -temp_35^post138+temp_35^0 == 0 /\ -rcd_88^post138+rcd_88^0 == 0 /\ r_39^0-r_39^post138 == 0), cost: 1 139: l90 -> l91 : temp0_15^0'=temp0_15^post139, a_241^0'=a_241^post139, head_27^0'=head_27^post139, head_129^0'=head_129^post139, r_124^0'=r_124^post139, len_183^0'=len_183^post139, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post139, a_147^0'=a_147^post139, rcd_58^0'=rcd_58^post139, head_175^0'=head_175^post139, y_19^0'=y_19^post139, ct_17^0'=ct_17^post139, temp_35^0'=temp_35^post139, i_30^0'=i_30^post139, head_SLAM_f_26^0'=head_SLAM_f_26^post139, r_218^0'=r_218^post139, len_276^0'=len_276^post139, a_308^0'=a_308^post139, t_23^0'=t_23^post139, a_210^0'=a_210^post139, result_11^0'=result_11^post139, head_268^0'=head_268^post139, f_263^0'=f_263^post139, x_16^0'=x_16^post139, len_132^0'=len_132^post139, i_167^0'=i_167^post139, a_116^0'=a_116^post139, r_39^0'=r_39^post139, nondet_12^0'=nondet_12^post139, x_SLAM_f_18^0'=x_SLAM_f_18^post139, a_353^0'=a_353^post139, temp0_31^0'=temp0_31^post139, a_277^0'=a_277^post139, head_32^0'=head_32^post139, head_14^0'=head_14^post139, r_163^0'=r_163^post139, len_226^0'=len_226^post139, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post139, a_184^0'=a_184^post139, rcd_88^0'=rcd_88^post139, head_223^0'=head_223^post139, f_170^0'=f_170^post139, tmp_34^0'=tmp_34^post139, i_94^0'=i_94^post139, i_108^0'=i_108^post139, r_260^0'=r_260^post139, length_29^0'=length_29^post139, x_20^0'=x_20^post139, a_330^0'=a_330^post139, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post139 == 0 /\ -head_32^post139+head_32^0 == 0 /\ a_116^0-a_116^post139 == 0 /\ len_183^0-len_183^post139 == 0 /\ -f_263^post139+f_263^0 == 0 /\ result_11^0-result_11^post139 == 0 /\ -len_276^post139+len_276^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post139 == 0 /\ r_218^0-r_218^post139 == 0 /\ a_308^0-a_308^post139 == 0 /\ a_184^0-a_184^post139 == 0 /\ r_124^0-r_124^post139 == 0 /\ t_23^0-t_23^post139 == 0 /\ -temp0_31^post139+temp0_31^0 == 0 /\ -tmp_34^post139+tmp_34^0 == 0 /\ len_132^0-len_132^post139 == 0 /\ -r_163^post139+r_163^0 == 0 /\ -temp_35^post139+temp_35^0 == 0 /\ -f_170^post139+f_170^0 == 0 /\ -length_29^post139+length_29^0 == 0 /\ a_353^0-a_353^post139 == 0 /\ r_39^0-r_39^post139 == 0 /\ head_129^0-head_129^post139 == 0 /\ -head_223^post139+head_223^0 == 0 /\ 1-head_14^0 <= 0 /\ -rcd_88^post139+rcd_88^0 == 0 /\ i_30^0-i_30^post139 == 0 /\ a_147^0-a_147^post139 == 0 /\ -i_94^post139+i_94^0 == 0 /\ head_175^0-head_175^post139 == 0 /\ -x_20^post139+x_20^0 == 0 /\ -i_108^post139+i_108^0 == 0 /\ -x_16^post139+x_16^0 == 0 /\ head_268^0-head_268^post139 == 0 /\ -a_330^post139+a_330^0 == 0 /\ -head_14^post139+head_14^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post139+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_167^post139+i_167^0 == 0 /\ -head_SLAM_f_26^post139+head_SLAM_f_26^0 == 0 /\ -nondet_12^post139+nondet_12^0 == 0 /\ -a_277^post139+a_277^0 == 0 /\ a_241^0-a_241^post139 == 0 /\ temp0_15^0-temp0_15^post139 == 0 /\ -head_27^post139+head_27^0 == 0 /\ ct_17^0-ct_17^post139 == 0 /\ -r_260^post139+r_260^0 == 0 /\ y_19^0-y_19^post139 == 0 /\ -len_226^post139+len_226^0 == 0 /\ rcd_58^0-rcd_58^post139 == 0 /\ -a_210^post139+a_210^0 == 0), cost: 1 140: l90 -> l91 : temp0_15^0'=temp0_15^post140, a_241^0'=a_241^post140, head_27^0'=head_27^post140, head_129^0'=head_129^post140, r_124^0'=r_124^post140, len_183^0'=len_183^post140, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post140, a_147^0'=a_147^post140, rcd_58^0'=rcd_58^post140, head_175^0'=head_175^post140, y_19^0'=y_19^post140, ct_17^0'=ct_17^post140, temp_35^0'=temp_35^post140, i_30^0'=i_30^post140, head_SLAM_f_26^0'=head_SLAM_f_26^post140, r_218^0'=r_218^post140, len_276^0'=len_276^post140, a_308^0'=a_308^post140, t_23^0'=t_23^post140, a_210^0'=a_210^post140, result_11^0'=result_11^post140, head_268^0'=head_268^post140, f_263^0'=f_263^post140, x_16^0'=x_16^post140, len_132^0'=len_132^post140, i_167^0'=i_167^post140, a_116^0'=a_116^post140, r_39^0'=r_39^post140, nondet_12^0'=nondet_12^post140, x_SLAM_f_18^0'=x_SLAM_f_18^post140, a_353^0'=a_353^post140, temp0_31^0'=temp0_31^post140, a_277^0'=a_277^post140, head_32^0'=head_32^post140, head_14^0'=head_14^post140, r_163^0'=r_163^post140, len_226^0'=len_226^post140, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post140, a_184^0'=a_184^post140, rcd_88^0'=rcd_88^post140, head_223^0'=head_223^post140, f_170^0'=f_170^post140, tmp_34^0'=tmp_34^post140, i_94^0'=i_94^post140, i_108^0'=i_108^post140, r_260^0'=r_260^post140, length_29^0'=length_29^post140, x_20^0'=x_20^post140, a_330^0'=a_330^post140, (-y_19^post140+y_19^0 == 0 /\ i_30^0-i_30^post140 == 0 /\ -len_132^post140+len_132^0 == 0 /\ -head_32^post140+head_32^0 == 0 /\ -r_39^post140+r_39^0 == 0 /\ a_210^0-a_210^post140 == 0 /\ x_16^0-x_16^post140 == 0 /\ len_183^0-len_183^post140 == 0 /\ head_223^0-head_223^post140 == 0 /\ i_167^0-i_167^post140 == 0 /\ -len_276^post140+len_276^0 == 0 /\ -a_184^post140+a_184^0 == 0 /\ -head_268^post140+head_268^0 == 0 /\ r_124^0-r_124^post140 == 0 /\ -tmp_34^post140+tmp_34^0 == 0 /\ -x_SLAM_f_18^post140+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ rcd_88^0-rcd_88^post140 == 0 /\ -f_170^post140+f_170^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post140 == 0 /\ -length_29^post140+length_29^0 == 0 /\ -temp0_31^post140+temp0_31^0 == 0 /\ f_263^0-f_263^post140 == 0 /\ -r_163^post140+r_163^0 == 0 /\ temp_35^0-temp_35^post140 == 0 /\ -a_116^post140+a_116^0 == 0 /\ head_129^0-head_129^post140 == 0 /\ -i_108^post140+i_108^0 == 0 /\ result_11^0-result_11^post140 == 0 /\ -ct_17^post140+ct_17^0 == 0 /\ -nondet_12^post140+nondet_12^0 == 0 /\ head_175^0-head_175^post140 == 0 /\ r_218^0-r_218^post140 == 0 /\ -x_20^post140+x_20^0 == 0 /\ r_260^0-r_260^post140 == 0 /\ -a_330^post140+a_330^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post140+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_308^0-a_308^post140 == 0 /\ head_27^0-head_27^post140 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post140+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_94^0-i_94^post140 == 0 /\ a_241^0-a_241^post140 == 0 /\ head_14^0-head_14^post140 == 0 /\ temp0_15^0-temp0_15^post140 == 0 /\ -a_353^post140+a_353^0 == 0 /\ -a_147^post140+a_147^0 == 0 /\ -len_226^post140+len_226^0 == 0 /\ -a_277^post140+a_277^0 == 0 /\ t_23^0-t_23^post140 == 0 /\ rcd_58^0-rcd_58^post140 == 0), cost: 1 141: l91 -> l92 : temp0_15^0'=temp0_15^post141, a_241^0'=a_241^post141, head_27^0'=head_27^post141, head_129^0'=head_129^post141, r_124^0'=r_124^post141, len_183^0'=len_183^post141, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post141, a_147^0'=a_147^post141, rcd_58^0'=rcd_58^post141, head_175^0'=head_175^post141, y_19^0'=y_19^post141, ct_17^0'=ct_17^post141, temp_35^0'=temp_35^post141, i_30^0'=i_30^post141, head_SLAM_f_26^0'=head_SLAM_f_26^post141, r_218^0'=r_218^post141, len_276^0'=len_276^post141, a_308^0'=a_308^post141, t_23^0'=t_23^post141, a_210^0'=a_210^post141, result_11^0'=result_11^post141, head_268^0'=head_268^post141, f_263^0'=f_263^post141, x_16^0'=x_16^post141, len_132^0'=len_132^post141, i_167^0'=i_167^post141, a_116^0'=a_116^post141, r_39^0'=r_39^post141, nondet_12^0'=nondet_12^post141, x_SLAM_f_18^0'=x_SLAM_f_18^post141, a_353^0'=a_353^post141, temp0_31^0'=temp0_31^post141, a_277^0'=a_277^post141, head_32^0'=head_32^post141, head_14^0'=head_14^post141, r_163^0'=r_163^post141, len_226^0'=len_226^post141, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post141, a_184^0'=a_184^post141, rcd_88^0'=rcd_88^post141, head_223^0'=head_223^post141, f_170^0'=f_170^post141, tmp_34^0'=tmp_34^post141, i_94^0'=i_94^post141, i_108^0'=i_108^post141, r_260^0'=r_260^post141, length_29^0'=length_29^post141, x_20^0'=x_20^post141, a_330^0'=a_330^post141, (temp_35^0-temp_35^post141 == 0 /\ -len_132^post141+len_132^0 == 0 /\ len_183^0-len_183^post141 == 0 /\ 1-head_268^0 <= 0 /\ r_163^0-r_163^post141 == 0 /\ a_241^0-a_241^post141 == 0 /\ r_218^0-r_218^post141 == 0 /\ -head_32^post141+head_32^0 == 0 /\ -x_SLAM_f_18^post141+x_SLAM_f_18^0 == 0 /\ i_167^0-i_167^post141 == 0 /\ f_263^0-f_263^post141 == 0 /\ -i_94^post141+i_94^0 == 0 /\ -f_170^post141+f_170^0 == 0 /\ -tmp_34^post141+tmp_34^0 == 0 /\ head_268^0-head_268^post141 == 0 /\ -length_29^post141+length_29^0 == 0 /\ rcd_88^0-rcd_88^post141 == 0 /\ r_124^0-r_124^post141 == 0 /\ -head_223^post141+head_223^0 == 0 /\ nondet_12^0-nondet_12^post141 == 0 /\ -i_30^post141+i_30^0 == 0 /\ -temp0_31^post141+temp0_31^0 == 0 /\ a_147^0-a_147^post141 == 0 /\ -a_308^post141+a_308^0 == 0 /\ rcd_58^0-rcd_58^post141 == 0 /\ -x_20^post141+x_20^0 == 0 /\ head_14^0-head_14^post141 == 0 /\ -a_330^post141+a_330^0 == 0 /\ a_210^0-a_210^post141 == 0 /\ a_277^0-a_277^post141 == 0 /\ -a_116^post141+a_116^0 == 0 /\ x_16^0-x_16^post141 == 0 /\ r_260^0-r_260^post141 == 0 /\ -i_108^post141+i_108^0 == 0 /\ head_129^0-head_129^post141 == 0 /\ y_19^0-y_19^post141 == 0 /\ -a_353^post141+a_353^0 == 0 /\ -a_184^post141+a_184^0 == 0 /\ head_27^0-head_27^post141 == 0 /\ -len_226^post141+len_226^0 == 0 /\ -t_23^post141+t_23^0 == 0 /\ -head_175^post141+head_175^0 == 0 /\ result_11^0-result_11^post141 == 0 /\ len_276^0-len_276^post141 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post141+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post141 == 0 /\ -r_39^post141+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post141+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ ct_17^0-ct_17^post141 == 0 /\ temp0_15^0-temp0_15^post141 == 0), cost: 1 142: l91 -> l92 : temp0_15^0'=temp0_15^post142, a_241^0'=a_241^post142, head_27^0'=head_27^post142, head_129^0'=head_129^post142, r_124^0'=r_124^post142, len_183^0'=len_183^post142, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post142, a_147^0'=a_147^post142, rcd_58^0'=rcd_58^post142, head_175^0'=head_175^post142, y_19^0'=y_19^post142, ct_17^0'=ct_17^post142, temp_35^0'=temp_35^post142, i_30^0'=i_30^post142, head_SLAM_f_26^0'=head_SLAM_f_26^post142, r_218^0'=r_218^post142, len_276^0'=len_276^post142, a_308^0'=a_308^post142, t_23^0'=t_23^post142, a_210^0'=a_210^post142, result_11^0'=result_11^post142, head_268^0'=head_268^post142, f_263^0'=f_263^post142, x_16^0'=x_16^post142, len_132^0'=len_132^post142, i_167^0'=i_167^post142, a_116^0'=a_116^post142, r_39^0'=r_39^post142, nondet_12^0'=nondet_12^post142, x_SLAM_f_18^0'=x_SLAM_f_18^post142, a_353^0'=a_353^post142, temp0_31^0'=temp0_31^post142, a_277^0'=a_277^post142, head_32^0'=head_32^post142, head_14^0'=head_14^post142, r_163^0'=r_163^post142, len_226^0'=len_226^post142, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post142, a_184^0'=a_184^post142, rcd_88^0'=rcd_88^post142, head_223^0'=head_223^post142, f_170^0'=f_170^post142, tmp_34^0'=tmp_34^post142, i_94^0'=i_94^post142, i_108^0'=i_108^post142, r_260^0'=r_260^post142, length_29^0'=length_29^post142, x_20^0'=x_20^post142, a_330^0'=a_330^post142, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post142 == 0 /\ f_263^0-f_263^post142 == 0 /\ rcd_58^0-rcd_58^post142 == 0 /\ r_218^0-r_218^post142 == 0 /\ -tmp_34^post142+tmp_34^0 == 0 /\ temp_35^0-temp_35^post142 == 0 /\ -rcd_88^post142+rcd_88^0 == 0 /\ -a_308^post142+a_308^0 == 0 /\ -a_353^post142+a_353^0 == 0 /\ -len_226^post142+len_226^0 == 0 /\ -length_29^post142+length_29^0 == 0 /\ -r_39^post142+r_39^0 == 0 /\ -i_94^post142+i_94^0 == 0 /\ i_167^0-i_167^post142 == 0 /\ temp0_31^0-temp0_31^post142 == 0 /\ -f_170^post142+f_170^0 == 0 /\ head_27^0-head_27^post142 == 0 /\ nondet_12^0-nondet_12^post142 == 0 /\ i_30^0-i_30^post142 == 0 /\ -ct_17^post142+ct_17^0 == 0 /\ -head_223^post142+head_223^0 == 0 /\ -result_11^post142+result_11^0 == 0 /\ temp0_15^0-temp0_15^post142 == 0 /\ -a_277^post142+a_277^0 == 0 /\ -t_23^post142+t_23^0 == 0 /\ -head_175^post142+head_175^0 == 0 /\ len_183^0-len_183^post142 == 0 /\ -x_20^post142+x_20^0 == 0 /\ r_163^0-r_163^post142 == 0 /\ -a_330^post142+a_330^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post142 == 0 /\ -x_SLAM_f_18^post142+x_SLAM_f_18^0 == 0 /\ head_129^0-head_129^post142 == 0 /\ -head_14^post142+head_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post142 == 0 /\ a_210^0-a_210^post142 == 0 /\ -len_132^post142+len_132^0 == 0 /\ a_147^0-a_147^post142 == 0 /\ -a_241^post142+a_241^0 == 0 /\ i_108^0-i_108^post142 == 0 /\ x_16^0-x_16^post142 == 0 /\ -a_184^post142+a_184^0 == 0 /\ -r_260^post142+r_260^0 == 0 /\ r_124^0-r_124^post142 == 0 /\ -head_32^post142+head_32^0 == 0 /\ y_19^0-y_19^post142 == 0 /\ -a_116^post142+a_116^0 == 0 /\ 1+head_268^0 <= 0 /\ len_276^0-len_276^post142 == 0 /\ -head_268^post142+head_268^0 == 0), cost: 1 143: l92 -> l87 : temp0_15^0'=temp0_15^post143, a_241^0'=a_241^post143, head_27^0'=head_27^post143, head_129^0'=head_129^post143, r_124^0'=r_124^post143, len_183^0'=len_183^post143, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post143, a_147^0'=a_147^post143, rcd_58^0'=rcd_58^post143, head_175^0'=head_175^post143, y_19^0'=y_19^post143, ct_17^0'=ct_17^post143, temp_35^0'=temp_35^post143, i_30^0'=i_30^post143, head_SLAM_f_26^0'=head_SLAM_f_26^post143, r_218^0'=r_218^post143, len_276^0'=len_276^post143, a_308^0'=a_308^post143, t_23^0'=t_23^post143, a_210^0'=a_210^post143, result_11^0'=result_11^post143, head_268^0'=head_268^post143, f_263^0'=f_263^post143, x_16^0'=x_16^post143, len_132^0'=len_132^post143, i_167^0'=i_167^post143, a_116^0'=a_116^post143, r_39^0'=r_39^post143, nondet_12^0'=nondet_12^post143, x_SLAM_f_18^0'=x_SLAM_f_18^post143, a_353^0'=a_353^post143, temp0_31^0'=temp0_31^post143, a_277^0'=a_277^post143, head_32^0'=head_32^post143, head_14^0'=head_14^post143, r_163^0'=r_163^post143, len_226^0'=len_226^post143, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post143, a_184^0'=a_184^post143, rcd_88^0'=rcd_88^post143, head_223^0'=head_223^post143, f_170^0'=f_170^post143, tmp_34^0'=tmp_34^post143, i_94^0'=i_94^post143, i_108^0'=i_108^post143, r_260^0'=r_260^post143, length_29^0'=length_29^post143, x_20^0'=x_20^post143, a_330^0'=a_330^post143, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -tmp_34^post143+tmp_34^0 == 0 /\ -length_29^post143+length_29^0 == 0 /\ f_263^0-f_263^post143 == 0 /\ rcd_58^0-rcd_58^post143 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post143 == 0 /\ -a_353^post143+a_353^0 == 0 /\ -r_39^post143+r_39^0 == 0 /\ a_147^0-a_147^post143 == 0 /\ head_129^0-head_129^post143 == 0 /\ head_268^0-head_268^post143 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post143 == 0 /\ temp0_15^0-temp0_15^post143 == 0 /\ -a_308^post143+a_308^0 == 0 /\ y_19^0-y_19^post143 == 0 /\ i_167^0-i_167^post143 == 0 /\ -x_20^post143+x_20^0 == 0 /\ temp0_31^0-temp0_31^post143 == 0 /\ -a_184^post143+a_184^0 == 0 /\ len_276^0-len_276^post143 == 0 /\ -i_108^post143+i_108^0 == 0 /\ -x_16^post143+x_16^0 == 0 /\ -a_330^post143+a_330^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_260^post143+r_260^0 == 0 /\ -t_23^post143+t_23^0 == 0 /\ len_132^0-len_132^post143 == 0 /\ ct_17^0-ct_17^post143 == 0 /\ -x_SLAM_f_18^post143+x_SLAM_f_18^0 == 0 /\ a_210^0-a_210^post143 == 0 /\ r_163^0-r_163^post143 == 0 /\ -head_14^post143+head_14^0 == 0 /\ -result_11^post143+result_11^0 == 0 /\ -f_170^post143+f_170^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post143 == 0 /\ -len_276^0+len_226^post143 <= 0 /\ -i_30^post143+i_30^0 == 0 /\ head_27^0-head_27^post143 == 0 /\ temp_35^0-temp_35^post143 == 0 /\ len_183^0-len_183^post143 == 0 /\ -a_277^0+a_241^post143 <= 0 /\ a_277^0-a_277^post143 == 0 /\ head_175^0-head_175^post143 == 0 /\ -rcd_88^post143+rcd_88^0 == 0 /\ -head_223^post143+head_223^0 == 0 /\ -r_124^post143+r_124^0 == 0 /\ len_276^0-len_226^post143 <= 0 /\ -nondet_12^post143+nondet_12^0 == 0 /\ -head_32^post143+head_32^0 == 0 /\ -r_218^post143+r_218^0 == 0 /\ -i_94^post143+i_94^0 == 0 /\ -a_116^post143+a_116^0 == 0 /\ a_277^0-a_241^post143 <= 0), cost: 1 144: l87 -> l4 : temp0_15^0'=temp0_15^post144, a_241^0'=a_241^post144, head_27^0'=head_27^post144, head_129^0'=head_129^post144, r_124^0'=r_124^post144, len_183^0'=len_183^post144, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post144, a_147^0'=a_147^post144, rcd_58^0'=rcd_58^post144, head_175^0'=head_175^post144, y_19^0'=y_19^post144, ct_17^0'=ct_17^post144, temp_35^0'=temp_35^post144, i_30^0'=i_30^post144, head_SLAM_f_26^0'=head_SLAM_f_26^post144, r_218^0'=r_218^post144, len_276^0'=len_276^post144, a_308^0'=a_308^post144, t_23^0'=t_23^post144, a_210^0'=a_210^post144, result_11^0'=result_11^post144, head_268^0'=head_268^post144, f_263^0'=f_263^post144, x_16^0'=x_16^post144, len_132^0'=len_132^post144, i_167^0'=i_167^post144, a_116^0'=a_116^post144, r_39^0'=r_39^post144, nondet_12^0'=nondet_12^post144, x_SLAM_f_18^0'=x_SLAM_f_18^post144, a_353^0'=a_353^post144, temp0_31^0'=temp0_31^post144, a_277^0'=a_277^post144, head_32^0'=head_32^post144, head_14^0'=head_14^post144, r_163^0'=r_163^post144, len_226^0'=len_226^post144, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post144, a_184^0'=a_184^post144, rcd_88^0'=rcd_88^post144, head_223^0'=head_223^post144, f_170^0'=f_170^post144, tmp_34^0'=tmp_34^post144, i_94^0'=i_94^post144, i_108^0'=i_108^post144, r_260^0'=r_260^post144, length_29^0'=length_29^post144, x_20^0'=x_20^post144, a_330^0'=a_330^post144, (len_132^0-len_132^post144 == 0 /\ -r_163^post144+r_163^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post144 == 0 /\ a_147^0-a_147^post144 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post144+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_353^post144+a_353^0 == 0 /\ -length_29^post144+length_29^0 == 0 /\ -i_167^post144+i_167^0 == 0 /\ y_19^0-y_19^post144 == 0 /\ head_27^0-head_27^post144 == 0 /\ -head_223^post144+head_223^0 == 0 /\ rcd_58^0-rcd_58^post144 == 0 /\ len_183^0-len_183^post144 == 0 /\ tmp_34^0-tmp_34^post144 == 0 /\ a_184^0-a_184^post144 == 0 /\ -f_263^post144+f_263^0 == 0 /\ -a_277^post144+a_277^0 == 0 /\ head_268^0-head_268^post144 == 0 /\ -i_30^post144+i_30^0 == 0 /\ -a_210^post144+a_210^0 == 0 /\ -x_20^post144+x_20^0 == 0 /\ -x_16^post144+x_16^0 == 0 /\ -i_108^post144+i_108^0 == 0 /\ -a_330^post144+a_330^0 == 0 /\ r_124^0-r_124^post144 == 0 /\ len_276^0-len_276^post144 == 0 /\ head_32^0-head_32^post144 == 0 /\ ct_17^0-ct_17^post144 == 0 /\ -head_14^post144+head_14^0 == 0 /\ -result_11^post144+result_11^0 == 0 /\ -f_170^post144+f_170^0 == 0 /\ -r_260^post144+r_260^0 == 0 /\ temp_35^0-temp_35^post144 == 0 /\ r_39^0-r_39^post144 == 0 /\ t_23^0-t_23^post144 == 0 /\ a_241^0-a_241^post144 == 0 /\ -rcd_88^post144+rcd_88^0 == 0 /\ -nondet_12^post144+nondet_12^0 == 0 /\ -r_218^post144+r_218^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post144 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post144 == 0 /\ temp0_31^0-temp0_31^post144 == 0 /\ temp0_15^0-temp0_15^post144 == 0 /\ len_226^0-len_226^post144 == 0 /\ a_308^0-a_308^post144 == 0 /\ -a_116^post144+a_116^0 == 0 /\ -i_94^post144+i_94^0 == 0 /\ -head_129^post144+head_129^0 == 0 /\ head_175^0-head_175^post144 == 0), cost: 1 145: l93 -> l34 : temp0_15^0'=temp0_15^post145, a_241^0'=a_241^post145, head_27^0'=head_27^post145, head_129^0'=head_129^post145, r_124^0'=r_124^post145, len_183^0'=len_183^post145, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post145, a_147^0'=a_147^post145, rcd_58^0'=rcd_58^post145, head_175^0'=head_175^post145, y_19^0'=y_19^post145, ct_17^0'=ct_17^post145, temp_35^0'=temp_35^post145, i_30^0'=i_30^post145, head_SLAM_f_26^0'=head_SLAM_f_26^post145, r_218^0'=r_218^post145, len_276^0'=len_276^post145, a_308^0'=a_308^post145, t_23^0'=t_23^post145, a_210^0'=a_210^post145, result_11^0'=result_11^post145, head_268^0'=head_268^post145, f_263^0'=f_263^post145, x_16^0'=x_16^post145, len_132^0'=len_132^post145, i_167^0'=i_167^post145, a_116^0'=a_116^post145, r_39^0'=r_39^post145, nondet_12^0'=nondet_12^post145, x_SLAM_f_18^0'=x_SLAM_f_18^post145, a_353^0'=a_353^post145, temp0_31^0'=temp0_31^post145, a_277^0'=a_277^post145, head_32^0'=head_32^post145, head_14^0'=head_14^post145, r_163^0'=r_163^post145, len_226^0'=len_226^post145, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post145, a_184^0'=a_184^post145, rcd_88^0'=rcd_88^post145, head_223^0'=head_223^post145, f_170^0'=f_170^post145, tmp_34^0'=tmp_34^post145, i_94^0'=i_94^post145, i_108^0'=i_108^post145, r_260^0'=r_260^post145, length_29^0'=length_29^post145, x_20^0'=x_20^post145, a_330^0'=a_330^post145, (-r_260^post145+r_260^0 == 0 /\ -i_108^post145+i_108^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post145+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp0_15^0-temp0_15^post145 == 0 /\ head_129^0-head_129^post145 == 0 /\ r_124^0-r_124^post145 == 0 /\ a_308^0-a_308^post145 == 0 /\ result_11^0-result_11^post145 == 0 /\ head_175^0-head_175^post145 == 0 /\ a_184^0-a_184^post145 == 0 /\ len_132^0-len_132^post145 == 0 /\ a_241^0-a_241^post145 == 0 /\ -i_167^post145+i_167^0 == 0 /\ f_170^0-f_170^post145 == 0 /\ -head_14^post145+head_14^0 == 0 /\ r_39^0-r_39^post145 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post145 == 0 /\ -tmp_34^post145+tmp_34^0 == 0 /\ -head_268^post145+head_268^0 == 0 /\ -length_29^post145+length_29^0 == 0 /\ -i_94^post145+i_94^0 == 0 /\ -a_353^post145+a_353^0 == 0 /\ t_23^0-t_23^post145 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post145 == 0 /\ y_19^0-y_19^post145 == 0 /\ -r_163^post145+r_163^0 == 0 /\ len_226^0-len_226^post145 == 0 /\ -head_SLAM_f_26^post145+head_SLAM_f_26^0 == 0 /\ i_30^0-i_30^post145 == 0 /\ -f_263^post145+f_263^0 == 0 /\ -head_223^post145+head_223^0 == 0 /\ -temp0_31^post145+temp0_31^0 == 0 /\ -rcd_88^post145+rcd_88^0 == 0 /\ -a_277^post145+a_277^0 == 0 /\ head_32^0-head_32^post145 == 0 /\ r_218^0-r_218^post145 == 0 /\ -x_20^post145+x_20^0 == 0 /\ -a_210^post145+a_210^0 == 0 /\ -nondet_12^post145+nondet_12^0 == 0 /\ -x_16^post145+x_16^0 == 0 /\ -len_276^post145+len_276^0 == 0 /\ -len_183^post145+len_183^0 == 0 /\ ct_17^0-ct_17^post145 == 0 /\ -a_330^post145+a_330^0 == 0 /\ temp_35^0-temp_35^post145 == 0 /\ a_116^0-a_116^post145 == 0 /\ a_147^0-a_147^post145 == 0 /\ -rcd_58^post145+rcd_58^0 == 0 /\ head_27^0-head_27^post145 == 0), cost: 1 Applied preprocessing Original rule: l10 -> l13 : temp0_15^0'=temp0_15^post14, a_241^0'=a_241^post14, head_27^0'=head_27^post14, head_129^0'=head_129^post14, r_124^0'=r_124^post14, len_183^0'=len_183^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14, a_147^0'=a_147^post14, rcd_58^0'=rcd_58^post14, head_175^0'=head_175^post14, y_19^0'=y_19^post14, ct_17^0'=ct_17^post14, temp_35^0'=temp_35^post14, i_30^0'=i_30^post14, head_SLAM_f_26^0'=head_SLAM_f_26^post14, r_218^0'=r_218^post14, len_276^0'=len_276^post14, a_308^0'=a_308^post14, t_23^0'=t_23^post14, a_210^0'=a_210^post14, result_11^0'=result_11^post14, head_268^0'=head_268^post14, f_263^0'=f_263^post14, x_16^0'=x_16^post14, len_132^0'=len_132^post14, i_167^0'=i_167^post14, a_116^0'=a_116^post14, r_39^0'=r_39^post14, nondet_12^0'=nondet_12^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=a_353^post14, temp0_31^0'=temp0_31^post14, a_277^0'=a_277^post14, head_32^0'=head_32^post14, head_14^0'=head_14^post14, r_163^0'=r_163^post14, len_226^0'=len_226^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_184^0'=a_184^post14, rcd_88^0'=rcd_88^post14, head_223^0'=head_223^post14, f_170^0'=f_170^post14, tmp_34^0'=tmp_34^post14, i_94^0'=i_94^post14, i_108^0'=i_108^post14, r_260^0'=r_260^post14, length_29^0'=length_29^post14, x_20^0'=x_20^post14, a_330^0'=a_330^post14, (0 == 0 /\ r_124^0-r_124^post14 == 0 /\ a_308^0-a_308^post14 == 0 /\ -rcd_88^post14+rcd_88^0 == 0 /\ tmp_34^0-tmp_34^post14 == 0 /\ len_276^0-len_276^post14 == 0 /\ -a_330^0 <= 0 /\ t_23^0-t_23^post14 == 0 /\ -a_330^post14+a_330^0 == 0 /\ len_132^0-len_132^post14 == 0 /\ r_218^0-r_218^post14 == 0 /\ -nondet_12^post14+nondet_12^0 == 0 /\ -f_170^post14+f_170^0 == 0 /\ -i_94^post14+i_94^0 == 0 /\ -length_29^post14+length_29^0 == 0 /\ -temp_35^post14+temp_35^0 == 0 /\ a_241^0-a_241^post14 == 0 /\ head_175^0-head_175^post14 == 0 /\ a_184^0-a_184^post14 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14 == 0 /\ head_129^0-head_129^post14 == 0 /\ -f_263^post14+f_263^0 == 0 /\ -a_210^post14+a_210^0 == 0 /\ a_116^0-a_116^post14 == 0 /\ a_147^0-a_147^post14 == 0 /\ head_27^0-head_27^post14 == 0 /\ i_30^0-i_30^post14 == 0 /\ -a_277^post14+a_277^0 == 0 /\ -x_20^post14+x_20^0 == 0 /\ head_268^0-head_268^post14 == 0 /\ len_226^0-len_226^post14 == 0 /\ a_353^0-a_353^post14 == 0 /\ -rcd_58^post14+rcd_58^0 == 0 /\ -i_108^post14+i_108^0 == 0 /\ -len_183^post14+len_183^0 == 0 /\ -head_32^post14+head_32^0 == 0 /\ y_19^0-y_19^post14 == 0 /\ -r_163^post14+r_163^0 == 0 /\ -r_260^post14+r_260^0 == 0 /\ result_11^0-result_11^post14 == 0 /\ -head_223^post14+head_223^0 == 0 /\ -i_167^post14+i_167^0 == 0 /\ -head_SLAM_f_26^post14+head_SLAM_f_26^0 == 0 /\ temp0_31^0-temp0_31^post14 == 0 /\ temp0_15^0-temp0_15^post14 == 0), cost: 1 New rule: l10 -> l13 : ct_17^0'=ct_17^post14, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0 >= 0, cost: 1 Applied preprocessing Original rule: l13 -> l14 : temp0_15^0'=temp0_15^post15, a_241^0'=a_241^post15, head_27^0'=head_27^post15, head_129^0'=head_129^post15, r_124^0'=r_124^post15, len_183^0'=len_183^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15, a_147^0'=a_147^post15, rcd_58^0'=rcd_58^post15, head_175^0'=head_175^post15, y_19^0'=y_19^post15, ct_17^0'=ct_17^post15, temp_35^0'=temp_35^post15, i_30^0'=i_30^post15, head_SLAM_f_26^0'=head_SLAM_f_26^post15, r_218^0'=r_218^post15, len_276^0'=len_276^post15, a_308^0'=a_308^post15, t_23^0'=t_23^post15, a_210^0'=a_210^post15, result_11^0'=result_11^post15, head_268^0'=head_268^post15, f_263^0'=f_263^post15, x_16^0'=x_16^post15, len_132^0'=len_132^post15, i_167^0'=i_167^post15, a_116^0'=a_116^post15, r_39^0'=r_39^post15, nondet_12^0'=nondet_12^post15, x_SLAM_f_18^0'=x_SLAM_f_18^post15, a_353^0'=a_353^post15, temp0_31^0'=temp0_31^post15, a_277^0'=a_277^post15, head_32^0'=head_32^post15, head_14^0'=head_14^post15, r_163^0'=r_163^post15, len_226^0'=len_226^post15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post15, a_184^0'=a_184^post15, rcd_88^0'=rcd_88^post15, head_223^0'=head_223^post15, f_170^0'=f_170^post15, tmp_34^0'=tmp_34^post15, i_94^0'=i_94^post15, i_108^0'=i_108^post15, r_260^0'=r_260^post15, length_29^0'=length_29^post15, x_20^0'=x_20^post15, a_330^0'=a_330^post15, (-nondet_12^post15+nondet_12^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post15 == 0 /\ -a_330^post15+a_330^0 == 0 /\ head_175^0-head_175^post15 == 0 /\ r_124^0-r_124^post15 == 0 /\ head_223^0-head_223^post15 == 0 /\ -head_14^post15+head_14^0 == 0 /\ -r_163^post15+r_163^0 == 0 /\ -rcd_88^post15+rcd_88^0 == 0 /\ temp0_15^0-temp0_15^post15 == 0 /\ a_116^0-a_116^post15 == 0 /\ -length_29^post15+length_29^0 == 0 /\ -i_94^post15+i_94^0 == 0 /\ -f_170^post15+f_170^0 == 0 /\ result_11^0-result_11^post15 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post15+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_241^0-a_241^post15 == 0 /\ head_129^0-head_129^post15 == 0 /\ -f_263^post15+f_263^0 == 0 /\ x_16^0-x_16^post15 == 0 /\ -a_277^post15+a_277^0 == 0 /\ -len_276^post15+len_276^0 == 0 /\ -temp0_31^post15+temp0_31^0 == 0 /\ -rcd_58^post15+rcd_58^0 == 0 /\ -head_268^post15+head_268^0 == 0 /\ a_308^0-a_308^post15 == 0 /\ len_226^0-len_226^post15 == 0 /\ y_19^0-y_19^post15 == 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_20^post15+x_20^0 == 0 /\ -a_210^post15+a_210^0 == 0 /\ -head_SLAM_f_26^post15+head_SLAM_f_26^0 == 0 /\ -len_183^post15+len_183^0 == 0 /\ -len_132^post15+len_132^0 == 0 /\ head_27^0-head_27^post15 == 0 /\ t_23^0-t_23^post15 == 0 /\ -i_108^post15+i_108^0 == 0 /\ a_353^0-a_353^post15 == 0 /\ ct_17^0-ct_17^post15 == 0 /\ -tmp_34^post15+tmp_34^0 == 0 /\ i_167^0-i_167^post15 == 0 /\ i_30^0-i_30^post15 == 0 /\ -a_184^post15+a_184^0 == 0 /\ -r_260^post15+r_260^0 == 0 /\ -head_32^post15+head_32^0 == 0 /\ r_218^0-r_218^post15 == 0 /\ -r_39^post15+r_39^0 == 0 /\ temp_35^0-temp_35^post15 == 0 /\ a_147^0-a_147^post15 == 0), cost: 1 New rule: l13 -> l14 : 1+y_19^0-x_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l13 -> l14 : temp0_15^0'=temp0_15^post16, a_241^0'=a_241^post16, head_27^0'=head_27^post16, head_129^0'=head_129^post16, r_124^0'=r_124^post16, len_183^0'=len_183^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16, a_147^0'=a_147^post16, rcd_58^0'=rcd_58^post16, head_175^0'=head_175^post16, y_19^0'=y_19^post16, ct_17^0'=ct_17^post16, temp_35^0'=temp_35^post16, i_30^0'=i_30^post16, head_SLAM_f_26^0'=head_SLAM_f_26^post16, r_218^0'=r_218^post16, len_276^0'=len_276^post16, a_308^0'=a_308^post16, t_23^0'=t_23^post16, a_210^0'=a_210^post16, result_11^0'=result_11^post16, head_268^0'=head_268^post16, f_263^0'=f_263^post16, x_16^0'=x_16^post16, len_132^0'=len_132^post16, i_167^0'=i_167^post16, a_116^0'=a_116^post16, r_39^0'=r_39^post16, nondet_12^0'=nondet_12^post16, x_SLAM_f_18^0'=x_SLAM_f_18^post16, a_353^0'=a_353^post16, temp0_31^0'=temp0_31^post16, a_277^0'=a_277^post16, head_32^0'=head_32^post16, head_14^0'=head_14^post16, r_163^0'=r_163^post16, len_226^0'=len_226^post16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post16, a_184^0'=a_184^post16, rcd_88^0'=rcd_88^post16, head_223^0'=head_223^post16, f_170^0'=f_170^post16, tmp_34^0'=tmp_34^post16, i_94^0'=i_94^post16, i_108^0'=i_108^post16, r_260^0'=r_260^post16, length_29^0'=length_29^post16, x_20^0'=x_20^post16, a_330^0'=a_330^post16, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post16 == 0 /\ head_223^0-head_223^post16 == 0 /\ -a_330^post16+a_330^0 == 0 /\ -a_147^post16+a_147^0 == 0 /\ head_27^0-head_27^post16 == 0 /\ r_218^0-r_218^post16 == 0 /\ -f_170^post16+f_170^0 == 0 /\ -x_SLAM_f_18^post16+x_SLAM_f_18^0 == 0 /\ -a_308^post16+a_308^0 == 0 /\ -rcd_88^post16+rcd_88^0 == 0 /\ -r_260^post16+r_260^0 == 0 /\ i_30^0-i_30^post16 == 0 /\ len_183^0-len_183^post16 == 0 /\ i_167^0-i_167^post16 == 0 /\ -a_353^post16+a_353^0 == 0 /\ -len_226^post16+len_226^0 == 0 /\ f_263^0-f_263^post16 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post16 == 0 /\ -i_94^post16+i_94^0 == 0 /\ -y_19^post16+y_19^0 == 0 /\ temp_35^0-temp_35^post16 == 0 /\ a_210^0-a_210^post16 == 0 /\ -ct_17^post16+ct_17^0 == 0 /\ -x_20^post16+x_20^0 == 0 /\ head_14^0-head_14^post16 == 0 /\ -t_23^post16+t_23^0 == 0 /\ head_175^0-head_175^post16 == 0 /\ -tmp_34^post16+tmp_34^0 == 0 /\ -head_268^post16+head_268^0 == 0 /\ -temp0_31^post16+temp0_31^0 == 0 /\ r_124^0-r_124^post16 == 0 /\ -a_277^post16+a_277^0 == 0 /\ -length_29^post16+length_29^0 == 0 /\ nondet_12^0-nondet_12^post16 == 0 /\ temp0_15^0-temp0_15^post16 == 0 /\ -len_132^post16+len_132^0 == 0 /\ result_11^0-result_11^post16 == 0 /\ -r_39^post16+r_39^0 == 0 /\ x_16^0-x_16^post16 == 0 /\ -i_108^post16+i_108^0 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ rcd_58^0-rcd_58^post16 == 0 /\ -head_32^post16+head_32^0 == 0 /\ -a_116^post16+a_116^0 == 0 /\ r_163^0-r_163^post16 == 0 /\ len_276^0-len_276^post16 == 0 /\ head_129^0-head_129^post16 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16 == 0 /\ -a_184^post16+a_184^0 == 0 /\ a_241^0-a_241^post16 == 0), cost: 1 New rule: l13 -> l14 : 1-y_19^0+x_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l14 -> l15 : temp0_15^0'=temp0_15^post17, a_241^0'=a_241^post17, head_27^0'=head_27^post17, head_129^0'=head_129^post17, r_124^0'=r_124^post17, len_183^0'=len_183^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17, a_147^0'=a_147^post17, rcd_58^0'=rcd_58^post17, head_175^0'=head_175^post17, y_19^0'=y_19^post17, ct_17^0'=ct_17^post17, temp_35^0'=temp_35^post17, i_30^0'=i_30^post17, head_SLAM_f_26^0'=head_SLAM_f_26^post17, r_218^0'=r_218^post17, len_276^0'=len_276^post17, a_308^0'=a_308^post17, t_23^0'=t_23^post17, a_210^0'=a_210^post17, result_11^0'=result_11^post17, head_268^0'=head_268^post17, f_263^0'=f_263^post17, x_16^0'=x_16^post17, len_132^0'=len_132^post17, i_167^0'=i_167^post17, a_116^0'=a_116^post17, r_39^0'=r_39^post17, nondet_12^0'=nondet_12^post17, x_SLAM_f_18^0'=x_SLAM_f_18^post17, a_353^0'=a_353^post17, temp0_31^0'=temp0_31^post17, a_277^0'=a_277^post17, head_32^0'=head_32^post17, head_14^0'=head_14^post17, r_163^0'=r_163^post17, len_226^0'=len_226^post17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post17, a_184^0'=a_184^post17, rcd_88^0'=rcd_88^post17, head_223^0'=head_223^post17, f_170^0'=f_170^post17, tmp_34^0'=tmp_34^post17, i_94^0'=i_94^post17, i_108^0'=i_108^post17, r_260^0'=r_260^post17, length_29^0'=length_29^post17, x_20^0'=x_20^post17, a_330^0'=a_330^post17, (0 == 0 /\ x_16^0-head_14^0 <= 0 /\ -head_14^post17+head_14^0 == 0 /\ -x_SLAM_f_18^post17+x_SLAM_f_18^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post17 == 0 /\ -head_175^post17+head_175^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ -f_170^post17+f_170^0 == 0 /\ nondet_12^0-nondet_12^post17 == 0 /\ -i_30^post17+i_30^0 == 0 /\ -length_29^post17+length_29^0 == 0 /\ head_268^0-head_268^post17 == 0 /\ -1-a_353^post17+a_330^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post17 == 0 /\ y_19^0 <= 0 /\ -r_260^post17+r_260^0 == 0 /\ ct_17^0 <= 0 /\ -a_308^post17+a_308^0 == 0 /\ -x_16^0+head_14^0 <= 0 /\ temp0_15^0-temp0_15^post17 == 0 /\ a_241^0-a_241^post17 == 0 /\ i_167^0-i_167^post17 == 0 /\ temp0_31^0-temp0_31^post17 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ rcd_58^0-rcd_58^post17 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ head_129^0-head_129^post17 == 0 /\ -i_94^post17+i_94^0 == 0 /\ -x_20^post17+x_20^0 == 0 /\ len_276^0-len_276^post17 == 0 /\ -a_330^post17+a_330^0 == 0 /\ -x_16^post17+x_16^0 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ ct_17^0-ct_17^post17 == 0 /\ r_163^0-r_163^post17 == 0 /\ -tmp_34^post17+tmp_34^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17 == 0 /\ y_19^0-y_19^post17 == 0 /\ -ct_17^0 <= 0 /\ -len_226^post17+len_226^0 == 0 /\ -a_277^post17+a_277^0 == 0 /\ -y_19^0 <= 0 /\ head_27^0-head_27^post17 == 0 /\ 1+a_353^post17-a_330^0 <= 0 /\ len_183^0-len_183^post17 == 0 /\ len_132^0-len_132^post17 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ i_108^0-i_108^post17 == 0 /\ -head_223^post17+head_223^0 == 0 /\ -r_39^post17+r_39^0 == 0 /\ -a_184^post17+a_184^0 == 0 /\ f_263^0-f_263^post17 == 0 /\ -rcd_88^post17+rcd_88^0 == 0 /\ a_147^0-a_147^post17 == 0 /\ temp_35^0-temp_35^post17 == 0 /\ -result_11^post17+result_11^0 == 0 /\ -r_124^post17+r_124^0 == 0 /\ -a_116^post17+a_116^0 == 0 /\ t_23^post17-x_20^0 == 0 /\ a_210^0-a_210^post17 == 0 /\ -head_32^post17+head_32^0 == 0 /\ -r_218^post17+r_218^0 == 0), cost: 1 New rule: l14 -> l15 : t_23^0'=x_20^0, a_353^0'=-1+a_330^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0), cost: 1 Applied preprocessing Original rule: l15 -> l16 : temp0_15^0'=temp0_15^post18, a_241^0'=a_241^post18, head_27^0'=head_27^post18, head_129^0'=head_129^post18, r_124^0'=r_124^post18, len_183^0'=len_183^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post18, a_147^0'=a_147^post18, rcd_58^0'=rcd_58^post18, head_175^0'=head_175^post18, y_19^0'=y_19^post18, ct_17^0'=ct_17^post18, temp_35^0'=temp_35^post18, i_30^0'=i_30^post18, head_SLAM_f_26^0'=head_SLAM_f_26^post18, r_218^0'=r_218^post18, len_276^0'=len_276^post18, a_308^0'=a_308^post18, t_23^0'=t_23^post18, a_210^0'=a_210^post18, result_11^0'=result_11^post18, head_268^0'=head_268^post18, f_263^0'=f_263^post18, x_16^0'=x_16^post18, len_132^0'=len_132^post18, i_167^0'=i_167^post18, a_116^0'=a_116^post18, r_39^0'=r_39^post18, nondet_12^0'=nondet_12^post18, x_SLAM_f_18^0'=x_SLAM_f_18^post18, a_353^0'=a_353^post18, temp0_31^0'=temp0_31^post18, a_277^0'=a_277^post18, head_32^0'=head_32^post18, head_14^0'=head_14^post18, r_163^0'=r_163^post18, len_226^0'=len_226^post18, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post18, a_184^0'=a_184^post18, rcd_88^0'=rcd_88^post18, head_223^0'=head_223^post18, f_170^0'=f_170^post18, tmp_34^0'=tmp_34^post18, i_94^0'=i_94^post18, i_108^0'=i_108^post18, r_260^0'=r_260^post18, length_29^0'=length_29^post18, x_20^0'=x_20^post18, a_330^0'=a_330^post18, (head_SLAM_f_26^0-head_SLAM_f_26^post18 == 0 /\ -result_11^post18+result_11^0 == 0 /\ -length_29^post18+length_29^0 == 0 /\ y_19^0-y_19^post18 == 0 /\ -r_260^post18+r_260^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post18 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post18+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_268^0-head_268^post18 == 0 /\ -a_353^post18+a_353^0 == 0 /\ i_30^0-i_30^post18 == 0 /\ head_27^0-head_27^post18 == 0 /\ a_147^0-a_147^post18 == 0 /\ -r_163^post18+r_163^0 == 0 /\ -i_167^post18+i_167^0 == 0 /\ len_183^0-len_183^post18 == 0 /\ -x_16^post18+x_16^0 == 0 /\ -a_308^post18+a_308^0 == 0 /\ -x_20^post18+x_20^0 == 0 /\ r_124^0-r_124^post18 == 0 /\ -head_14^post18+head_14^0 == 0 /\ -a_330^post18+a_330^0 == 0 /\ -tmp_34^post18+tmp_34^0 == 0 /\ len_276^0-len_276^post18 == 0 /\ head_175^0-head_175^post18 == 0 /\ -i_94^post18+i_94^0 == 0 /\ head_32^0-head_32^post18 == 0 /\ -temp_35^post18+temp_35^0 == 0 /\ -f_170^post18+f_170^0 == 0 /\ 1-head_14^0 <= 0 /\ ct_17^0-ct_17^post18 == 0 /\ -head_223^post18+head_223^0 == 0 /\ f_263^0-f_263^post18 == 0 /\ temp0_15^0-temp0_15^post18 == 0 /\ t_23^0-t_23^post18 == 0 /\ a_241^0-a_241^post18 == 0 /\ -rcd_88^post18+rcd_88^0 == 0 /\ a_210^0-a_210^post18 == 0 /\ -a_277^post18+a_277^0 == 0 /\ len_132^0-len_132^post18 == 0 /\ temp0_31^0-temp0_31^post18 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post18 == 0 /\ i_108^0-i_108^post18 == 0 /\ -r_218^post18+r_218^0 == 0 /\ head_129^0-head_129^post18 == 0 /\ rcd_58^0-rcd_58^post18 == 0 /\ r_39^0-r_39^post18 == 0 /\ -a_184^post18+a_184^0 == 0 /\ -nondet_12^post18+nondet_12^0 == 0 /\ len_226^0-len_226^post18 == 0 /\ -a_116^post18+a_116^0 == 0), cost: 1 New rule: l15 -> l16 : -1+head_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l15 -> l16 : temp0_15^0'=temp0_15^post19, a_241^0'=a_241^post19, head_27^0'=head_27^post19, head_129^0'=head_129^post19, r_124^0'=r_124^post19, len_183^0'=len_183^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19, a_147^0'=a_147^post19, rcd_58^0'=rcd_58^post19, head_175^0'=head_175^post19, y_19^0'=y_19^post19, ct_17^0'=ct_17^post19, temp_35^0'=temp_35^post19, i_30^0'=i_30^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post19, r_218^0'=r_218^post19, len_276^0'=len_276^post19, a_308^0'=a_308^post19, t_23^0'=t_23^post19, a_210^0'=a_210^post19, result_11^0'=result_11^post19, head_268^0'=head_268^post19, f_263^0'=f_263^post19, x_16^0'=x_16^post19, len_132^0'=len_132^post19, i_167^0'=i_167^post19, a_116^0'=a_116^post19, r_39^0'=r_39^post19, nondet_12^0'=nondet_12^post19, x_SLAM_f_18^0'=x_SLAM_f_18^post19, a_353^0'=a_353^post19, temp0_31^0'=temp0_31^post19, a_277^0'=a_277^post19, head_32^0'=head_32^post19, head_14^0'=head_14^post19, r_163^0'=r_163^post19, len_226^0'=len_226^post19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, a_184^0'=a_184^post19, rcd_88^0'=rcd_88^post19, head_223^0'=head_223^post19, f_170^0'=f_170^post19, tmp_34^0'=tmp_34^post19, i_94^0'=i_94^post19, i_108^0'=i_108^post19, r_260^0'=r_260^post19, length_29^0'=length_29^post19, x_20^0'=x_20^post19, a_330^0'=a_330^post19, (head_27^0-head_27^post19 == 0 /\ -a_116^post19+a_116^0 == 0 /\ t_23^0-t_23^post19 == 0 /\ len_132^0-len_132^post19 == 0 /\ -rcd_88^post19+rcd_88^0 == 0 /\ ct_17^0-ct_17^post19 == 0 /\ -r_218^post19+r_218^0 == 0 /\ -f_263^post19+f_263^0 == 0 /\ y_19^0-y_19^post19 == 0 /\ -x_20^post19+x_20^0 == 0 /\ len_276^0-len_276^post19 == 0 /\ rcd_58^0-rcd_58^post19 == 0 /\ -head_14^post19+head_14^0 == 0 /\ -i_167^post19+i_167^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post19+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1+head_14^0 <= 0 /\ a_147^0-a_147^post19 == 0 /\ -head_SLAM_f_26^post19+head_SLAM_f_26^0 == 0 /\ -nondet_12^post19+nondet_12^0 == 0 /\ i_30^0-i_30^post19 == 0 /\ len_183^0-len_183^post19 == 0 /\ -a_353^post19+a_353^0 == 0 /\ -a_210^post19+a_210^0 == 0 /\ -tmp_34^post19+tmp_34^0 == 0 /\ a_184^0-a_184^post19 == 0 /\ -len_226^post19+len_226^0 == 0 /\ -r_260^post19+r_260^0 == 0 /\ -i_94^post19+i_94^0 == 0 /\ r_124^0-r_124^post19 == 0 /\ temp_35^0-temp_35^post19 == 0 /\ a_241^0-a_241^post19 == 0 /\ r_39^0-r_39^post19 == 0 /\ -head_223^post19+head_223^0 == 0 /\ temp0_31^0-temp0_31^post19 == 0 /\ temp0_15^0-temp0_15^post19 == 0 /\ head_32^0-head_32^post19 == 0 /\ -result_11^post19+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19 == 0 /\ -a_330^post19+a_330^0 == 0 /\ -head_129^post19+head_129^0 == 0 /\ -x_16^post19+x_16^0 == 0 /\ -a_277^post19+a_277^0 == 0 /\ -x_SLAM_f_18^post19+x_SLAM_f_18^0 == 0 /\ -f_170^post19+f_170^0 == 0 /\ -length_29^post19+length_29^0 == 0 /\ head_175^0-head_175^post19 == 0 /\ -i_108^post19+i_108^0 == 0 /\ a_308^0-a_308^post19 == 0 /\ head_268^0-head_268^post19 == 0 /\ -r_163^post19+r_163^0 == 0), cost: 1 New rule: l15 -> l16 : 1+head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l16 -> l17 : temp0_15^0'=temp0_15^post20, a_241^0'=a_241^post20, head_27^0'=head_27^post20, head_129^0'=head_129^post20, r_124^0'=r_124^post20, len_183^0'=len_183^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20, a_147^0'=a_147^post20, rcd_58^0'=rcd_58^post20, head_175^0'=head_175^post20, y_19^0'=y_19^post20, ct_17^0'=ct_17^post20, temp_35^0'=temp_35^post20, i_30^0'=i_30^post20, head_SLAM_f_26^0'=head_SLAM_f_26^post20, r_218^0'=r_218^post20, len_276^0'=len_276^post20, a_308^0'=a_308^post20, t_23^0'=t_23^post20, a_210^0'=a_210^post20, result_11^0'=result_11^post20, head_268^0'=head_268^post20, f_263^0'=f_263^post20, x_16^0'=x_16^post20, len_132^0'=len_132^post20, i_167^0'=i_167^post20, a_116^0'=a_116^post20, r_39^0'=r_39^post20, nondet_12^0'=nondet_12^post20, x_SLAM_f_18^0'=x_SLAM_f_18^post20, a_353^0'=a_353^post20, temp0_31^0'=temp0_31^post20, a_277^0'=a_277^post20, head_32^0'=head_32^post20, head_14^0'=head_14^post20, r_163^0'=r_163^post20, len_226^0'=len_226^post20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, a_184^0'=a_184^post20, rcd_88^0'=rcd_88^post20, head_223^0'=head_223^post20, f_170^0'=f_170^post20, tmp_34^0'=tmp_34^post20, i_94^0'=i_94^post20, i_108^0'=i_108^post20, r_260^0'=r_260^post20, length_29^0'=length_29^post20, x_20^0'=x_20^post20, a_330^0'=a_330^post20, (r_124^0-r_124^post20 == 0 /\ a_308^0-a_308^post20 == 0 /\ len_276^0-len_276^post20 == 0 /\ -i_108^post20+i_108^0 == 0 /\ -head_223^post20+head_223^0 == 0 /\ a_241^0-a_241^post20 == 0 /\ -rcd_88^post20+rcd_88^0 == 0 /\ a_184^0-a_184^post20 == 0 /\ len_132^0-len_132^post20 == 0 /\ -nondet_12^post20+nondet_12^0 == 0 /\ -x_16^post20+x_16^0 == 0 /\ f_170^0-f_170^post20 == 0 /\ temp0_15^0-temp0_15^post20 == 0 /\ tmp_34^0-tmp_34^post20 == 0 /\ -x_20^post20+x_20^0 == 0 /\ -i_94^post20+i_94^0 == 0 /\ ct_17^0-ct_17^post20 == 0 /\ -a_330^post20+a_330^0 == 0 /\ t_23^0-t_23^post20 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post20+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_30^0-i_30^post20 == 0 /\ -head_14^post20+head_14^0 == 0 /\ head_129^0-head_129^post20 == 0 /\ a_147^0-a_147^post20 == 0 /\ -i_167^post20+i_167^0 == 0 /\ 1-y_19^0+head_14^0 <= 0 /\ head_175^0-head_175^post20 == 0 /\ r_218^0-r_218^post20 == 0 /\ -head_SLAM_f_26^post20+head_SLAM_f_26^0 == 0 /\ -r_260^post20+r_260^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post20 == 0 /\ -a_277^post20+a_277^0 == 0 /\ head_27^0-head_27^post20 == 0 /\ head_268^0-head_268^post20 == 0 /\ -head_32^post20+head_32^0 == 0 /\ -a_210^post20+a_210^0 == 0 /\ len_226^0-len_226^post20 == 0 /\ -f_263^post20+f_263^0 == 0 /\ r_39^0-r_39^post20 == 0 /\ y_19^0-y_19^post20 == 0 /\ a_353^0-a_353^post20 == 0 /\ rcd_58^0-rcd_58^post20 == 0 /\ -len_183^post20+len_183^0 == 0 /\ -temp_35^post20+temp_35^0 == 0 /\ result_11^0-result_11^post20 == 0 /\ a_116^0-a_116^post20 == 0 /\ -temp0_31^post20+temp0_31^0 == 0 /\ -length_29^post20+length_29^0 == 0 /\ -r_163^post20+r_163^0 == 0), cost: 1 New rule: l16 -> l17 : 1-y_19^0+head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l16 -> l17 : temp0_15^0'=temp0_15^post21, a_241^0'=a_241^post21, head_27^0'=head_27^post21, head_129^0'=head_129^post21, r_124^0'=r_124^post21, len_183^0'=len_183^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21, a_147^0'=a_147^post21, rcd_58^0'=rcd_58^post21, head_175^0'=head_175^post21, y_19^0'=y_19^post21, ct_17^0'=ct_17^post21, temp_35^0'=temp_35^post21, i_30^0'=i_30^post21, head_SLAM_f_26^0'=head_SLAM_f_26^post21, r_218^0'=r_218^post21, len_276^0'=len_276^post21, a_308^0'=a_308^post21, t_23^0'=t_23^post21, a_210^0'=a_210^post21, result_11^0'=result_11^post21, head_268^0'=head_268^post21, f_263^0'=f_263^post21, x_16^0'=x_16^post21, len_132^0'=len_132^post21, i_167^0'=i_167^post21, a_116^0'=a_116^post21, r_39^0'=r_39^post21, nondet_12^0'=nondet_12^post21, x_SLAM_f_18^0'=x_SLAM_f_18^post21, a_353^0'=a_353^post21, temp0_31^0'=temp0_31^post21, a_277^0'=a_277^post21, head_32^0'=head_32^post21, head_14^0'=head_14^post21, r_163^0'=r_163^post21, len_226^0'=len_226^post21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post21, a_184^0'=a_184^post21, rcd_88^0'=rcd_88^post21, head_223^0'=head_223^post21, f_170^0'=f_170^post21, tmp_34^0'=tmp_34^post21, i_94^0'=i_94^post21, i_108^0'=i_108^post21, r_260^0'=r_260^post21, length_29^0'=length_29^post21, x_20^0'=x_20^post21, a_330^0'=a_330^post21, (a_116^0-a_116^post21 == 0 /\ -f_263^post21+f_263^0 == 0 /\ r_124^0-r_124^post21 == 0 /\ -x_20^post21+x_20^0 == 0 /\ head_223^0-head_223^post21 == 0 /\ head_175^0-head_175^post21 == 0 /\ -a_330^post21+a_330^0 == 0 /\ 1+y_19^0-head_14^0 <= 0 /\ -i_108^post21+i_108^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post21 == 0 /\ r_39^0-r_39^post21 == 0 /\ -i_94^post21+i_94^0 == 0 /\ -nondet_12^post21+nondet_12^0 == 0 /\ f_170^0-f_170^post21 == 0 /\ temp0_15^0-temp0_15^post21 == 0 /\ -head_32^post21+head_32^0 == 0 /\ -r_163^post21+r_163^0 == 0 /\ result_11^0-result_11^post21 == 0 /\ -a_184^post21+a_184^0 == 0 /\ -r_260^post21+r_260^0 == 0 /\ x_16^0-x_16^post21 == 0 /\ a_241^0-a_241^post21 == 0 /\ -temp0_31^post21+temp0_31^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21 == 0 /\ -a_277^post21+a_277^0 == 0 /\ -head_SLAM_f_26^post21+head_SLAM_f_26^0 == 0 /\ head_129^0-head_129^post21 == 0 /\ a_353^0-a_353^post21 == 0 /\ a_308^0-a_308^post21 == 0 /\ -rcd_88^post21+rcd_88^0 == 0 /\ -y_19^post21+y_19^0 == 0 /\ -len_132^post21+len_132^0 == 0 /\ -len_276^post21+len_276^0 == 0 /\ head_27^0-head_27^post21 == 0 /\ -a_210^post21+a_210^0 == 0 /\ -len_183^post21+len_183^0 == 0 /\ i_167^0-i_167^post21 == 0 /\ -head_268^post21+head_268^0 == 0 /\ -rcd_58^post21+rcd_58^0 == 0 /\ ct_17^0-ct_17^post21 == 0 /\ t_23^0-t_23^post21 == 0 /\ -tmp_34^post21+tmp_34^0 == 0 /\ temp_35^0-temp_35^post21 == 0 /\ -length_29^post21+length_29^0 == 0 /\ a_147^0-a_147^post21 == 0 /\ i_30^0-i_30^post21 == 0 /\ -head_14^post21+head_14^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post21+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_226^post21+len_226^0 == 0 /\ r_218^0-r_218^post21 == 0), cost: 1 New rule: l16 -> l17 : 1+y_19^0-head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l17 -> l18 : temp0_15^0'=temp0_15^post22, a_241^0'=a_241^post22, head_27^0'=head_27^post22, head_129^0'=head_129^post22, r_124^0'=r_124^post22, len_183^0'=len_183^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22, a_147^0'=a_147^post22, rcd_58^0'=rcd_58^post22, head_175^0'=head_175^post22, y_19^0'=y_19^post22, ct_17^0'=ct_17^post22, temp_35^0'=temp_35^post22, i_30^0'=i_30^post22, head_SLAM_f_26^0'=head_SLAM_f_26^post22, r_218^0'=r_218^post22, len_276^0'=len_276^post22, a_308^0'=a_308^post22, t_23^0'=t_23^post22, a_210^0'=a_210^post22, result_11^0'=result_11^post22, head_268^0'=head_268^post22, f_263^0'=f_263^post22, x_16^0'=x_16^post22, len_132^0'=len_132^post22, i_167^0'=i_167^post22, a_116^0'=a_116^post22, r_39^0'=r_39^post22, nondet_12^0'=nondet_12^post22, x_SLAM_f_18^0'=x_SLAM_f_18^post22, a_353^0'=a_353^post22, temp0_31^0'=temp0_31^post22, a_277^0'=a_277^post22, head_32^0'=head_32^post22, head_14^0'=head_14^post22, r_163^0'=r_163^post22, len_226^0'=len_226^post22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_184^0'=a_184^post22, rcd_88^0'=rcd_88^post22, head_223^0'=head_223^post22, f_170^0'=f_170^post22, tmp_34^0'=tmp_34^post22, i_94^0'=i_94^post22, i_108^0'=i_108^post22, r_260^0'=r_260^post22, length_29^0'=length_29^post22, x_20^0'=x_20^post22, a_330^0'=a_330^post22, (-a_277^post22+a_277^0 == 0 /\ -head_268^post22+head_268^0 == 0 /\ -len_132^post22+len_132^0 == 0 /\ len_183^0-len_183^post22 == 0 /\ -a_184^post22+a_184^0 == 0 /\ a_241^0-a_241^post22 == 0 /\ a_210^0-a_210^post22 == 0 /\ r_163^0-r_163^post22 == 0 /\ -head_32^post22+head_32^0 == 0 /\ -tmp_34^post22+tmp_34^0 == 0 /\ i_167^0-i_167^post22 == 0 /\ i_30^0-i_30^post22 == 0 /\ -i_94^post22+i_94^0 == 0 /\ x_16^0-x_16^post22 == 0 /\ -x_SLAM_f_18^post22+x_SLAM_f_18^0 == 0 /\ r_124^0-r_124^post22 == 0 /\ -length_29^post22+length_29^0 == 0 /\ rcd_88^0-rcd_88^post22 == 0 /\ len_276^0-len_276^post22 == 0 /\ -f_170^post22+f_170^0 == 0 /\ -head_223^post22+head_223^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post22 == 0 /\ -temp0_31^post22+temp0_31^0 == 0 /\ f_263^0-f_263^post22 == 0 /\ temp_35^0-temp_35^post22 == 0 /\ -y_19^post22+y_19^0 == 0 /\ -ct_17^post22+ct_17^0 == 0 /\ rcd_58^0-rcd_58^post22 == 0 /\ head_175^0-head_175^post22 == 0 /\ -x_20^post22+x_20^0 == 0 /\ r_260^0-r_260^post22 == 0 /\ r_218^0-r_218^post22 == 0 /\ -a_330^post22+a_330^0 == 0 /\ -a_116^post22+a_116^0 == 0 /\ 1+y_19^0-t_23^0 <= 0 /\ head_129^0-head_129^post22 == 0 /\ -i_108^post22+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_308^0-a_308^post22 == 0 /\ head_27^0-head_27^post22 == 0 /\ result_11^0-result_11^post22 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post22+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_353^post22+a_353^0 == 0 /\ -r_39^post22+r_39^0 == 0 /\ temp0_15^0-temp0_15^post22 == 0 /\ t_23^0-t_23^post22 == 0 /\ -len_226^post22+len_226^0 == 0 /\ -a_147^post22+a_147^0 == 0 /\ head_14^0-head_14^post22 == 0 /\ nondet_12^0-nondet_12^post22 == 0), cost: 1 New rule: l17 -> l18 : 1+y_19^0-t_23^0 <= 0, cost: 1 Applied preprocessing Original rule: l17 -> l18 : temp0_15^0'=temp0_15^post23, a_241^0'=a_241^post23, head_27^0'=head_27^post23, head_129^0'=head_129^post23, r_124^0'=r_124^post23, len_183^0'=len_183^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23, a_147^0'=a_147^post23, rcd_58^0'=rcd_58^post23, head_175^0'=head_175^post23, y_19^0'=y_19^post23, ct_17^0'=ct_17^post23, temp_35^0'=temp_35^post23, i_30^0'=i_30^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post23, r_218^0'=r_218^post23, len_276^0'=len_276^post23, a_308^0'=a_308^post23, t_23^0'=t_23^post23, a_210^0'=a_210^post23, result_11^0'=result_11^post23, head_268^0'=head_268^post23, f_263^0'=f_263^post23, x_16^0'=x_16^post23, len_132^0'=len_132^post23, i_167^0'=i_167^post23, a_116^0'=a_116^post23, r_39^0'=r_39^post23, nondet_12^0'=nondet_12^post23, x_SLAM_f_18^0'=x_SLAM_f_18^post23, a_353^0'=a_353^post23, temp0_31^0'=temp0_31^post23, a_277^0'=a_277^post23, head_32^0'=head_32^post23, head_14^0'=head_14^post23, r_163^0'=r_163^post23, len_226^0'=len_226^post23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post23, a_184^0'=a_184^post23, rcd_88^0'=rcd_88^post23, head_223^0'=head_223^post23, f_170^0'=f_170^post23, tmp_34^0'=tmp_34^post23, i_94^0'=i_94^post23, i_108^0'=i_108^post23, r_260^0'=r_260^post23, length_29^0'=length_29^post23, x_20^0'=x_20^post23, a_330^0'=a_330^post23, (i_167^0-i_167^post23 == 0 /\ -i_30^post23+i_30^0 == 0 /\ len_183^0-len_183^post23 == 0 /\ -len_132^post23+len_132^0 == 0 /\ r_218^0-r_218^post23 == 0 /\ -r_260^post23+r_260^0 == 0 /\ -head_175^post23+head_175^0 == 0 /\ -x_SLAM_f_18^post23+x_SLAM_f_18^0 == 0 /\ -f_170^post23+f_170^0 == 0 /\ a_241^0-a_241^post23 == 0 /\ -tmp_34^post23+tmp_34^0 == 0 /\ rcd_88^0-rcd_88^post23 == 0 /\ f_263^0-f_263^post23 == 0 /\ -a_116^post23+a_116^0 == 0 /\ -i_94^post23+i_94^0 == 0 /\ r_124^0-r_124^post23 == 0 /\ head_268^0-head_268^post23 == 0 /\ -head_32^post23+head_32^0 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ a_210^0-a_210^post23 == 0 /\ head_129^0-head_129^post23 == 0 /\ -head_223^post23+head_223^0 == 0 /\ y_19^0-y_19^post23 == 0 /\ -a_330^post23+a_330^0 == 0 /\ a_277^0-a_277^post23 == 0 /\ rcd_58^0-rcd_58^post23 == 0 /\ -temp0_31^post23+temp0_31^0 == 0 /\ head_14^0-head_14^post23 == 0 /\ -a_308^post23+a_308^0 == 0 /\ -length_29^post23+length_29^0 == 0 /\ -a_353^post23+a_353^0 == 0 /\ x_16^0-x_16^post23 == 0 /\ -a_184^post23+a_184^0 == 0 /\ -r_39^post23+r_39^0 == 0 /\ result_11^0-result_11^post23 == 0 /\ -len_226^post23+len_226^0 == 0 /\ len_276^0-len_276^post23 == 0 /\ r_163^0-r_163^post23 == 0 /\ head_27^0-head_27^post23 == 0 /\ -i_108^post23+i_108^0 == 0 /\ -t_23^post23+t_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post23 == 0 /\ temp0_15^0-temp0_15^post23 == 0 /\ ct_17^0-ct_17^post23 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post23+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_147^0-a_147^post23 == 0 /\ 1-y_19^0+t_23^0 <= 0 /\ temp_35^0-temp_35^post23 == 0 /\ -x_20^post23+x_20^0 == 0), cost: 1 New rule: l17 -> l18 : 1-y_19^0+t_23^0 <= 0, cost: 1 Applied preprocessing Original rule: l18 -> l12 : temp0_15^0'=temp0_15^post24, a_241^0'=a_241^post24, head_27^0'=head_27^post24, head_129^0'=head_129^post24, r_124^0'=r_124^post24, len_183^0'=len_183^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24, a_147^0'=a_147^post24, rcd_58^0'=rcd_58^post24, head_175^0'=head_175^post24, y_19^0'=y_19^post24, ct_17^0'=ct_17^post24, temp_35^0'=temp_35^post24, i_30^0'=i_30^post24, head_SLAM_f_26^0'=head_SLAM_f_26^post24, r_218^0'=r_218^post24, len_276^0'=len_276^post24, a_308^0'=a_308^post24, t_23^0'=t_23^post24, a_210^0'=a_210^post24, result_11^0'=result_11^post24, head_268^0'=head_268^post24, f_263^0'=f_263^post24, x_16^0'=x_16^post24, len_132^0'=len_132^post24, i_167^0'=i_167^post24, a_116^0'=a_116^post24, r_39^0'=r_39^post24, nondet_12^0'=nondet_12^post24, x_SLAM_f_18^0'=x_SLAM_f_18^post24, a_353^0'=a_353^post24, temp0_31^0'=temp0_31^post24, a_277^0'=a_277^post24, head_32^0'=head_32^post24, head_14^0'=head_14^post24, r_163^0'=r_163^post24, len_226^0'=len_226^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, a_184^0'=a_184^post24, rcd_88^0'=rcd_88^post24, head_223^0'=head_223^post24, f_170^0'=f_170^post24, tmp_34^0'=tmp_34^post24, i_94^0'=i_94^post24, i_108^0'=i_108^post24, r_260^0'=r_260^post24, length_29^0'=length_29^post24, x_20^0'=x_20^post24, a_330^0'=a_330^post24, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ r_218^0-r_218^post24 == 0 /\ a_330^post24-a_353^0 <= 0 /\ f_263^0-f_263^post24 == 0 /\ -r_260^post24+r_260^0 == 0 /\ temp_35^0-temp_35^post24 == 0 /\ -a_353^post24+a_353^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 == 0 /\ -len_132^post24+len_132^0 == 0 /\ -f_170^post24+f_170^0 == 0 /\ -a_330^post24+a_353^0 <= 0 /\ nondet_12^0-nondet_12^post24 == 0 /\ i_167^0-i_167^post24 == 0 /\ -a_308^post24+a_308^0 == 0 /\ temp0_31^0-temp0_31^post24 == 0 /\ -r_39^post24+r_39^0 == 0 /\ -ct_17^post24+ct_17^0 == 0 /\ -i_94^post24+i_94^0 == 0 /\ head_27^0-head_27^post24 == 0 /\ head_129^0-head_129^post24 == 0 /\ -head_223^post24+head_223^0 == 0 /\ -result_11^post24+result_11^0 == 0 /\ i_30^0-i_30^post24 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_14^post24+head_14^0 == 0 /\ len_183^0-len_183^post24 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post24 == 0 /\ temp0_15^0-temp0_15^post24 == 0 /\ -a_277^post24+a_277^0 == 0 /\ -t_23^post24+t_23^0 == 0 /\ -head_175^post24+head_175^0 == 0 /\ r_163^0-r_163^post24 == 0 /\ -x_SLAM_f_18^post24+x_SLAM_f_18^0 == 0 /\ -tmp_34^post24+tmp_34^0 == 0 /\ head_268^0-head_268^post24 == 0 /\ rcd_58^0-rcd_58^post24 == 0 /\ a_147^0-a_147^post24 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24 == 0 /\ -len_226^post24+len_226^0 == 0 /\ -length_29^post24+length_29^0 == 0 /\ a_241^0-a_241^post24 == 0 /\ a_210^0-a_210^post24 == 0 /\ i_108^0-i_108^post24 == 0 /\ -head_32^post24+head_32^0 == 0 /\ -a_116^post24+a_116^0 == 0 /\ -a_184^post24+a_184^0 == 0 /\ x_16^0-x_16^post24 == 0 /\ -rcd_88^post24+rcd_88^0 == 0 /\ r_124^0-r_124^post24 == 0 /\ y_19^0-y_19^post24 == 0 /\ -x_20^post24+x_20^0 == 0 /\ len_276^0-len_276^post24 == 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 : temp0_15^0'=temp0_15^post25, a_241^0'=a_241^post25, head_27^0'=head_27^post25, head_129^0'=head_129^post25, r_124^0'=r_124^post25, len_183^0'=len_183^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25, a_147^0'=a_147^post25, rcd_58^0'=rcd_58^post25, head_175^0'=head_175^post25, y_19^0'=y_19^post25, ct_17^0'=ct_17^post25, temp_35^0'=temp_35^post25, i_30^0'=i_30^post25, head_SLAM_f_26^0'=head_SLAM_f_26^post25, r_218^0'=r_218^post25, len_276^0'=len_276^post25, a_308^0'=a_308^post25, t_23^0'=t_23^post25, a_210^0'=a_210^post25, result_11^0'=result_11^post25, head_268^0'=head_268^post25, f_263^0'=f_263^post25, x_16^0'=x_16^post25, len_132^0'=len_132^post25, i_167^0'=i_167^post25, a_116^0'=a_116^post25, r_39^0'=r_39^post25, nondet_12^0'=nondet_12^post25, x_SLAM_f_18^0'=x_SLAM_f_18^post25, a_353^0'=a_353^post25, temp0_31^0'=temp0_31^post25, a_277^0'=a_277^post25, head_32^0'=head_32^post25, head_14^0'=head_14^post25, r_163^0'=r_163^post25, len_226^0'=len_226^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, a_184^0'=a_184^post25, rcd_88^0'=rcd_88^post25, head_223^0'=head_223^post25, f_170^0'=f_170^post25, tmp_34^0'=tmp_34^post25, i_94^0'=i_94^post25, i_108^0'=i_108^post25, r_260^0'=r_260^post25, length_29^0'=length_29^post25, x_20^0'=x_20^post25, a_330^0'=a_330^post25, (-length_29^post25+length_29^0 == 0 /\ -i_94^post25+i_94^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post25 == 0 /\ -a_353^post25+a_353^0 == 0 /\ -a_184^post25+a_184^0 == 0 /\ rcd_58^0-rcd_58^post25 == 0 /\ head_268^0-head_268^post25 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post25 == 0 /\ a_147^0-a_147^post25 == 0 /\ -r_39^post25+r_39^0 == 0 /\ -head_223^post25+head_223^0 == 0 /\ -rcd_88^post25+rcd_88^0 == 0 /\ -x_20^post25+x_20^0 == 0 /\ a_241^0-a_241^post25 == 0 /\ -x_16^post25+x_16^0 == 0 /\ temp0_15^0-temp0_15^post25 == 0 /\ -a_330^post25+a_330^0 == 0 /\ y_19^0-y_19^post25 == 0 /\ temp0_31^0-temp0_31^post25 == 0 /\ len_276^0-len_276^post25 == 0 /\ -x_SLAM_f_18^post25+x_SLAM_f_18^0 == 0 /\ r_163^0-r_163^post25 == 0 /\ len_132^0-len_132^post25 == 0 /\ -result_11^post25+result_11^0 == 0 /\ -f_170^post25+f_170^0 == 0 /\ a_210^0-a_210^post25 == 0 /\ -len_226^post25+len_226^0 == 0 /\ -i_108^post25+i_108^0 == 0 /\ -r_260^post25+r_260^0 == 0 /\ ct_17^0-ct_17^post25 == 0 /\ temp_35^0-temp_35^post25 == 0 /\ len_183^0-len_183^post25 == 0 /\ head_27^0-head_27^post25 == 0 /\ -i_30^post25+i_30^0 == 0 /\ -r_218^post25+r_218^0 == 0 /\ -i_167^post25+i_167^0 == 0 /\ t_23^0-t_23^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25 == 0 /\ -r_124^post25+r_124^0 == 0 /\ -head_14^post25+head_14^0 == 0 /\ -head_32^post25+head_32^0 == 0 /\ -a_116^post25+a_116^0 == 0 /\ -a_308^post25+a_308^0 == 0 /\ f_263^0-f_263^post25 == 0 /\ -tmp_34^post25+tmp_34^0 == 0 /\ -head_129^post25+head_129^0 == 0 /\ a_277^0-a_277^post25 == 0 /\ -nondet_12^post25+nondet_12^0 == 0 /\ head_175^0-head_175^post25 == 0), cost: 1 New rule: l12 -> l10 : TRUE, cost: 1 Applied preprocessing Original rule: l1 -> l28 : temp0_15^0'=temp0_15^post41, a_241^0'=a_241^post41, head_27^0'=head_27^post41, head_129^0'=head_129^post41, r_124^0'=r_124^post41, len_183^0'=len_183^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, a_147^0'=a_147^post41, rcd_58^0'=rcd_58^post41, head_175^0'=head_175^post41, y_19^0'=y_19^post41, ct_17^0'=ct_17^post41, temp_35^0'=temp_35^post41, i_30^0'=i_30^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post41, r_218^0'=r_218^post41, len_276^0'=len_276^post41, a_308^0'=a_308^post41, t_23^0'=t_23^post41, a_210^0'=a_210^post41, result_11^0'=result_11^post41, head_268^0'=head_268^post41, f_263^0'=f_263^post41, x_16^0'=x_16^post41, len_132^0'=len_132^post41, i_167^0'=i_167^post41, a_116^0'=a_116^post41, r_39^0'=r_39^post41, nondet_12^0'=nondet_12^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, a_353^0'=a_353^post41, temp0_31^0'=temp0_31^post41, a_277^0'=a_277^post41, head_32^0'=head_32^post41, head_14^0'=head_14^post41, r_163^0'=r_163^post41, len_226^0'=len_226^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, a_184^0'=a_184^post41, rcd_88^0'=rcd_88^post41, head_223^0'=head_223^post41, f_170^0'=f_170^post41, tmp_34^0'=tmp_34^post41, i_94^0'=i_94^post41, i_108^0'=i_108^post41, r_260^0'=r_260^post41, length_29^0'=length_29^post41, x_20^0'=x_20^post41, a_330^0'=a_330^post41, (0 == 0 /\ y_19^0-y_19^post41 == 0 /\ -f_263^post41+f_263^0 == 0 /\ -x_20^post41+x_20^0 == 0 /\ a_308^0-a_308^post41 == 0 /\ a_184^0-a_184^post41 == 0 /\ head_27^0-head_27^post41 == 0 /\ -a_330^post41+a_330^0 == 0 /\ len_276^0-len_276^post41 == 0 /\ -a_116^post41+a_116^0 == 0 /\ len_132^0-len_132^post41 == 0 /\ tmp_34^0-tmp_34^post41 == 0 /\ i_30^0-i_30^post41 == 0 /\ -i_94^post41+i_94^0 == 0 /\ t_23^0-t_23^post41 == 0 /\ -rcd_88^post41+rcd_88^0 == 0 /\ -nondet_12^post41+nondet_12^0 == 0 /\ a_147^0-a_147^post41 == 0 /\ r_39^0-r_39^post41 == 0 /\ -a_353^post41+a_353^0 == 0 /\ -len_226^post41+len_226^0 == 0 /\ len_183^0-len_183^post41 == 0 /\ r_218^0-r_218^post41 == 0 /\ -i_167^post41+i_167^0 == 0 /\ -head_SLAM_f_26^post41+head_SLAM_f_26^0 == 0 /\ -a_277^post41+a_277^0 == 0 /\ head_268^0-head_268^post41 == 0 /\ r_124^0-r_124^post41 == 0 /\ length_29^0-length_29^post41 == 0 /\ head_175^0-head_175^post41 == 0 /\ -a_210^post41+a_210^0 == 0 /\ -i_108^post41+i_108^0 == 0 /\ head_32^0-head_32^post41 == 0 /\ -len_226^0 <= 0 /\ -head_129^post41+head_129^0 == 0 /\ temp0_15^0-temp0_15^post41 == 0 /\ -temp_35^post41+temp_35^0 == 0 /\ -f_170^post41+f_170^0 == 0 /\ -r_260^post41+r_260^0 == 0 /\ temp0_31^0-temp0_31^post41 == 0 /\ rcd_58^0-rcd_58^post41 == 0 /\ result_11^0-result_11^post41 == 0 /\ -r_163^post41+r_163^0 == 0 /\ a_241^0-a_241^post41 == 0 /\ -head_223^post41+head_223^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41 == 0), cost: 1 New rule: l1 -> l28 : ct_17^0'=ct_17^post41, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, len_226^0 >= 0, cost: 1 Applied preprocessing Original rule: l28 -> l29 : temp0_15^0'=temp0_15^post42, a_241^0'=a_241^post42, head_27^0'=head_27^post42, head_129^0'=head_129^post42, r_124^0'=r_124^post42, len_183^0'=len_183^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42, a_147^0'=a_147^post42, rcd_58^0'=rcd_58^post42, head_175^0'=head_175^post42, y_19^0'=y_19^post42, ct_17^0'=ct_17^post42, temp_35^0'=temp_35^post42, i_30^0'=i_30^post42, head_SLAM_f_26^0'=head_SLAM_f_26^post42, r_218^0'=r_218^post42, len_276^0'=len_276^post42, a_308^0'=a_308^post42, t_23^0'=t_23^post42, a_210^0'=a_210^post42, result_11^0'=result_11^post42, head_268^0'=head_268^post42, f_263^0'=f_263^post42, x_16^0'=x_16^post42, len_132^0'=len_132^post42, i_167^0'=i_167^post42, a_116^0'=a_116^post42, r_39^0'=r_39^post42, nondet_12^0'=nondet_12^post42, x_SLAM_f_18^0'=x_SLAM_f_18^post42, a_353^0'=a_353^post42, temp0_31^0'=temp0_31^post42, a_277^0'=a_277^post42, head_32^0'=head_32^post42, head_14^0'=head_14^post42, r_163^0'=r_163^post42, len_226^0'=len_226^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, a_184^0'=a_184^post42, rcd_88^0'=rcd_88^post42, head_223^0'=head_223^post42, f_170^0'=f_170^post42, tmp_34^0'=tmp_34^post42, i_94^0'=i_94^post42, i_108^0'=i_108^post42, r_260^0'=r_260^post42, length_29^0'=length_29^post42, x_20^0'=x_20^post42, a_330^0'=a_330^post42, (-a_210^post42+a_210^0 == 0 /\ -len_276^post42+len_276^0 == 0 /\ -head_268^post42+head_268^0 == 0 /\ r_39^0-r_39^post42 == 0 /\ -x_20^post42+x_20^0 == 0 /\ a_116^0-a_116^post42 == 0 /\ head_175^0-head_175^post42 == 0 /\ r_124^0-r_124^post42 == 0 /\ result_11^0-result_11^post42 == 0 /\ tmp_34^0-tmp_34^post42 == 0 /\ -a_330^post42+a_330^0 == 0 /\ r_218^0-r_218^post42 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post42 == 0 /\ -head_32^post42+head_32^0 == 0 /\ temp0_15^0-temp0_15^post42 == 0 /\ f_170^0-f_170^post42 == 0 /\ a_308^0-a_308^post42 == 0 /\ -r_163^post42+r_163^0 == 0 /\ -r_260^post42+r_260^0 == 0 /\ -i_94^post42+i_94^0 == 0 /\ a_353^0-a_353^post42 == 0 /\ t_23^0-t_23^post42 == 0 /\ a_184^0-a_184^post42 == 0 /\ len_132^0-len_132^post42 == 0 /\ a_241^0-a_241^post42 == 0 /\ -temp0_31^post42+temp0_31^0 == 0 /\ head_129^0-head_129^post42 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42 == 0 /\ y_19^0-y_19^post42 == 0 /\ -nondet_12^post42+nondet_12^0 == 0 /\ 1+y_19^0-x_20^0 <= 0 /\ a_147^0-a_147^post42 == 0 /\ -rcd_88^post42+rcd_88^0 == 0 /\ head_27^0-head_27^post42 == 0 /\ -a_277^post42+a_277^0 == 0 /\ -len_183^post42+len_183^0 == 0 /\ -x_16^post42+x_16^0 == 0 /\ -rcd_58^post42+rcd_58^0 == 0 /\ i_30^0-i_30^post42 == 0 /\ i_167^0-i_167^post42 == 0 /\ -length_29^post42+length_29^0 == 0 /\ -head_223^post42+head_223^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post42+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_14^post42+head_14^0 == 0 /\ -i_108^post42+i_108^0 == 0 /\ -len_226^post42+len_226^0 == 0 /\ -head_SLAM_f_26^post42+head_SLAM_f_26^0 == 0 /\ ct_17^0-ct_17^post42 == 0 /\ -f_263^post42+f_263^0 == 0 /\ temp_35^0-temp_35^post42 == 0), cost: 1 New rule: l28 -> l29 : 1+y_19^0-x_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l28 -> l29 : temp0_15^0'=temp0_15^post43, a_241^0'=a_241^post43, head_27^0'=head_27^post43, head_129^0'=head_129^post43, r_124^0'=r_124^post43, len_183^0'=len_183^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43, a_147^0'=a_147^post43, rcd_58^0'=rcd_58^post43, head_175^0'=head_175^post43, y_19^0'=y_19^post43, ct_17^0'=ct_17^post43, temp_35^0'=temp_35^post43, i_30^0'=i_30^post43, head_SLAM_f_26^0'=head_SLAM_f_26^post43, r_218^0'=r_218^post43, len_276^0'=len_276^post43, a_308^0'=a_308^post43, t_23^0'=t_23^post43, a_210^0'=a_210^post43, result_11^0'=result_11^post43, head_268^0'=head_268^post43, f_263^0'=f_263^post43, x_16^0'=x_16^post43, len_132^0'=len_132^post43, i_167^0'=i_167^post43, a_116^0'=a_116^post43, r_39^0'=r_39^post43, nondet_12^0'=nondet_12^post43, x_SLAM_f_18^0'=x_SLAM_f_18^post43, a_353^0'=a_353^post43, temp0_31^0'=temp0_31^post43, a_277^0'=a_277^post43, head_32^0'=head_32^post43, head_14^0'=head_14^post43, r_163^0'=r_163^post43, len_226^0'=len_226^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, a_184^0'=a_184^post43, rcd_88^0'=rcd_88^post43, head_223^0'=head_223^post43, f_170^0'=f_170^post43, tmp_34^0'=tmp_34^post43, i_94^0'=i_94^post43, i_108^0'=i_108^post43, r_260^0'=r_260^post43, length_29^0'=length_29^post43, x_20^0'=x_20^post43, a_330^0'=a_330^post43, (-rcd_58^post43+rcd_58^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post43 == 0 /\ -a_277^post43+a_277^0 == 0 /\ -head_268^post43+head_268^0 == 0 /\ -len_132^post43+len_132^0 == 0 /\ -a_147^post43+a_147^0 == 0 /\ -r_260^post43+r_260^0 == 0 /\ head_129^0-head_129^post43 == 0 /\ -tmp_34^post43+tmp_34^0 == 0 /\ a_210^0-a_210^post43 == 0 /\ x_16^0-x_16^post43 == 0 /\ i_30^0-i_30^post43 == 0 /\ -head_14^post43+head_14^0 == 0 /\ -f_170^post43+f_170^0 == 0 /\ a_353^0-a_353^post43 == 0 /\ -head_32^post43+head_32^0 == 0 /\ len_276^0-len_276^post43 == 0 /\ -a_184^post43+a_184^0 == 0 /\ head_27^0-head_27^post43 == 0 /\ -f_263^post43+f_263^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post43 == 0 /\ temp0_15^0-temp0_15^post43 == 0 /\ -r_39^post43+r_39^0 == 0 /\ -head_223^post43+head_223^0 == 0 /\ temp_35^0-temp_35^post43 == 0 /\ a_116^0-a_116^post43 == 0 /\ -ct_17^post43+ct_17^0 == 0 /\ i_167^0-i_167^post43 == 0 /\ -a_330^post43+a_330^0 == 0 /\ len_183^0-len_183^post43 == 0 /\ -temp0_31^post43+temp0_31^0 == 0 /\ result_11^0-result_11^post43 == 0 /\ r_218^0-r_218^post43 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43 == 0 /\ -rcd_88^post43+rcd_88^0 == 0 /\ -r_163^post43+r_163^0 == 0 /\ -length_29^post43+length_29^0 == 0 /\ a_241^0-a_241^post43 == 0 /\ -i_108^post43+i_108^0 == 0 /\ -len_226^post43+len_226^0 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ head_175^0-head_175^post43 == 0 /\ a_308^0-a_308^post43 == 0 /\ r_124^0-r_124^post43 == 0 /\ t_23^0-t_23^post43 == 0 /\ nondet_12^0-nondet_12^post43 == 0 /\ i_94^0-i_94^post43 == 0 /\ -y_19^post43+y_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post43+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_20^post43+x_20^0 == 0), cost: 1 New rule: l28 -> l29 : 1-y_19^0+x_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l29 -> l30 : temp0_15^0'=temp0_15^post44, a_241^0'=a_241^post44, head_27^0'=head_27^post44, head_129^0'=head_129^post44, r_124^0'=r_124^post44, len_183^0'=len_183^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44, a_147^0'=a_147^post44, rcd_58^0'=rcd_58^post44, head_175^0'=head_175^post44, y_19^0'=y_19^post44, ct_17^0'=ct_17^post44, temp_35^0'=temp_35^post44, i_30^0'=i_30^post44, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_218^0'=r_218^post44, len_276^0'=len_276^post44, a_308^0'=a_308^post44, t_23^0'=t_23^post44, a_210^0'=a_210^post44, result_11^0'=result_11^post44, head_268^0'=head_268^post44, f_263^0'=f_263^post44, x_16^0'=x_16^post44, len_132^0'=len_132^post44, i_167^0'=i_167^post44, a_116^0'=a_116^post44, r_39^0'=r_39^post44, nondet_12^0'=nondet_12^post44, x_SLAM_f_18^0'=x_SLAM_f_18^post44, a_353^0'=a_353^post44, temp0_31^0'=temp0_31^post44, a_277^0'=a_277^post44, head_32^0'=head_32^post44, head_14^0'=head_14^post44, r_163^0'=r_163^post44, len_226^0'=len_226^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_184^0'=a_184^post44, rcd_88^0'=rcd_88^post44, head_223^0'=head_223^post44, f_170^0'=f_170^post44, tmp_34^0'=tmp_34^post44, i_94^0'=i_94^post44, i_108^0'=i_108^post44, r_260^0'=r_260^post44, length_29^0'=length_29^post44, x_20^0'=x_20^post44, a_330^0'=a_330^post44, (0 == 0 /\ x_16^0-head_14^0 <= 0 /\ len_183^0-len_183^post44 == 0 /\ i_167^0-i_167^post44 == 0 /\ temp0_15^0-temp0_15^post44 == 0 /\ x_16^0-x_16^post44 == 0 /\ -tmp_34^post44+tmp_34^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ y_19^0-y_19^post44 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ len_276^0-len_276^post44 == 0 /\ -r_260^post44+r_260^0 == 0 /\ i_30^0-i_30^post44 == 0 /\ -x_SLAM_f_18^post44+x_SLAM_f_18^0 == 0 /\ a_241^0-a_241^post44 == 0 /\ -len_132^post44+len_132^0 == 0 /\ y_19^0 <= 0 /\ -f_170^post44+f_170^0 == 0 /\ ct_17^0 <= 0 /\ -len_226^post44+len_226^0 == 0 /\ -a_147^post44+a_147^0 == 0 /\ a_210^0-a_210^post44 == 0 /\ -x_16^0+head_14^0 <= 0 /\ rcd_88^0-rcd_88^post44 == 0 /\ a_277^0-a_277^post44 == 0 /\ r_218^0-r_218^post44 == 0 /\ -head_32^post44+head_32^0 == 0 /\ f_263^0-f_263^post44 == 0 /\ -a_116^post44+a_116^0 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ r_124^0-r_124^post44 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post44 == 0 /\ -head_223^post44+head_223^0 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ -head_268^post44+head_268^0 == 0 /\ temp_35^0-temp_35^post44 == 0 /\ t_23^post44-x_20^0 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ -head_175^post44+head_175^0 == 0 /\ result_11^0-result_11^post44 == 0 /\ -a_330^post44+a_330^0 == 0 /\ rcd_58^0-rcd_58^post44 == 0 /\ -temp0_31^post44+temp0_31^0 == 0 /\ head_14^0-head_14^post44 == 0 /\ nondet_12^0-nondet_12^post44 == 0 /\ -t_23^post44+head_14^0 <= 0 /\ -ct_17^0 <= 0 /\ -y_19^0 <= 0 /\ head_129^0-head_129^post44 == 0 /\ -a_353^post44+a_353^0 == 0 /\ a_308^post44-a_330^0 <= 0 /\ -length_29^post44+length_29^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ -i_108^post44+i_108^0 == 0 /\ -a_184^post44+a_184^0 == 0 /\ -r_39^post44+r_39^0 == 0 /\ head_27^0-head_27^post44 == 0 /\ r_163^0-r_163^post44 == 0 /\ -ct_17^post44+ct_17^0 == 0 /\ t_23^post44-head_14^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post44+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_94^0-i_94^post44 == 0 /\ -x_20^post44+x_20^0 == 0 /\ -a_308^post44+a_330^0 <= 0), cost: 1 New rule: l29 -> l30 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ head_14^0-x_20^0 == 0), cost: 1 Applied preprocessing Original rule: l30 -> l31 : temp0_15^0'=temp0_15^post45, a_241^0'=a_241^post45, head_27^0'=head_27^post45, head_129^0'=head_129^post45, r_124^0'=r_124^post45, len_183^0'=len_183^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45, a_147^0'=a_147^post45, rcd_58^0'=rcd_58^post45, head_175^0'=head_175^post45, y_19^0'=y_19^post45, ct_17^0'=ct_17^post45, temp_35^0'=temp_35^post45, i_30^0'=i_30^post45, head_SLAM_f_26^0'=head_SLAM_f_26^post45, r_218^0'=r_218^post45, len_276^0'=len_276^post45, a_308^0'=a_308^post45, t_23^0'=t_23^post45, a_210^0'=a_210^post45, result_11^0'=result_11^post45, head_268^0'=head_268^post45, f_263^0'=f_263^post45, x_16^0'=x_16^post45, len_132^0'=len_132^post45, i_167^0'=i_167^post45, a_116^0'=a_116^post45, r_39^0'=r_39^post45, nondet_12^0'=nondet_12^post45, x_SLAM_f_18^0'=x_SLAM_f_18^post45, a_353^0'=a_353^post45, temp0_31^0'=temp0_31^post45, a_277^0'=a_277^post45, head_32^0'=head_32^post45, head_14^0'=head_14^post45, r_163^0'=r_163^post45, len_226^0'=len_226^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, a_184^0'=a_184^post45, rcd_88^0'=rcd_88^post45, head_223^0'=head_223^post45, f_170^0'=f_170^post45, tmp_34^0'=tmp_34^post45, i_94^0'=i_94^post45, i_108^0'=i_108^post45, r_260^0'=r_260^post45, length_29^0'=length_29^post45, x_20^0'=x_20^post45, a_330^0'=a_330^post45, (a_353^0-a_353^post45 == 0 /\ -i_94^post45+i_94^0 == 0 /\ r_218^0-r_218^post45 == 0 /\ -tmp_34^post45+tmp_34^0 == 0 /\ -length_29^post45+length_29^0 == 0 /\ -r_163^post45+r_163^0 == 0 /\ -a_184^post45+a_184^0 == 0 /\ i_167^0-i_167^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post45+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp_35^0-temp_35^post45 == 0 /\ len_183^0-len_183^post45 == 0 /\ head_27^0-head_27^post45 == 0 /\ -r_39^post45+r_39^0 == 0 /\ -temp0_31^post45+temp0_31^0 == 0 /\ a_210^0-a_210^post45 == 0 /\ -x_20^post45+x_20^0 == 0 /\ -a_308^post45+a_308^0 == 0 /\ -len_132^post45+len_132^0 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ -ct_17^post45+ct_17^0 == 0 /\ -head_223^post45+head_223^0 == 0 /\ -a_330^post45+a_330^0 == 0 /\ i_30^0-i_30^post45 == 0 /\ rcd_88^0-rcd_88^post45 == 0 /\ f_263^0-f_263^post45 == 0 /\ r_124^0-r_124^post45 == 0 /\ -x_SLAM_f_18^post45+x_SLAM_f_18^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post45 == 0 /\ -f_170^post45+f_170^0 == 0 /\ -len_226^post45+len_226^0 == 0 /\ -i_108^post45+i_108^0 == 0 /\ 1-head_14^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_129^0-head_129^post45 == 0 /\ head_268^0-head_268^post45 == 0 /\ y_19^0-y_19^post45 == 0 /\ a_147^0-a_147^post45 == 0 /\ -t_23^post45+t_23^0 == 0 /\ a_241^0-a_241^post45 == 0 /\ a_277^0-a_277^post45 == 0 /\ temp0_15^0-temp0_15^post45 == 0 /\ x_16^0-x_16^post45 == 0 /\ -a_116^post45+a_116^0 == 0 /\ -head_32^post45+head_32^0 == 0 /\ rcd_58^0-rcd_58^post45 == 0 /\ -head_175^post45+head_175^0 == 0 /\ -r_260^post45+r_260^0 == 0 /\ head_14^0-head_14^post45 == 0 /\ len_276^0-len_276^post45 == 0 /\ result_11^0-result_11^post45 == 0), cost: 1 New rule: l30 -> l31 : -1+head_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l30 -> l31 : temp0_15^0'=temp0_15^post46, a_241^0'=a_241^post46, head_27^0'=head_27^post46, head_129^0'=head_129^post46, r_124^0'=r_124^post46, len_183^0'=len_183^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46, a_147^0'=a_147^post46, rcd_58^0'=rcd_58^post46, head_175^0'=head_175^post46, y_19^0'=y_19^post46, ct_17^0'=ct_17^post46, temp_35^0'=temp_35^post46, i_30^0'=i_30^post46, head_SLAM_f_26^0'=head_SLAM_f_26^post46, r_218^0'=r_218^post46, len_276^0'=len_276^post46, a_308^0'=a_308^post46, t_23^0'=t_23^post46, a_210^0'=a_210^post46, result_11^0'=result_11^post46, head_268^0'=head_268^post46, f_263^0'=f_263^post46, x_16^0'=x_16^post46, len_132^0'=len_132^post46, i_167^0'=i_167^post46, a_116^0'=a_116^post46, r_39^0'=r_39^post46, nondet_12^0'=nondet_12^post46, x_SLAM_f_18^0'=x_SLAM_f_18^post46, a_353^0'=a_353^post46, temp0_31^0'=temp0_31^post46, a_277^0'=a_277^post46, head_32^0'=head_32^post46, head_14^0'=head_14^post46, r_163^0'=r_163^post46, len_226^0'=len_226^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, a_184^0'=a_184^post46, rcd_88^0'=rcd_88^post46, head_223^0'=head_223^post46, f_170^0'=f_170^post46, tmp_34^0'=tmp_34^post46, i_94^0'=i_94^post46, i_108^0'=i_108^post46, r_260^0'=r_260^post46, length_29^0'=length_29^post46, x_20^0'=x_20^post46, a_330^0'=a_330^post46, (-a_353^post46+a_353^0 == 0 /\ -length_29^post46+length_29^0 == 0 /\ -i_94^post46+i_94^0 == 0 /\ temp_35^0-temp_35^post46 == 0 /\ -a_184^post46+a_184^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post46 == 0 /\ -r_39^post46+r_39^0 == 0 /\ r_218^0-r_218^post46 == 0 /\ -x_20^post46+x_20^0 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ head_129^0-head_129^post46 == 0 /\ -a_330^post46+a_330^0 == 0 /\ temp0_15^0-temp0_15^post46 == 0 /\ -i_30^post46+i_30^0 == 0 /\ a_241^0-a_241^post46 == 0 /\ 1+head_14^0 <= 0 /\ -tmp_34^post46+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post46 == 0 /\ rcd_58^0-rcd_58^post46 == 0 /\ -a_308^post46+a_308^0 == 0 /\ -len_132^post46+len_132^0 == 0 /\ -x_SLAM_f_18^post46+x_SLAM_f_18^0 == 0 /\ -result_11^post46+result_11^0 == 0 /\ r_163^0-r_163^post46 == 0 /\ -f_170^post46+f_170^0 == 0 /\ -len_226^post46+len_226^0 == 0 /\ -head_223^post46+head_223^0 == 0 /\ a_210^0-a_210^post46 == 0 /\ -i_108^post46+i_108^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46 == 0 /\ -a_116^post46+a_116^0 == 0 /\ a_147^0-a_147^post46 == 0 /\ x_16^0-x_16^post46 == 0 /\ len_183^0-len_183^post46 == 0 /\ y_19^0-y_19^post46 == 0 /\ -t_23^post46+t_23^0 == 0 /\ head_268^0-head_268^post46 == 0 /\ head_27^0-head_27^post46 == 0 /\ len_276^0-len_276^post46 == 0 /\ -head_175^post46+head_175^0 == 0 /\ -i_167^post46+i_167^0 == 0 /\ -r_124^post46+r_124^0 == 0 /\ -head_32^post46+head_32^0 == 0 /\ f_263^0-f_263^post46 == 0 /\ ct_17^0-ct_17^post46 == 0 /\ -r_260^post46+r_260^0 == 0 /\ a_277^0-a_277^post46 == 0 /\ -rcd_88^post46+rcd_88^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post46 == 0 /\ -head_14^post46+head_14^0 == 0), cost: 1 New rule: l30 -> l31 : 1+head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l31 -> l32 : temp0_15^0'=temp0_15^post47, a_241^0'=a_241^post47, head_27^0'=head_27^post47, head_129^0'=head_129^post47, r_124^0'=r_124^post47, len_183^0'=len_183^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47, a_147^0'=a_147^post47, rcd_58^0'=rcd_58^post47, head_175^0'=head_175^post47, y_19^0'=y_19^post47, ct_17^0'=ct_17^post47, temp_35^0'=temp_35^post47, i_30^0'=i_30^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, r_218^0'=r_218^post47, len_276^0'=len_276^post47, a_308^0'=a_308^post47, t_23^0'=t_23^post47, a_210^0'=a_210^post47, result_11^0'=result_11^post47, head_268^0'=head_268^post47, f_263^0'=f_263^post47, x_16^0'=x_16^post47, len_132^0'=len_132^post47, i_167^0'=i_167^post47, a_116^0'=a_116^post47, r_39^0'=r_39^post47, nondet_12^0'=nondet_12^post47, x_SLAM_f_18^0'=x_SLAM_f_18^post47, a_353^0'=a_353^post47, temp0_31^0'=temp0_31^post47, a_277^0'=a_277^post47, head_32^0'=head_32^post47, head_14^0'=head_14^post47, r_163^0'=r_163^post47, len_226^0'=len_226^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, a_184^0'=a_184^post47, rcd_88^0'=rcd_88^post47, head_223^0'=head_223^post47, f_170^0'=f_170^post47, tmp_34^0'=tmp_34^post47, i_94^0'=i_94^post47, i_108^0'=i_108^post47, r_260^0'=r_260^post47, length_29^0'=length_29^post47, x_20^0'=x_20^post47, a_330^0'=a_330^post47, (-a_116^post47+a_116^0 == 0 /\ i_30^0-i_30^post47 == 0 /\ a_147^0-a_147^post47 == 0 /\ -i_94^post47+i_94^0 == 0 /\ rcd_58^0-rcd_58^post47 == 0 /\ head_268^0-head_268^post47 == 0 /\ y_19^0-y_19^post47 == 0 /\ -result_11^post47+result_11^0 == 0 /\ -a_184^post47+a_184^0 == 0 /\ -i_167^post47+i_167^0 == 0 /\ len_276^0-len_276^post47 == 0 /\ head_27^0-head_27^post47 == 0 /\ 1-y_19^0+head_14^0 <= 0 /\ -rcd_88^post47+rcd_88^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 == 0 /\ temp0_15^0-temp0_15^post47 == 0 /\ -f_170^post47+f_170^0 == 0 /\ -length_29^post47+length_29^0 == 0 /\ ct_17^0-ct_17^post47 == 0 /\ -a_308^post47+a_308^0 == 0 /\ -head_14^post47+head_14^0 == 0 /\ -a_353^post47+a_353^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post47 == 0 /\ -len_226^post47+len_226^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47 == 0 /\ -head_223^post47+head_223^0 == 0 /\ temp_35^0-temp_35^post47 == 0 /\ len_183^0-len_183^post47 == 0 /\ -x_20^post47+x_20^0 == 0 /\ temp0_31^0-temp0_31^post47 == 0 /\ -a_330^post47+a_330^0 == 0 /\ -x_16^post47+x_16^0 == 0 /\ -i_108^post47+i_108^0 == 0 /\ f_263^0-f_263^post47 == 0 /\ -r_218^post47+r_218^0 == 0 /\ -r_124^post47+r_124^0 == 0 /\ head_32^0-head_32^post47 == 0 /\ -head_129^post47+head_129^0 == 0 /\ -tmp_34^post47+tmp_34^0 == 0 /\ -r_260^post47+r_260^0 == 0 /\ -nondet_12^post47+nondet_12^0 == 0 /\ a_210^0-a_210^post47 == 0 /\ -a_241^post47+a_241^0 == 0 /\ len_132^0-len_132^post47 == 0 /\ -r_163^post47+r_163^0 == 0 /\ a_277^0-a_277^post47 == 0 /\ -x_SLAM_f_18^post47+x_SLAM_f_18^0 == 0 /\ head_175^0-head_175^post47 == 0 /\ t_23^0-t_23^post47 == 0 /\ r_39^0-r_39^post47 == 0), cost: 1 New rule: l31 -> l32 : 1-y_19^0+head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l31 -> l32 : temp0_15^0'=temp0_15^post48, a_241^0'=a_241^post48, head_27^0'=head_27^post48, head_129^0'=head_129^post48, r_124^0'=r_124^post48, len_183^0'=len_183^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48, a_147^0'=a_147^post48, rcd_58^0'=rcd_58^post48, head_175^0'=head_175^post48, y_19^0'=y_19^post48, ct_17^0'=ct_17^post48, temp_35^0'=temp_35^post48, i_30^0'=i_30^post48, head_SLAM_f_26^0'=head_SLAM_f_26^post48, r_218^0'=r_218^post48, len_276^0'=len_276^post48, a_308^0'=a_308^post48, t_23^0'=t_23^post48, a_210^0'=a_210^post48, result_11^0'=result_11^post48, head_268^0'=head_268^post48, f_263^0'=f_263^post48, x_16^0'=x_16^post48, len_132^0'=len_132^post48, i_167^0'=i_167^post48, a_116^0'=a_116^post48, r_39^0'=r_39^post48, nondet_12^0'=nondet_12^post48, x_SLAM_f_18^0'=x_SLAM_f_18^post48, a_353^0'=a_353^post48, temp0_31^0'=temp0_31^post48, a_277^0'=a_277^post48, head_32^0'=head_32^post48, head_14^0'=head_14^post48, r_163^0'=r_163^post48, len_226^0'=len_226^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, a_184^0'=a_184^post48, rcd_88^0'=rcd_88^post48, head_223^0'=head_223^post48, f_170^0'=f_170^post48, tmp_34^0'=tmp_34^post48, i_94^0'=i_94^post48, i_108^0'=i_108^post48, r_260^0'=r_260^post48, length_29^0'=length_29^post48, x_20^0'=x_20^post48, a_330^0'=a_330^post48, (len_276^0-len_276^post48 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48 == 0 /\ -i_108^post48+i_108^0 == 0 /\ 1+y_19^0-head_14^0 <= 0 /\ a_241^0-a_241^post48 == 0 /\ -nondet_12^post48+nondet_12^0 == 0 /\ -x_16^post48+x_16^0 == 0 /\ result_11^0-result_11^post48 == 0 /\ ct_17^0-ct_17^post48 == 0 /\ f_170^0-f_170^post48 == 0 /\ temp0_15^0-temp0_15^post48 == 0 /\ -x_20^post48+x_20^0 == 0 /\ a_308^0-a_308^post48 == 0 /\ t_23^0-t_23^post48 == 0 /\ r_124^0-r_124^post48 == 0 /\ -i_167^post48+i_167^0 == 0 /\ i_30^0-i_30^post48 == 0 /\ a_147^0-a_147^post48 == 0 /\ a_184^0-a_184^post48 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post48+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_14^post48+head_14^0 == 0 /\ -tmp_34^post48+tmp_34^0 == 0 /\ len_132^0-len_132^post48 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post48 == 0 /\ r_218^0-r_218^post48 == 0 /\ -r_260^post48+r_260^0 == 0 /\ r_39^0-r_39^post48 == 0 /\ -head_SLAM_f_26^post48+head_SLAM_f_26^0 == 0 /\ head_129^0-head_129^post48 == 0 /\ -head_223^post48+head_223^0 == 0 /\ head_27^0-head_27^post48 == 0 /\ head_268^0-head_268^post48 == 0 /\ -head_32^post48+head_32^0 == 0 /\ len_226^0-len_226^post48 == 0 /\ -f_263^post48+f_263^0 == 0 /\ -rcd_88^post48+rcd_88^0 == 0 /\ -i_94^post48+i_94^0 == 0 /\ head_175^0-head_175^post48 == 0 /\ a_353^0-a_353^post48 == 0 /\ -a_330^post48+a_330^0 == 0 /\ -len_183^post48+len_183^0 == 0 /\ a_116^0-a_116^post48 == 0 /\ -temp_35^post48+temp_35^0 == 0 /\ -temp0_31^post48+temp0_31^0 == 0 /\ -r_163^post48+r_163^0 == 0 /\ -a_210^post48+a_210^0 == 0 /\ -a_277^post48+a_277^0 == 0 /\ -length_29^post48+length_29^0 == 0 /\ y_19^0-y_19^post48 == 0 /\ rcd_58^0-rcd_58^post48 == 0), cost: 1 New rule: l31 -> l32 : 1+y_19^0-head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l32 -> l33 : temp0_15^0'=temp0_15^post49, a_241^0'=a_241^post49, head_27^0'=head_27^post49, head_129^0'=head_129^post49, r_124^0'=r_124^post49, len_183^0'=len_183^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49, a_147^0'=a_147^post49, rcd_58^0'=rcd_58^post49, head_175^0'=head_175^post49, y_19^0'=y_19^post49, ct_17^0'=ct_17^post49, temp_35^0'=temp_35^post49, i_30^0'=i_30^post49, head_SLAM_f_26^0'=head_SLAM_f_26^post49, r_218^0'=r_218^post49, len_276^0'=len_276^post49, a_308^0'=a_308^post49, t_23^0'=t_23^post49, a_210^0'=a_210^post49, result_11^0'=result_11^post49, head_268^0'=head_268^post49, f_263^0'=f_263^post49, x_16^0'=x_16^post49, len_132^0'=len_132^post49, i_167^0'=i_167^post49, a_116^0'=a_116^post49, r_39^0'=r_39^post49, nondet_12^0'=nondet_12^post49, x_SLAM_f_18^0'=x_SLAM_f_18^post49, a_353^0'=a_353^post49, temp0_31^0'=temp0_31^post49, a_277^0'=a_277^post49, head_32^0'=head_32^post49, head_14^0'=head_14^post49, r_163^0'=r_163^post49, len_226^0'=len_226^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, a_184^0'=a_184^post49, rcd_88^0'=rcd_88^post49, head_223^0'=head_223^post49, f_170^0'=f_170^post49, tmp_34^0'=tmp_34^post49, i_94^0'=i_94^post49, i_108^0'=i_108^post49, r_260^0'=r_260^post49, length_29^0'=length_29^post49, x_20^0'=x_20^post49, a_330^0'=a_330^post49, (head_129^0-head_129^post49 == 0 /\ -a_210^post49+a_210^0 == 0 /\ -a_277^post49+a_277^0 == 0 /\ r_39^0-r_39^post49 == 0 /\ r_124^0-r_124^post49 == 0 /\ result_11^0-result_11^post49 == 0 /\ -x_20^post49+x_20^0 == 0 /\ -a_330^post49+a_330^0 == 0 /\ -i_108^post49+i_108^0 == 0 /\ head_175^0-head_175^post49 == 0 /\ -tmp_34^post49+tmp_34^0 == 0 /\ f_170^0-f_170^post49 == 0 /\ temp0_15^0-temp0_15^post49 == 0 /\ a_308^0-a_308^post49 == 0 /\ a_184^0-a_184^post49 == 0 /\ -r_260^post49+r_260^0 == 0 /\ -i_167^post49+i_167^0 == 0 /\ x_16^0-x_16^post49 == 0 /\ -head_223^post49+head_223^0 == 0 /\ len_132^0-len_132^post49 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post49 == 0 /\ -head_SLAM_f_26^post49+head_SLAM_f_26^0 == 0 /\ len_226^0-len_226^post49 == 0 /\ -y_19^post49+y_19^0 == 0 /\ -rcd_88^post49+rcd_88^0 == 0 /\ head_27^0-head_27^post49 == 0 /\ ct_17^0-ct_17^post49 == 0 /\ a_353^0-a_353^post49 == 0 /\ a_241^0-a_241^post49 == 0 /\ -len_276^post49+len_276^0 == 0 /\ -head_14^post49+head_14^0 == 0 /\ -len_183^post49+len_183^0 == 0 /\ -nondet_12^post49+nondet_12^0 == 0 /\ -head_268^post49+head_268^0 == 0 /\ -head_32^post49+head_32^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49 == 0 /\ 1+y_19^0-t_23^0 <= 0 /\ -i_94^post49+i_94^0 == 0 /\ t_23^0-t_23^post49 == 0 /\ temp_35^0-temp_35^post49 == 0 /\ a_116^0-a_116^post49 == 0 /\ i_30^0-i_30^post49 == 0 /\ a_147^0-a_147^post49 == 0 /\ -r_163^post49+r_163^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post49+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_58^post49+rcd_58^0 == 0 /\ -length_29^post49+length_29^0 == 0 /\ r_218^0-r_218^post49 == 0 /\ -f_263^post49+f_263^0 == 0 /\ -temp0_31^post49+temp0_31^0 == 0), cost: 1 New rule: l32 -> l33 : 1+y_19^0-t_23^0 <= 0, cost: 1 Applied preprocessing Original rule: l32 -> l33 : temp0_15^0'=temp0_15^post50, a_241^0'=a_241^post50, head_27^0'=head_27^post50, head_129^0'=head_129^post50, r_124^0'=r_124^post50, len_183^0'=len_183^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50, a_147^0'=a_147^post50, rcd_58^0'=rcd_58^post50, head_175^0'=head_175^post50, y_19^0'=y_19^post50, ct_17^0'=ct_17^post50, temp_35^0'=temp_35^post50, i_30^0'=i_30^post50, head_SLAM_f_26^0'=head_SLAM_f_26^post50, r_218^0'=r_218^post50, len_276^0'=len_276^post50, a_308^0'=a_308^post50, t_23^0'=t_23^post50, a_210^0'=a_210^post50, result_11^0'=result_11^post50, head_268^0'=head_268^post50, f_263^0'=f_263^post50, x_16^0'=x_16^post50, len_132^0'=len_132^post50, i_167^0'=i_167^post50, a_116^0'=a_116^post50, r_39^0'=r_39^post50, nondet_12^0'=nondet_12^post50, x_SLAM_f_18^0'=x_SLAM_f_18^post50, a_353^0'=a_353^post50, temp0_31^0'=temp0_31^post50, a_277^0'=a_277^post50, head_32^0'=head_32^post50, head_14^0'=head_14^post50, r_163^0'=r_163^post50, len_226^0'=len_226^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, a_184^0'=a_184^post50, rcd_88^0'=rcd_88^post50, head_223^0'=head_223^post50, f_170^0'=f_170^post50, tmp_34^0'=tmp_34^post50, i_94^0'=i_94^post50, i_108^0'=i_108^post50, r_260^0'=r_260^post50, length_29^0'=length_29^post50, x_20^0'=x_20^post50, a_330^0'=a_330^post50, (x_SLAM_f_18^0-x_SLAM_f_18^post50 == 0 /\ -nondet_12^post50+nondet_12^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post50+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_277^post50+a_277^0 == 0 /\ head_175^0-head_175^post50 == 0 /\ -x_20^post50+x_20^0 == 0 /\ head_27^0-head_27^post50 == 0 /\ -a_330^post50+a_330^0 == 0 /\ -i_108^post50+i_108^0 == 0 /\ -tmp_34^post50+tmp_34^0 == 0 /\ -head_14^post50+head_14^0 == 0 /\ result_11^0-result_11^post50 == 0 /\ -r_260^post50+r_260^0 == 0 /\ -head_32^post50+head_32^0 == 0 /\ -head_223^post50+head_223^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50 == 0 /\ head_129^0-head_129^post50 == 0 /\ -f_263^post50+f_263^0 == 0 /\ a_353^0-a_353^post50 == 0 /\ a_116^0-a_116^post50 == 0 /\ a_241^0-a_241^post50 == 0 /\ -len_183^post50+len_183^0 == 0 /\ i_167^0-i_167^post50 == 0 /\ -head_SLAM_f_26^post50+head_SLAM_f_26^0 == 0 /\ -temp0_31^post50+temp0_31^0 == 0 /\ -rcd_58^post50+rcd_58^0 == 0 /\ y_19^0-y_19^post50 == 0 /\ a_308^0-a_308^post50 == 0 /\ r_124^0-r_124^post50 == 0 /\ -head_268^post50+head_268^0 == 0 /\ t_23^0-t_23^post50 == 0 /\ -r_163^post50+r_163^0 == 0 /\ -len_132^post50+len_132^0 == 0 /\ -a_184^post50+a_184^0 == 0 /\ -a_210^post50+a_210^0 == 0 /\ -len_226^post50+len_226^0 == 0 /\ temp0_15^0-temp0_15^post50 == 0 /\ i_30^0-i_30^post50 == 0 /\ -f_170^post50+f_170^0 == 0 /\ -length_29^post50+length_29^0 == 0 /\ ct_17^0-ct_17^post50 == 0 /\ r_218^0-r_218^post50 == 0 /\ -rcd_88^post50+rcd_88^0 == 0 /\ temp_35^0-temp_35^post50 == 0 /\ i_94^0-i_94^post50 == 0 /\ -x_16^post50+x_16^0 == 0 /\ -len_276^post50+len_276^0 == 0 /\ 1-y_19^0+t_23^0 <= 0 /\ -r_39^post50+r_39^0 == 0 /\ a_147^0-a_147^post50 == 0), cost: 1 New rule: l32 -> l33 : 1-y_19^0+t_23^0 <= 0, cost: 1 Applied preprocessing Original rule: l33 -> l10 : temp0_15^0'=temp0_15^post51, a_241^0'=a_241^post51, head_27^0'=head_27^post51, head_129^0'=head_129^post51, r_124^0'=r_124^post51, len_183^0'=len_183^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51, a_147^0'=a_147^post51, rcd_58^0'=rcd_58^post51, head_175^0'=head_175^post51, y_19^0'=y_19^post51, ct_17^0'=ct_17^post51, temp_35^0'=temp_35^post51, i_30^0'=i_30^post51, head_SLAM_f_26^0'=head_SLAM_f_26^post51, r_218^0'=r_218^post51, len_276^0'=len_276^post51, a_308^0'=a_308^post51, t_23^0'=t_23^post51, a_210^0'=a_210^post51, result_11^0'=result_11^post51, head_268^0'=head_268^post51, f_263^0'=f_263^post51, x_16^0'=x_16^post51, len_132^0'=len_132^post51, i_167^0'=i_167^post51, a_116^0'=a_116^post51, r_39^0'=r_39^post51, nondet_12^0'=nondet_12^post51, x_SLAM_f_18^0'=x_SLAM_f_18^post51, a_353^0'=a_353^post51, temp0_31^0'=temp0_31^post51, a_277^0'=a_277^post51, head_32^0'=head_32^post51, head_14^0'=head_14^post51, r_163^0'=r_163^post51, len_226^0'=len_226^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, a_184^0'=a_184^post51, rcd_88^0'=rcd_88^post51, head_223^0'=head_223^post51, f_170^0'=f_170^post51, tmp_34^0'=tmp_34^post51, i_94^0'=i_94^post51, i_108^0'=i_108^post51, r_260^0'=r_260^post51, length_29^0'=length_29^post51, x_20^0'=x_20^post51, a_330^0'=a_330^post51, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_147^post51+a_147^0 == 0 /\ head_223^0-head_223^post51 == 0 /\ -r_260^post51+r_260^0 == 0 /\ x_16^0-x_16^post51 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post51+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post51 == 0 /\ y_19^0-y_19^post51 == 0 /\ -f_170^post51+f_170^0 == 0 /\ a_353^0-a_353^post51 == 0 /\ -head_14^post51+head_14^0 == 0 /\ 1-len_226^post51+a_308^0 <= 0 /\ i_30^0-i_30^post51 == 0 /\ len_276^0-len_276^post51 == 0 /\ -len_132^post51+len_132^0 == 0 /\ len_183^0-len_183^post51 == 0 /\ -f_263^post51+f_263^0 == 0 /\ r_218^0-r_218^post51 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post51 == 0 /\ temp_35^0-temp_35^post51 == 0 /\ a_116^0-a_116^post51 == 0 /\ head_27^0-head_27^post51 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_94^post51+i_94^0 == 0 /\ -head_32^post51+head_32^0 == 0 /\ -a_330^post51+a_330^0 == 0 /\ rcd_88^0-rcd_88^post51 == 0 /\ temp0_15^0-temp0_15^post51 == 0 /\ -tmp_34^post51+tmp_34^0 == 0 /\ head_175^0-head_175^post51 == 0 /\ i_167^0-i_167^post51 == 0 /\ -length_29^post51+length_29^0 == 0 /\ -1+len_226^post51-a_308^0 <= 0 /\ a_308^0-a_308^post51 == 0 /\ r_124^0-r_124^post51 == 0 /\ -temp0_31^post51+temp0_31^0 == 0 /\ result_11^0-result_11^post51 == 0 /\ -r_163^post51+r_163^0 == 0 /\ -a_277^post51+a_277^0 == 0 /\ a_210^0-a_210^post51 == 0 /\ -r_39^post51+r_39^0 == 0 /\ rcd_58^0-rcd_58^post51 == 0 /\ t_23^0-t_23^post51 == 0 /\ -ct_17^post51+ct_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51 == 0 /\ -x_20^post51+x_20^0 == 0 /\ -nondet_12^post51+nondet_12^0 == 0 /\ head_129^0-head_129^post51 == 0 /\ -head_268^post51+head_268^0 == 0 /\ a_241^0-a_241^post51 == 0 /\ -i_108^post51+i_108^0 == 0 /\ -a_184^post51+a_184^0 == 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 : temp0_15^0'=temp0_15^post52, a_241^0'=a_241^post52, head_27^0'=head_27^post52, head_129^0'=head_129^post52, r_124^0'=r_124^post52, len_183^0'=len_183^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52, a_147^0'=a_147^post52, rcd_58^0'=rcd_58^post52, head_175^0'=head_175^post52, y_19^0'=y_19^post52, ct_17^0'=ct_17^post52, temp_35^0'=temp_35^post52, i_30^0'=i_30^post52, head_SLAM_f_26^0'=head_SLAM_f_26^post52, r_218^0'=r_218^post52, len_276^0'=len_276^post52, a_308^0'=a_308^post52, t_23^0'=t_23^post52, a_210^0'=a_210^post52, result_11^0'=result_11^post52, head_268^0'=head_268^post52, f_263^0'=f_263^post52, x_16^0'=x_16^post52, len_132^0'=len_132^post52, i_167^0'=i_167^post52, a_116^0'=a_116^post52, r_39^0'=r_39^post52, nondet_12^0'=nondet_12^post52, x_SLAM_f_18^0'=x_SLAM_f_18^post52, a_353^0'=a_353^post52, temp0_31^0'=temp0_31^post52, a_277^0'=a_277^post52, head_32^0'=head_32^post52, head_14^0'=head_14^post52, r_163^0'=r_163^post52, len_226^0'=len_226^post52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post52, a_184^0'=a_184^post52, rcd_88^0'=rcd_88^post52, head_223^0'=head_223^post52, f_170^0'=f_170^post52, tmp_34^0'=tmp_34^post52, i_94^0'=i_94^post52, i_108^0'=i_108^post52, r_260^0'=r_260^post52, length_29^0'=length_29^post52, x_20^0'=x_20^post52, a_330^0'=a_330^post52, (0 == 0 /\ len_276^0-len_276^post52 == 0 /\ -a_308^post52+a_308^0 == 0 /\ head_27^0-head_27^post52 == 0 /\ -tmp_34^post52+tmp_34^0 == 0 /\ -y_19^post52+y_19^0 == 0 /\ -head_32^post52 <= 0 /\ f_170^0-f_170^post52 == 0 /\ -r_39^post52+r_39^0 == 0 /\ a_210^0-a_210^post52 == 0 /\ temp0_15^0-temp0_15^post52 == 0 /\ -ct_17^post52+ct_17^0 == 0 /\ -a_330^post52+a_330^0 == 0 /\ i_167^0-i_167^post52 == 0 /\ -a_277^post52+a_277^0 == 0 /\ -t_23^post52+t_23^0 == 0 /\ -i_30^post52 <= 0 /\ len_183^0-len_183^post52 == 0 /\ -head_223^post52+head_223^0 == 0 /\ -x_SLAM_f_18^post52+x_SLAM_f_18^0 == 0 /\ rcd_88^0-rcd_88^post52 == 0 /\ -temp0_31^post52+temp0_31^0 == 0 /\ head_32^post52 <= 0 /\ head_32^post52 == 0 /\ -x_20^post52+x_20^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post52 == 0 /\ r_218^0-r_218^post52 == 0 /\ -i_108^post52+i_108^0 == 0 /\ -a_184^post52+a_184^0 == 0 /\ f_263^0-f_263^post52 == 0 /\ -r_163^post52+r_163^0 == 0 /\ temp_35^0-temp_35^post52 == 0 /\ -a_116^post52+a_116^0 == 0 /\ r_124^0-r_124^post52 == 0 /\ -r_260^post52+r_260^0 == 0 /\ -length_29^post52+result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 <= 0 /\ -head_268^post52+head_268^0 == 0 /\ rcd_58^0-rcd_58^post52 == 0 /\ i_30^post52 <= 0 /\ i_30^post52 == 0 /\ length_29^post52-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 <= 0 /\ length_29^post52-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ -nondet_12^10+result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ head_14^0-head_14^post52 == 0 /\ x_16^0-x_16^post52 == 0 /\ a_241^0-a_241^post52 == 0 /\ head_175^0-head_175^post52 == 0 /\ result_11^0-result_11^post52 == 0 /\ -a_147^post52+a_147^0 == 0 /\ -a_353^post52+a_353^0 == 0 /\ -i_94^post52+i_94^0 == 0 /\ -len_226^post52+len_226^0 == 0 /\ -len_132^post52+len_132^0 == 0 /\ head_129^0-head_129^post52 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52 == 0), cost: 1 New rule: l34 -> l35 : i_30^0'=0, nondet_12^0'=nondet_12^post52, head_32^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, length_29^0'=nondet_12^10, 0 == 0, cost: 1 Applied preprocessing Original rule: l36 -> l37 : temp0_15^0'=temp0_15^post53, a_241^0'=a_241^post53, head_27^0'=head_27^post53, head_129^0'=head_129^post53, r_124^0'=r_124^post53, len_183^0'=len_183^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53, a_147^0'=a_147^post53, rcd_58^0'=rcd_58^post53, head_175^0'=head_175^post53, y_19^0'=y_19^post53, ct_17^0'=ct_17^post53, temp_35^0'=temp_35^post53, i_30^0'=i_30^post53, head_SLAM_f_26^0'=head_SLAM_f_26^post53, r_218^0'=r_218^post53, len_276^0'=len_276^post53, a_308^0'=a_308^post53, t_23^0'=t_23^post53, a_210^0'=a_210^post53, result_11^0'=result_11^post53, head_268^0'=head_268^post53, f_263^0'=f_263^post53, x_16^0'=x_16^post53, len_132^0'=len_132^post53, i_167^0'=i_167^post53, a_116^0'=a_116^post53, r_39^0'=r_39^post53, nondet_12^0'=nondet_12^post53, x_SLAM_f_18^0'=x_SLAM_f_18^post53, a_353^0'=a_353^post53, temp0_31^0'=temp0_31^post53, a_277^0'=a_277^post53, head_32^0'=head_32^post53, head_14^0'=head_14^post53, r_163^0'=r_163^post53, len_226^0'=len_226^post53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post53, a_184^0'=a_184^post53, rcd_88^0'=rcd_88^post53, head_223^0'=head_223^post53, f_170^0'=f_170^post53, tmp_34^0'=tmp_34^post53, i_94^0'=i_94^post53, i_108^0'=i_108^post53, r_260^0'=r_260^post53, length_29^0'=length_29^post53, x_20^0'=x_20^post53, a_330^0'=a_330^post53, (0 == 0 /\ -len_226^post53+len_226^0 == 0 /\ -rcd_58^post53+rcd_58^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post53 == 0 /\ a_184^0-a_184^post53 == 0 /\ head_175^0-head_175^post53 == 0 /\ head_27^0 <= 0 /\ head_129^0-head_129^post53 == 0 /\ -a_210^post53+a_210^0 == 0 /\ head_SLAM_f_26^post53-head_14^0 <= 0 /\ head_SLAM_f_26^post53-head_14^0 == 0 /\ -head_14^post53+head_14^0 == 0 /\ result_11^0-result_11^post53 == 0 /\ -tmp_34^post53+tmp_34^0 == 0 /\ -head_32^post53+head_32^0 == 0 /\ a_308^0-a_308^post53 == 0 /\ -head_268^post53+head_268^0 == 0 /\ -nondet_12^post53+nondet_12^0 == 0 /\ -f_263^post53+f_263^0 == 0 /\ -rcd_88^post53+rcd_88^0 == 0 /\ -head_SLAM_f_26^post53+head_14^0 <= 0 /\ len_132^0-len_132^post53 == 0 /\ -f_170^post53+f_170^0 == 0 /\ -length_29^post53+length_29^0 == 0 /\ a_116^0-a_116^post53 == 0 /\ len_183^0-len_183^post53 == 0 /\ -a_353^post53+a_353^0 == 0 /\ -a_147^0 <= 0 /\ -i_108^post53+i_108^0 == 0 /\ i_167^0-i_167^post53 == 0 /\ -a_330^post53+a_330^0 == 0 /\ -temp0_31^post53+temp0_31^0 == 0 /\ t_23^0-t_23^post53 == 0 /\ y_19^0-y_19^post53 == 0 /\ -head_223^post53+head_223^0 == 0 /\ -len_226^0 <= 0 /\ i_30^0-i_30^post53 == 0 /\ a_241^0-len_132^0 <= 0 /\ -head_27^post53+head_SLAM_f_26^post53 <= 0 /\ -i_94^post53+i_94^0 == 0 /\ -head_27^post53+head_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53 == 0 /\ a_241^0-a_241^post53 == 0 /\ -x_20^post53+x_20^0 == 0 /\ len_226^0 <= 0 /\ ct_17^0-ct_17^post53 == 0 /\ -r_39^post53+r_39^0 == 0 /\ r_218^0-r_218^post53 == 0 /\ r_124^0-r_124^post53 == 0 /\ -len_132^0 <= 0 /\ -len_276^post53+len_276^0 == 0 /\ -a_241^0+len_132^0 <= 0 /\ -a_277^post53+a_277^0 == 0 /\ head_27^post53-head_SLAM_f_26^post53 <= 0 /\ head_27^post53-head_SLAM_f_26^post53 == 0 /\ temp_35^0-temp_35^post53 == 0 /\ head_27^post53-head_14^0 <= 0 /\ temp0_15^0-temp0_15^post53 == 0 /\ r_163^0-r_163^post53 == 0 /\ -r_260^post53+r_260^0 == 0 /\ a_147^0-a_147^post53 == 0 /\ -x_16^post53+x_16^0 == 0 /\ -head_27^0 <= 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 1 Applied preprocessing Original rule: l37 -> l38 : temp0_15^0'=temp0_15^post54, a_241^0'=a_241^post54, head_27^0'=head_27^post54, head_129^0'=head_129^post54, r_124^0'=r_124^post54, len_183^0'=len_183^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54, a_147^0'=a_147^post54, rcd_58^0'=rcd_58^post54, head_175^0'=head_175^post54, y_19^0'=y_19^post54, ct_17^0'=ct_17^post54, temp_35^0'=temp_35^post54, i_30^0'=i_30^post54, head_SLAM_f_26^0'=head_SLAM_f_26^post54, r_218^0'=r_218^post54, len_276^0'=len_276^post54, a_308^0'=a_308^post54, t_23^0'=t_23^post54, a_210^0'=a_210^post54, result_11^0'=result_11^post54, head_268^0'=head_268^post54, f_263^0'=f_263^post54, x_16^0'=x_16^post54, len_132^0'=len_132^post54, i_167^0'=i_167^post54, a_116^0'=a_116^post54, r_39^0'=r_39^post54, nondet_12^0'=nondet_12^post54, x_SLAM_f_18^0'=x_SLAM_f_18^post54, a_353^0'=a_353^post54, temp0_31^0'=temp0_31^post54, a_277^0'=a_277^post54, head_32^0'=head_32^post54, head_14^0'=head_14^post54, r_163^0'=r_163^post54, len_226^0'=len_226^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_184^0'=a_184^post54, rcd_88^0'=rcd_88^post54, head_223^0'=head_223^post54, f_170^0'=f_170^post54, tmp_34^0'=tmp_34^post54, i_94^0'=i_94^post54, i_108^0'=i_108^post54, r_260^0'=r_260^post54, length_29^0'=length_29^post54, x_20^0'=x_20^post54, a_330^0'=a_330^post54, (head_129^0-head_129^post54 == 0 /\ r_124^0-r_124^post54 == 0 /\ -len_132^post54+len_132^0 == 0 /\ -rcd_88^post54+rcd_88^0 == 0 /\ head_268^0-head_268^post54 == 0 /\ -head_223^post54+head_223^0 == 0 /\ -x_20^post54+x_20^0 == 0 /\ temp0_15^0-temp0_15^post54 == 0 /\ head_175^0-head_175^post54 == 0 /\ -a_330^post54+a_330^0 == 0 /\ -r_218^post54+r_218^0 == 0 /\ -a_116^post54+a_116^0 == 0 /\ f_263^0-f_263^post54 == 0 /\ nondet_12^0-nondet_12^post54 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post54 == 0 /\ -x_16^post54+x_16^0 == 0 /\ -i_108^post54+i_108^0 == 0 /\ -tmp_34^post54+tmp_34^0 == 0 /\ -r_260^post54+r_260^0 == 0 /\ -t_23^post54+t_23^0 == 0 /\ -result_11^post54+result_11^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post54+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_241^0-a_241^post54 == 0 /\ -a_353^post54+a_353^0 == 0 /\ -len_226^post54+len_226^0 == 0 /\ i_167^0-i_167^post54 == 0 /\ y_19^0-y_19^post54 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54 == 0 /\ rcd_58^0-rcd_58^post54 == 0 /\ len_276^0-len_276^post54 == 0 /\ head_27^0-head_27^post54 == 0 /\ 1-head_14^0 <= 0 /\ -r_39^post54+r_39^0 == 0 /\ a_277^0-a_277^post54 == 0 /\ ct_17^0-ct_17^post54 == 0 /\ a_210^0-a_210^post54 == 0 /\ -a_184^post54+a_184^0 == 0 /\ head_14^0-head_14^post54 == 0 /\ -i_94^post54+i_94^0 == 0 /\ -head_32^post54+head_32^0 == 0 /\ -x_SLAM_f_18^post54+x_SLAM_f_18^0 == 0 /\ temp_35^0-temp_35^post54 == 0 /\ -f_170^post54+f_170^0 == 0 /\ -length_29^post54+length_29^0 == 0 /\ a_147^0-a_147^post54 == 0 /\ len_183^0-len_183^post54 == 0 /\ r_163^0-r_163^post54 == 0 /\ -i_30^post54+i_30^0 == 0 /\ -temp0_31^post54+temp0_31^0 == 0 /\ -a_308^post54+a_308^0 == 0), cost: 1 New rule: l37 -> l38 : -1+head_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l37 -> l38 : temp0_15^0'=temp0_15^post55, a_241^0'=a_241^post55, head_27^0'=head_27^post55, head_129^0'=head_129^post55, r_124^0'=r_124^post55, len_183^0'=len_183^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55, a_147^0'=a_147^post55, rcd_58^0'=rcd_58^post55, head_175^0'=head_175^post55, y_19^0'=y_19^post55, ct_17^0'=ct_17^post55, temp_35^0'=temp_35^post55, i_30^0'=i_30^post55, head_SLAM_f_26^0'=head_SLAM_f_26^post55, r_218^0'=r_218^post55, len_276^0'=len_276^post55, a_308^0'=a_308^post55, t_23^0'=t_23^post55, a_210^0'=a_210^post55, result_11^0'=result_11^post55, head_268^0'=head_268^post55, f_263^0'=f_263^post55, x_16^0'=x_16^post55, len_132^0'=len_132^post55, i_167^0'=i_167^post55, a_116^0'=a_116^post55, r_39^0'=r_39^post55, nondet_12^0'=nondet_12^post55, x_SLAM_f_18^0'=x_SLAM_f_18^post55, a_353^0'=a_353^post55, temp0_31^0'=temp0_31^post55, a_277^0'=a_277^post55, head_32^0'=head_32^post55, head_14^0'=head_14^post55, r_163^0'=r_163^post55, len_226^0'=len_226^post55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post55, a_184^0'=a_184^post55, rcd_88^0'=rcd_88^post55, head_223^0'=head_223^post55, f_170^0'=f_170^post55, tmp_34^0'=tmp_34^post55, i_94^0'=i_94^post55, i_108^0'=i_108^post55, r_260^0'=r_260^post55, length_29^0'=length_29^post55, x_20^0'=x_20^post55, a_330^0'=a_330^post55, (head_27^0-head_27^post55 == 0 /\ -x_20^post55+x_20^0 == 0 /\ -i_30^post55+i_30^0 == 0 /\ -head_32^post55+head_32^0 == 0 /\ -head_14^post55+head_14^0 == 0 /\ -i_108^post55+i_108^0 == 0 /\ -a_308^post55+a_308^0 == 0 /\ -a_330^post55+a_330^0 == 0 /\ -rcd_88^post55+rcd_88^0 == 0 /\ -head_175^post55+head_175^0 == 0 /\ -x_SLAM_f_18^post55+x_SLAM_f_18^0 == 0 /\ -r_260^post55+r_260^0 == 0 /\ -tmp_34^post55+tmp_34^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post55 == 0 /\ len_183^0-len_183^post55 == 0 /\ rcd_58^0-rcd_58^post55 == 0 /\ head_268^0-head_268^post55 == 0 /\ 1+head_14^0 <= 0 /\ -r_218^post55+r_218^0 == 0 /\ nondet_12^0-nondet_12^post55 == 0 /\ head_129^0-head_129^post55 == 0 /\ -head_223^post55+head_223^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55 == 0 /\ temp0_31^0-temp0_31^post55 == 0 /\ r_124^0-r_124^post55 == 0 /\ y_19^0-y_19^post55 == 0 /\ -i_167^post55+i_167^0 == 0 /\ r_163^0-r_163^post55 == 0 /\ temp0_15^0-temp0_15^post55 == 0 /\ -a_116^post55+a_116^0 == 0 /\ -a_184^post55+a_184^0 == 0 /\ len_132^0-len_132^post55 == 0 /\ len_276^0-len_276^post55 == 0 /\ x_16^0-x_16^post55 == 0 /\ -i_94^post55+i_94^0 == 0 /\ f_263^0-f_263^post55 == 0 /\ ct_17^0-ct_17^post55 == 0 /\ -result_11^post55+result_11^0 == 0 /\ -a_353^post55+a_353^0 == 0 /\ -length_29^post55+length_29^0 == 0 /\ -len_226^post55+len_226^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post55 == 0 /\ -f_170^post55+f_170^0 == 0 /\ a_241^0-a_241^post55 == 0 /\ a_210^0-a_210^post55 == 0 /\ -r_39^post55+r_39^0 == 0 /\ -a_277^post55+a_277^0 == 0 /\ temp_35^0-temp_35^post55 == 0 /\ a_147^0-a_147^post55 == 0 /\ -t_23^post55+t_23^0 == 0), cost: 1 New rule: l37 -> l38 : 1+head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l38 -> l4 : temp0_15^0'=temp0_15^post56, a_241^0'=a_241^post56, head_27^0'=head_27^post56, head_129^0'=head_129^post56, r_124^0'=r_124^post56, len_183^0'=len_183^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56, a_147^0'=a_147^post56, rcd_58^0'=rcd_58^post56, head_175^0'=head_175^post56, y_19^0'=y_19^post56, ct_17^0'=ct_17^post56, temp_35^0'=temp_35^post56, i_30^0'=i_30^post56, head_SLAM_f_26^0'=head_SLAM_f_26^post56, r_218^0'=r_218^post56, len_276^0'=len_276^post56, a_308^0'=a_308^post56, t_23^0'=t_23^post56, a_210^0'=a_210^post56, result_11^0'=result_11^post56, head_268^0'=head_268^post56, f_263^0'=f_263^post56, x_16^0'=x_16^post56, len_132^0'=len_132^post56, i_167^0'=i_167^post56, a_116^0'=a_116^post56, r_39^0'=r_39^post56, nondet_12^0'=nondet_12^post56, x_SLAM_f_18^0'=x_SLAM_f_18^post56, a_353^0'=a_353^post56, temp0_31^0'=temp0_31^post56, a_277^0'=a_277^post56, head_32^0'=head_32^post56, head_14^0'=head_14^post56, r_163^0'=r_163^post56, len_226^0'=len_226^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post56, a_184^0'=a_184^post56, rcd_88^0'=rcd_88^post56, head_223^0'=head_223^post56, f_170^0'=f_170^post56, tmp_34^0'=tmp_34^post56, i_94^0'=i_94^post56, i_108^0'=i_108^post56, r_260^0'=r_260^post56, length_29^0'=length_29^post56, x_20^0'=x_20^post56, a_330^0'=a_330^post56, (2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_14^post56+head_14^0 == 0 /\ y_19^0-y_19^post56 == 0 /\ -x_SLAM_f_18^post56+x_SLAM_f_18^0 == 0 /\ -rcd_88^post56+rcd_88^0 == 0 /\ len_276^0-len_276^post56 == 0 /\ -f_170^post56+f_170^0 == 0 /\ -len_226^post56+len_226^0 == 0 /\ -r_260^post56+r_260^0 == 0 /\ i_30^0-i_30^post56 == 0 /\ -a_308^post56+a_308^0 == 0 /\ -a_116^post56+a_116^0 == 0 /\ ct_17^0-ct_17^post56 == 0 /\ head_32^0-head_32^post56 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post56 == 0 /\ head_27^0-head_27^post56 == 0 /\ -r_218^post56+r_218^0 == 0 /\ -i_94^post56+i_94^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post56+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_147^0-a_147^post56 == 0 /\ len_183^0-len_183^post56 == 0 /\ temp0_15^0-temp0_15^post56 == 0 /\ head_175^0-head_175^post56 == 0 /\ -tmp_34^post56+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post56 == 0 /\ -temp_35^post56+temp_35^0 == 0 /\ -length_29^post56+length_29^0 == 0 /\ -a_277^post56+a_277^0 == 0 /\ r_124^0-r_124^post56 == 0 /\ -a_353^post56+a_353^0 == 0 /\ -i_167^post56+i_167^0 == 0 /\ len_132^0-len_132^post56 == 0 /\ -r_163^post56+r_163^0 == 0 /\ rcd_58^0-rcd_58^post56 == 0 /\ -r_39^post56+r_39^0 == 0 /\ f_263^0-f_263^post56 == 0 /\ head_268^0-head_268^post56 == 0 /\ i_108^0-i_108^post56 == 0 /\ -head_223^post56+head_223^0 == 0 /\ -result_11^post56+result_11^0 == 0 /\ t_23^0-t_23^post56 == 0 /\ -x_20^post56+x_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56 == 0 /\ -nondet_12^post56+nondet_12^0 == 0 /\ head_129^0-head_129^post56 == 0 /\ a_241^0-a_241^post56 == 0 /\ -x_16^post56+x_16^0 == 0 /\ -a_184^post56+a_184^0 == 0 /\ -a_330^post56+a_330^0 == 0 /\ a_210^0-a_210^post56 == 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 : temp0_15^0'=temp0_15^post57, a_241^0'=a_241^post57, head_27^0'=head_27^post57, head_129^0'=head_129^post57, r_124^0'=r_124^post57, len_183^0'=len_183^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57, a_147^0'=a_147^post57, rcd_58^0'=rcd_58^post57, head_175^0'=head_175^post57, y_19^0'=y_19^post57, ct_17^0'=ct_17^post57, temp_35^0'=temp_35^post57, i_30^0'=i_30^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_218^0'=r_218^post57, len_276^0'=len_276^post57, a_308^0'=a_308^post57, t_23^0'=t_23^post57, a_210^0'=a_210^post57, result_11^0'=result_11^post57, head_268^0'=head_268^post57, f_263^0'=f_263^post57, x_16^0'=x_16^post57, len_132^0'=len_132^post57, i_167^0'=i_167^post57, a_116^0'=a_116^post57, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post57, x_SLAM_f_18^0'=x_SLAM_f_18^post57, a_353^0'=a_353^post57, temp0_31^0'=temp0_31^post57, a_277^0'=a_277^post57, head_32^0'=head_32^post57, head_14^0'=head_14^post57, r_163^0'=r_163^post57, len_226^0'=len_226^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=a_184^post57, rcd_88^0'=rcd_88^post57, head_223^0'=head_223^post57, f_170^0'=f_170^post57, tmp_34^0'=tmp_34^post57, i_94^0'=i_94^post57, i_108^0'=i_108^post57, r_260^0'=r_260^post57, length_29^0'=length_29^post57, x_20^0'=x_20^post57, a_330^0'=a_330^post57, (0 == 0 /\ temp0_15^0-temp0_15^post57 == 0 /\ tmp_34^0-tmp_34^post57 == 0 /\ -r_260^post57+r_260^0 == 0 /\ t_23^0-t_23^post57 == 0 /\ y_19^0-y_19^post57 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57 == 0 /\ a_308^0-a_308^post57 == 0 /\ r_124^0-r_124^post57 == 0 /\ i_30^0-i_30^post57 == 0 /\ len_183^0-len_183^post57 == 0 /\ len_276^0-len_276^post57 == 0 /\ -r_218^post57+r_218^0 == 0 /\ -f_263^post57+f_263^0 == 0 /\ len_132^0-len_132^post57 == 0 /\ ct_17^0-ct_17^post57 == 0 /\ a_147^0-a_147^post57 == 0 /\ -i_94^post57+i_94^0 == 0 /\ a_184^0-a_184^post57 == 0 /\ -temp_35^post57+temp_35^0 == 0 /\ -a_147^0 <= 0 /\ head_129^0-head_129^post57 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post57 == 0 /\ -temp0_31^post57+temp0_31^0 == 0 /\ -a_277^post57+a_277^0 == 0 /\ -len_226^post57+len_226^0 == 0 /\ -a_210^post57+a_210^0 == 0 /\ head_268^0-head_268^post57 == 0 /\ -a_353^post57+a_353^0 == 0 /\ -length_29^post57+length_29^0 == 0 /\ -r_163^post57+r_163^0 == 0 /\ -i_167^post57+i_167^0 == 0 /\ a_241^0-a_241^post57 == 0 /\ -rcd_88^post57+rcd_88^0 == 0 /\ result_11^0-result_11^post57 == 0 /\ -x_16^post57+x_16^0 == 0 /\ head_32^0-head_32^post57 == 0 /\ -head_223^post57+head_223^0 == 0 /\ -len_132^0 <= 0 /\ head_27^0-head_27^post57 == 0 /\ rcd_58^0-rcd_58^post57 == 0 /\ a_116^0-a_116^post57 == 0 /\ -x_20^post57+x_20^0 == 0 /\ -nondet_12^post57+nondet_12^0 == 0 /\ -i_108^post57+i_108^0 == 0 /\ -a_330^post57+a_330^0 == 0), cost: 1 New rule: l36 -> l40 : head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, f_170^0'=f_170^post57, (a_147^0 >= 0 /\ len_132^0 >= 0), cost: 1 Applied preprocessing Original rule: l40 -> l41 : temp0_15^0'=temp0_15^post58, a_241^0'=a_241^post58, head_27^0'=head_27^post58, head_129^0'=head_129^post58, r_124^0'=r_124^post58, len_183^0'=len_183^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58, a_147^0'=a_147^post58, rcd_58^0'=rcd_58^post58, head_175^0'=head_175^post58, y_19^0'=y_19^post58, ct_17^0'=ct_17^post58, temp_35^0'=temp_35^post58, i_30^0'=i_30^post58, head_SLAM_f_26^0'=head_SLAM_f_26^post58, r_218^0'=r_218^post58, len_276^0'=len_276^post58, a_308^0'=a_308^post58, t_23^0'=t_23^post58, a_210^0'=a_210^post58, result_11^0'=result_11^post58, head_268^0'=head_268^post58, f_263^0'=f_263^post58, x_16^0'=x_16^post58, len_132^0'=len_132^post58, i_167^0'=i_167^post58, a_116^0'=a_116^post58, r_39^0'=r_39^post58, nondet_12^0'=nondet_12^post58, x_SLAM_f_18^0'=x_SLAM_f_18^post58, a_353^0'=a_353^post58, temp0_31^0'=temp0_31^post58, a_277^0'=a_277^post58, head_32^0'=head_32^post58, head_14^0'=head_14^post58, r_163^0'=r_163^post58, len_226^0'=len_226^post58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post58, a_184^0'=a_184^post58, rcd_88^0'=rcd_88^post58, head_223^0'=head_223^post58, f_170^0'=f_170^post58, tmp_34^0'=tmp_34^post58, i_94^0'=i_94^post58, i_108^0'=i_108^post58, r_260^0'=r_260^post58, length_29^0'=length_29^post58, x_20^0'=x_20^post58, a_330^0'=a_330^post58, (x_16^0-x_16^post58 == 0 /\ -f_170^post58+f_170^0 == 0 /\ y_19^0-y_19^post58 == 0 /\ -r_260^post58+r_260^0 == 0 /\ a_353^0-a_353^post58 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post58+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_276^0-len_276^post58 == 0 /\ i_30^0-i_30^post58 == 0 /\ -a_147^post58+a_147^0 == 0 /\ head_223^0-head_223^post58 == 0 /\ len_183^0-len_183^post58 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post58 == 0 /\ r_218^0-r_218^post58 == 0 /\ -len_132^post58+len_132^0 == 0 /\ temp_35^0-temp_35^post58 == 0 /\ a_116^0-a_116^post58 == 0 /\ -head_14^post58+head_14^0 == 0 /\ -head_32^post58+head_32^0 == 0 /\ -a_330^post58+a_330^0 == 0 /\ head_27^0-head_27^post58 == 0 /\ rcd_88^0-rcd_88^post58 == 0 /\ -tmp_34^post58+tmp_34^0 == 0 /\ head_175^0-head_175^post58 == 0 /\ -i_94^post58+i_94^0 == 0 /\ -r_163^post58+r_163^0 == 0 /\ -length_29^post58+length_29^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_15^0-temp0_15^post58 == 0 /\ i_167^0-i_167^post58 == 0 /\ -len_226^post58+len_226^0 == 0 /\ a_308^0-a_308^post58 == 0 /\ -r_39^post58+r_39^0 == 0 /\ r_124^0-r_124^post58 == 0 /\ result_11^0-result_11^post58 == 0 /\ -temp0_31^post58+temp0_31^0 == 0 /\ -f_263^post58+f_263^0 == 0 /\ a_241^0-a_241^post58 == 0 /\ -head_268^post58+head_268^0 == 0 /\ t_23^0-t_23^post58 == 0 /\ a_210^0-a_210^post58 == 0 /\ -a_277^post58+a_277^0 == 0 /\ -ct_17^post58+ct_17^0 == 0 /\ -x_20^post58+x_20^0 == 0 /\ 1-head_27^0 <= 0 /\ head_129^0-head_129^post58 == 0 /\ rcd_58^0-rcd_58^post58 == 0 /\ -i_108^post58+i_108^0 == 0 /\ -a_184^post58+a_184^0 == 0 /\ -x_SLAM_f_18^post58+x_SLAM_f_18^0 == 0 /\ -nondet_12^post58+nondet_12^0 == 0), cost: 1 New rule: l40 -> l41 : -1+head_27^0 >= 0, cost: 1 Applied preprocessing Original rule: l40 -> l41 : temp0_15^0'=temp0_15^post59, a_241^0'=a_241^post59, head_27^0'=head_27^post59, head_129^0'=head_129^post59, r_124^0'=r_124^post59, len_183^0'=len_183^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59, a_147^0'=a_147^post59, rcd_58^0'=rcd_58^post59, head_175^0'=head_175^post59, y_19^0'=y_19^post59, ct_17^0'=ct_17^post59, temp_35^0'=temp_35^post59, i_30^0'=i_30^post59, head_SLAM_f_26^0'=head_SLAM_f_26^post59, r_218^0'=r_218^post59, len_276^0'=len_276^post59, a_308^0'=a_308^post59, t_23^0'=t_23^post59, a_210^0'=a_210^post59, result_11^0'=result_11^post59, head_268^0'=head_268^post59, f_263^0'=f_263^post59, x_16^0'=x_16^post59, len_132^0'=len_132^post59, i_167^0'=i_167^post59, a_116^0'=a_116^post59, r_39^0'=r_39^post59, nondet_12^0'=nondet_12^post59, x_SLAM_f_18^0'=x_SLAM_f_18^post59, a_353^0'=a_353^post59, temp0_31^0'=temp0_31^post59, a_277^0'=a_277^post59, head_32^0'=head_32^post59, head_14^0'=head_14^post59, r_163^0'=r_163^post59, len_226^0'=len_226^post59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post59, a_184^0'=a_184^post59, rcd_88^0'=rcd_88^post59, head_223^0'=head_223^post59, f_170^0'=f_170^post59, tmp_34^0'=tmp_34^post59, i_94^0'=i_94^post59, i_108^0'=i_108^post59, r_260^0'=r_260^post59, length_29^0'=length_29^post59, x_20^0'=x_20^post59, a_330^0'=a_330^post59, (-f_170^post59+f_170^0 == 0 /\ -result_11^post59+result_11^0 == 0 /\ a_353^0-a_353^post59 == 0 /\ -r_260^post59+r_260^0 == 0 /\ temp0_15^0-temp0_15^post59 == 0 /\ i_167^0-i_167^post59 == 0 /\ 1+head_27^0 <= 0 /\ f_263^0-f_263^post59 == 0 /\ len_183^0-len_183^post59 == 0 /\ -ct_17^post59+ct_17^0 == 0 /\ len_276^0-len_276^post59 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post59+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_210^0-a_210^post59 == 0 /\ nondet_12^0-nondet_12^post59 == 0 /\ temp_35^0-temp_35^post59 == 0 /\ i_30^0-i_30^post59 == 0 /\ a_147^0-a_147^post59 == 0 /\ -a_330^post59+a_330^0 == 0 /\ -a_308^post59+a_308^0 == 0 /\ -len_132^post59+len_132^0 == 0 /\ -a_116^post59+a_116^0 == 0 /\ rcd_88^0-rcd_88^post59 == 0 /\ -r_163^post59+r_163^0 == 0 /\ -head_32^post59+head_32^0 == 0 /\ -tmp_34^post59+tmp_34^0 == 0 /\ r_124^0-r_124^post59 == 0 /\ r_218^0-r_218^post59 == 0 /\ -length_29^post59+length_29^0 == 0 /\ -i_94^post59+i_94^0 == 0 /\ -len_226^post59+len_226^0 == 0 /\ -a_184^post59+a_184^0 == 0 /\ head_129^0-head_129^post59 == 0 /\ -t_23^post59+t_23^0 == 0 /\ -r_39^post59+r_39^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_175^0-head_175^post59 == 0 /\ head_14^0-head_14^post59 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post59 == 0 /\ a_277^0-a_277^post59 == 0 /\ -head_223^post59+head_223^0 == 0 /\ head_268^0-head_268^post59 == 0 /\ -temp0_31^post59+temp0_31^0 == 0 /\ -x_20^post59+x_20^0 == 0 /\ a_241^0-a_241^post59 == 0 /\ x_16^0-x_16^post59 == 0 /\ y_19^0-y_19^post59 == 0 /\ -i_108^post59+i_108^0 == 0 /\ head_27^0-head_27^post59 == 0 /\ rcd_58^0-rcd_58^post59 == 0 /\ -x_SLAM_f_18^post59+x_SLAM_f_18^0 == 0), cost: 1 New rule: l40 -> l41 : 1+head_27^0 <= 0, cost: 1 Applied preprocessing Original rule: l41 -> l42 : temp0_15^0'=temp0_15^post60, a_241^0'=a_241^post60, head_27^0'=head_27^post60, head_129^0'=head_129^post60, r_124^0'=r_124^post60, len_183^0'=len_183^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60, a_147^0'=a_147^post60, rcd_58^0'=rcd_58^post60, head_175^0'=head_175^post60, y_19^0'=y_19^post60, ct_17^0'=ct_17^post60, temp_35^0'=temp_35^post60, i_30^0'=i_30^post60, head_SLAM_f_26^0'=head_SLAM_f_26^post60, r_218^0'=r_218^post60, len_276^0'=len_276^post60, a_308^0'=a_308^post60, t_23^0'=t_23^post60, a_210^0'=a_210^post60, result_11^0'=result_11^post60, head_268^0'=head_268^post60, f_263^0'=f_263^post60, x_16^0'=x_16^post60, len_132^0'=len_132^post60, i_167^0'=i_167^post60, a_116^0'=a_116^post60, r_39^0'=r_39^post60, nondet_12^0'=nondet_12^post60, x_SLAM_f_18^0'=x_SLAM_f_18^post60, a_353^0'=a_353^post60, temp0_31^0'=temp0_31^post60, a_277^0'=a_277^post60, head_32^0'=head_32^post60, head_14^0'=head_14^post60, r_163^0'=r_163^post60, len_226^0'=len_226^post60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post60, a_184^0'=a_184^post60, rcd_88^0'=rcd_88^post60, head_223^0'=head_223^post60, f_170^0'=f_170^post60, tmp_34^0'=tmp_34^post60, i_94^0'=i_94^post60, i_108^0'=i_108^post60, r_260^0'=r_260^post60, length_29^0'=length_29^post60, x_20^0'=x_20^post60, a_330^0'=a_330^post60, (0 == 0 /\ len_276^0-len_276^post60 == 0 /\ -a_308^post60+a_308^0 == 0 /\ head_129^0-head_129^post60 == 0 /\ -i_108^post60+i_108^0 == 0 /\ -1+a_147^0-a_184^post60 <= 0 /\ -rcd_88^post60+rcd_88^0 == 0 /\ -r_39^post60+r_39^0 == 0 /\ -r_218^post60+r_218^0 == 0 /\ temp0_15^0-temp0_15^post60 == 0 /\ -x_20^post60+x_20^0 == 0 /\ head_175^0-head_175^post60 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post60 == 0 /\ -head_27^0+f_170^0 <= 0 /\ i_167^0-i_167^post60 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post60+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1-len_132^0+len_183^post60 <= 0 /\ -x_SLAM_f_18^post60+x_SLAM_f_18^0 == 0 /\ -a_330^post60+a_330^0 == 0 /\ a_241^0-a_241^post60 == 0 /\ -t_23^post60+t_23^0 == 0 /\ -tmp_34^post60+tmp_34^0 == 0 /\ a_210^0-a_210^post60 == 0 /\ y_19^0-y_19^post60 == 0 /\ -a_353^post60+a_353^0 == 0 /\ -len_226^post60+len_226^0 == 0 /\ rcd_58^0-rcd_58^post60 == 0 /\ head_27^0-f_170^0 <= 0 /\ -temp0_31^post60+temp0_31^0 == 0 /\ -r_260^post60+r_260^0 == 0 /\ f_263^0-f_263^post60 == 0 /\ -head_223^post60+head_223^0 == 0 /\ -head_32^post60+head_32^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60 == 0 /\ -len_132^post60+len_132^0 == 0 /\ 1-a_147^0+a_184^post60 <= 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ -i_94^post60+i_94^0 == 0 /\ ct_17^0-ct_17^post60 == 0 /\ a_277^0-a_277^post60 == 0 /\ -a_116^post60+a_116^0 == 0 /\ nondet_12^0-nondet_12^post60 == 0 /\ -head_268^post60+head_268^0 == 0 /\ head_27^0-head_27^post60 == 0 /\ -r_124^post60+r_124^0 == 0 /\ 1+len_132^0-len_183^post60 <= 0 /\ result_11^0-result_11^post60 == 0 /\ temp_35^0-temp_35^post60 == 0 /\ a_147^0-a_147^post60 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ -i_30^post60+i_30^0 == 0 /\ -f_170^post60+f_170^0 == 0 /\ -length_29^post60+length_29^0 == 0 /\ x_16^0-x_16^post60 == 0 /\ head_14^0-head_14^post60 == 0 /\ r_163^0-r_163^post60 == 0), cost: 1 New rule: l41 -> l42 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (-head_27^0+f_170^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 Applied preprocessing Original rule: l42 -> l43 : temp0_15^0'=temp0_15^post61, a_241^0'=a_241^post61, head_27^0'=head_27^post61, head_129^0'=head_129^post61, r_124^0'=r_124^post61, len_183^0'=len_183^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61, a_147^0'=a_147^post61, rcd_58^0'=rcd_58^post61, head_175^0'=head_175^post61, y_19^0'=y_19^post61, ct_17^0'=ct_17^post61, temp_35^0'=temp_35^post61, i_30^0'=i_30^post61, head_SLAM_f_26^0'=head_SLAM_f_26^post61, r_218^0'=r_218^post61, len_276^0'=len_276^post61, a_308^0'=a_308^post61, t_23^0'=t_23^post61, a_210^0'=a_210^post61, result_11^0'=result_11^post61, head_268^0'=head_268^post61, f_263^0'=f_263^post61, x_16^0'=x_16^post61, len_132^0'=len_132^post61, i_167^0'=i_167^post61, a_116^0'=a_116^post61, r_39^0'=r_39^post61, nondet_12^0'=nondet_12^post61, x_SLAM_f_18^0'=x_SLAM_f_18^post61, a_353^0'=a_353^post61, temp0_31^0'=temp0_31^post61, a_277^0'=a_277^post61, head_32^0'=head_32^post61, head_14^0'=head_14^post61, r_163^0'=r_163^post61, len_226^0'=len_226^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, a_184^0'=a_184^post61, rcd_88^0'=rcd_88^post61, head_223^0'=head_223^post61, f_170^0'=f_170^post61, tmp_34^0'=tmp_34^post61, i_94^0'=i_94^post61, i_108^0'=i_108^post61, r_260^0'=r_260^post61, length_29^0'=length_29^post61, x_20^0'=x_20^post61, a_330^0'=a_330^post61, (head_268^0-head_268^post61 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 == 0 /\ -i_30^post61+i_30^0 == 0 /\ r_124^0-r_124^post61 == 0 /\ -a_308^post61+a_308^0 == 0 /\ -a_330^post61+a_330^0 == 0 /\ r_218^0-r_218^post61 == 0 /\ -a_116^post61+a_116^0 == 0 /\ -head_175^post61+head_175^0 == 0 /\ -a_184^post61+a_184^0 == 0 /\ -x_16^post61+x_16^0 == 0 /\ nondet_12^0-nondet_12^post61 == 0 /\ temp0_15^0-temp0_15^post61 == 0 /\ -i_94^post61+i_94^0 == 0 /\ -rcd_88^post61+rcd_88^0 == 0 /\ -x_SLAM_f_18^post61+x_SLAM_f_18^0 == 0 /\ rcd_58^0-rcd_58^post61 == 0 /\ -a_353^post61+a_353^0 == 0 /\ -length_29^post61+length_29^0 == 0 /\ -t_23^post61+t_23^0 == 0 /\ -len_226^post61+len_226^0 == 0 /\ -f_170^post61+f_170^0 == 0 /\ a_241^0-a_241^post61 == 0 /\ head_129^0-head_129^post61 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61 == 0 /\ temp0_31^0-temp0_31^post61 == 0 /\ y_19^0-y_19^post61 == 0 /\ a_147^0-a_147^post61 == 0 /\ head_27^0-head_27^post61 == 0 /\ 1-head_14^0 <= 0 /\ len_276^0-len_276^post61 == 0 /\ -x_20^post61+x_20^0 == 0 /\ len_132^0-len_132^post61 == 0 /\ -head_32^post61+head_32^0 == 0 /\ ct_17^0-ct_17^post61 == 0 /\ -tmp_34^post61+tmp_34^0 == 0 /\ -r_260^post61+r_260^0 == 0 /\ -head_14^post61+head_14^0 == 0 /\ len_183^0-len_183^post61 == 0 /\ -result_11^post61+result_11^0 == 0 /\ r_163^0-r_163^post61 == 0 /\ a_277^0-a_277^post61 == 0 /\ -r_39^post61+r_39^0 == 0 /\ a_210^0-a_210^post61 == 0 /\ -i_167^post61+i_167^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post61 == 0 /\ -head_223^post61+head_223^0 == 0 /\ i_108^0-i_108^post61 == 0 /\ f_263^0-f_263^post61 == 0 /\ temp_35^0-temp_35^post61 == 0), cost: 1 New rule: l42 -> l43 : -1+head_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l42 -> l43 : temp0_15^0'=temp0_15^post62, a_241^0'=a_241^post62, head_27^0'=head_27^post62, head_129^0'=head_129^post62, r_124^0'=r_124^post62, len_183^0'=len_183^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62, a_147^0'=a_147^post62, rcd_58^0'=rcd_58^post62, head_175^0'=head_175^post62, y_19^0'=y_19^post62, ct_17^0'=ct_17^post62, temp_35^0'=temp_35^post62, i_30^0'=i_30^post62, head_SLAM_f_26^0'=head_SLAM_f_26^post62, r_218^0'=r_218^post62, len_276^0'=len_276^post62, a_308^0'=a_308^post62, t_23^0'=t_23^post62, a_210^0'=a_210^post62, result_11^0'=result_11^post62, head_268^0'=head_268^post62, f_263^0'=f_263^post62, x_16^0'=x_16^post62, len_132^0'=len_132^post62, i_167^0'=i_167^post62, a_116^0'=a_116^post62, r_39^0'=r_39^post62, nondet_12^0'=nondet_12^post62, x_SLAM_f_18^0'=x_SLAM_f_18^post62, a_353^0'=a_353^post62, temp0_31^0'=temp0_31^post62, a_277^0'=a_277^post62, head_32^0'=head_32^post62, head_14^0'=head_14^post62, r_163^0'=r_163^post62, len_226^0'=len_226^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, a_184^0'=a_184^post62, rcd_88^0'=rcd_88^post62, head_223^0'=head_223^post62, f_170^0'=f_170^post62, tmp_34^0'=tmp_34^post62, i_94^0'=i_94^post62, i_108^0'=i_108^post62, r_260^0'=r_260^post62, length_29^0'=length_29^post62, x_20^0'=x_20^post62, a_330^0'=a_330^post62, (y_19^0-y_19^post62 == 0 /\ -x_20^post62+x_20^0 == 0 /\ -x_16^post62+x_16^0 == 0 /\ head_27^0-head_27^post62 == 0 /\ head_268^0-head_268^post62 == 0 /\ -i_167^post62+i_167^0 == 0 /\ -a_330^post62+a_330^0 == 0 /\ nondet_12^0-nondet_12^post62 == 0 /\ -r_260^post62+r_260^0 == 0 /\ -x_SLAM_f_18^post62+x_SLAM_f_18^0 == 0 /\ -a_116^post62+a_116^0 == 0 /\ -rcd_88^post62+rcd_88^0 == 0 /\ -a_308^post62+a_308^0 == 0 /\ i_30^0-i_30^post62 == 0 /\ -head_14^post62+head_14^0 == 0 /\ -f_170^post62+f_170^0 == 0 /\ len_183^0-len_183^post62 == 0 /\ -a_353^post62+a_353^0 == 0 /\ -len_226^post62+len_226^0 == 0 /\ 1+head_14^0 <= 0 /\ -i_94^post62+i_94^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post62+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_276^0-len_276^post62 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post62 == 0 /\ a_147^0-a_147^post62 == 0 /\ -t_23^post62+t_23^0 == 0 /\ ct_17^0-ct_17^post62 == 0 /\ temp0_31^0-temp0_31^post62 == 0 /\ -a_277^post62+a_277^0 == 0 /\ head_175^0-head_175^post62 == 0 /\ r_124^0-r_124^post62 == 0 /\ -tmp_34^post62+tmp_34^0 == 0 /\ head_32^0-head_32^post62 == 0 /\ -length_29^post62+length_29^0 == 0 /\ len_132^0-len_132^post62 == 0 /\ -temp_35^post62+temp_35^0 == 0 /\ temp0_15^0-temp0_15^post62 == 0 /\ -head_129^post62+head_129^0 == 0 /\ i_108^0-i_108^post62 == 0 /\ -r_39^post62+r_39^0 == 0 /\ -a_184^post62+a_184^0 == 0 /\ rcd_58^0-rcd_58^post62 == 0 /\ f_263^0-f_263^post62 == 0 /\ -head_223^post62+head_223^0 == 0 /\ -r_163^post62+r_163^0 == 0 /\ -r_218^post62+r_218^0 == 0 /\ a_241^0-a_241^post62 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62 == 0 /\ a_210^0-a_210^post62 == 0 /\ -result_11^post62+result_11^0 == 0), cost: 1 New rule: l42 -> l43 : 1+head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l43 -> l44 : temp0_15^0'=temp0_15^post63, a_241^0'=a_241^post63, head_27^0'=head_27^post63, head_129^0'=head_129^post63, r_124^0'=r_124^post63, len_183^0'=len_183^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63, a_147^0'=a_147^post63, rcd_58^0'=rcd_58^post63, head_175^0'=head_175^post63, y_19^0'=y_19^post63, ct_17^0'=ct_17^post63, temp_35^0'=temp_35^post63, i_30^0'=i_30^post63, head_SLAM_f_26^0'=head_SLAM_f_26^post63, r_218^0'=r_218^post63, len_276^0'=len_276^post63, a_308^0'=a_308^post63, t_23^0'=t_23^post63, a_210^0'=a_210^post63, result_11^0'=result_11^post63, head_268^0'=head_268^post63, f_263^0'=f_263^post63, x_16^0'=x_16^post63, len_132^0'=len_132^post63, i_167^0'=i_167^post63, a_116^0'=a_116^post63, r_39^0'=r_39^post63, nondet_12^0'=nondet_12^post63, x_SLAM_f_18^0'=x_SLAM_f_18^post63, a_353^0'=a_353^post63, temp0_31^0'=temp0_31^post63, a_277^0'=a_277^post63, head_32^0'=head_32^post63, head_14^0'=head_14^post63, r_163^0'=r_163^post63, len_226^0'=len_226^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, a_184^0'=a_184^post63, rcd_88^0'=rcd_88^post63, head_223^0'=head_223^post63, f_170^0'=f_170^post63, tmp_34^0'=tmp_34^post63, i_94^0'=i_94^post63, i_108^0'=i_108^post63, r_260^0'=r_260^post63, length_29^0'=length_29^post63, x_20^0'=x_20^post63, a_330^0'=a_330^post63, (len_183^0-len_183^post63 == 0 /\ tmp_34^0-tmp_34^post63 == 0 /\ r_39^0-r_39^post63 == 0 /\ -len_276^post63+len_276^0 == 0 /\ -head_268^post63+head_268^0 == 0 /\ -a_210^post63+a_210^0 == 0 /\ result_11^0-result_11^post63 == 0 /\ r_218^0-r_218^post63 == 0 /\ -temp_35^post63+temp_35^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63 == 0 /\ a_241^0-a_241^post63 == 0 /\ -f_170^post63+f_170^0 == 0 /\ -r_260^post63+r_260^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post63 == 0 /\ head_175^0-head_175^post63 == 0 /\ a_308^0-a_308^post63 == 0 /\ -i_94^post63+i_94^0 == 0 /\ r_124^0-r_124^post63 == 0 /\ a_184^0-a_184^post63 == 0 /\ t_23^0-t_23^post63 == 0 /\ len_132^0-len_132^post63 == 0 /\ i_30^0-i_30^post63 == 0 /\ -x_16^post63+x_16^0 == 0 /\ -i_167^post63+i_167^0 == 0 /\ -nondet_12^post63+nondet_12^0 == 0 /\ -a_330^post63+a_330^0 == 0 /\ -temp0_31^post63+temp0_31^0 == 0 /\ 1-head_175^0 <= 0 /\ rcd_58^0-rcd_58^post63 == 0 /\ -a_277^post63+a_277^0 == 0 /\ -head_14^post63+head_14^0 == 0 /\ head_129^0-head_129^post63 == 0 /\ -r_163^post63+r_163^0 == 0 /\ -rcd_88^post63+rcd_88^0 == 0 /\ -length_29^post63+length_29^0 == 0 /\ a_147^0-a_147^post63 == 0 /\ -a_353^post63+a_353^0 == 0 /\ -i_108^post63+i_108^0 == 0 /\ -head_223^post63+head_223^0 == 0 /\ len_226^0-len_226^post63 == 0 /\ y_19^0-y_19^post63 == 0 /\ head_32^0-head_32^post63 == 0 /\ -head_27^post63+head_27^0 == 0 /\ -head_SLAM_f_26^post63+head_SLAM_f_26^0 == 0 /\ -f_263^post63+f_263^0 == 0 /\ temp0_15^0-temp0_15^post63 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post63+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ ct_17^0-ct_17^post63 == 0 /\ -x_20^post63+x_20^0 == 0 /\ a_116^0-a_116^post63 == 0), cost: 1 New rule: l43 -> l44 : -1+head_175^0 >= 0, cost: 1 Applied preprocessing Original rule: l43 -> l44 : temp0_15^0'=temp0_15^post64, a_241^0'=a_241^post64, head_27^0'=head_27^post64, head_129^0'=head_129^post64, r_124^0'=r_124^post64, len_183^0'=len_183^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64, a_147^0'=a_147^post64, rcd_58^0'=rcd_58^post64, head_175^0'=head_175^post64, y_19^0'=y_19^post64, ct_17^0'=ct_17^post64, temp_35^0'=temp_35^post64, i_30^0'=i_30^post64, head_SLAM_f_26^0'=head_SLAM_f_26^post64, r_218^0'=r_218^post64, len_276^0'=len_276^post64, a_308^0'=a_308^post64, t_23^0'=t_23^post64, a_210^0'=a_210^post64, result_11^0'=result_11^post64, head_268^0'=head_268^post64, f_263^0'=f_263^post64, x_16^0'=x_16^post64, len_132^0'=len_132^post64, i_167^0'=i_167^post64, a_116^0'=a_116^post64, r_39^0'=r_39^post64, nondet_12^0'=nondet_12^post64, x_SLAM_f_18^0'=x_SLAM_f_18^post64, a_353^0'=a_353^post64, temp0_31^0'=temp0_31^post64, a_277^0'=a_277^post64, head_32^0'=head_32^post64, head_14^0'=head_14^post64, r_163^0'=r_163^post64, len_226^0'=len_226^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, a_184^0'=a_184^post64, rcd_88^0'=rcd_88^post64, head_223^0'=head_223^post64, f_170^0'=f_170^post64, tmp_34^0'=tmp_34^post64, i_94^0'=i_94^post64, i_108^0'=i_108^post64, r_260^0'=r_260^post64, length_29^0'=length_29^post64, x_20^0'=x_20^post64, a_330^0'=a_330^post64, (x_SLAM_f_18^0-x_SLAM_f_18^post64 == 0 /\ result_11^0-result_11^post64 == 0 /\ -rcd_58^post64+rcd_58^0 == 0 /\ -tmp_34^post64+tmp_34^0 == 0 /\ r_39^0-r_39^post64 == 0 /\ -a_277^post64+a_277^0 == 0 /\ -a_210^post64+a_210^0 == 0 /\ head_129^0-head_129^post64 == 0 /\ -f_170^post64+f_170^0 == 0 /\ -len_226^post64+len_226^0 == 0 /\ 1+head_175^0 <= 0 /\ a_353^0-a_353^post64 == 0 /\ -head_32^post64+head_32^0 == 0 /\ head_27^0-head_27^post64 == 0 /\ -head_223^post64+head_223^0 == 0 /\ a_308^0-a_308^post64 == 0 /\ -head_268^post64+head_268^0 == 0 /\ -nondet_12^post64+nondet_12^0 == 0 /\ -i_108^post64+i_108^0 == 0 /\ a_116^0-a_116^post64 == 0 /\ -a_184^post64+a_184^0 == 0 /\ len_132^0-len_132^post64 == 0 /\ -head_SLAM_f_26^post64+head_SLAM_f_26^0 == 0 /\ -head_14^post64+head_14^0 == 0 /\ len_183^0-len_183^post64 == 0 /\ i_167^0-i_167^post64 == 0 /\ -a_330^post64+a_330^0 == 0 /\ -temp0_31^post64+temp0_31^0 == 0 /\ t_23^0-t_23^post64 == 0 /\ -r_163^post64+r_163^0 == 0 /\ -rcd_88^post64+rcd_88^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64 == 0 /\ -r_260^post64+r_260^0 == 0 /\ temp_35^0-temp_35^post64 == 0 /\ a_241^0-a_241^post64 == 0 /\ -length_29^post64+length_29^0 == 0 /\ ct_17^0-ct_17^post64 == 0 /\ -temp0_15^post64+temp0_15^0 == 0 /\ -f_263^post64+f_263^0 == 0 /\ head_175^0-head_175^post64 == 0 /\ r_218^0-r_218^post64 == 0 /\ r_124^0-r_124^post64 == 0 /\ -len_276^post64+len_276^0 == 0 /\ a_147^0-a_147^post64 == 0 /\ -x_16^post64+x_16^0 == 0 /\ -i_94^post64+i_94^0 == 0 /\ -y_19^post64+y_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post64+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_20^post64+x_20^0 == 0 /\ i_30^0-i_30^post64 == 0), cost: 1 New rule: l43 -> l44 : 1+head_175^0 <= 0, cost: 1 Applied preprocessing Original rule: l44 -> l39 : temp0_15^0'=temp0_15^post65, a_241^0'=a_241^post65, head_27^0'=head_27^post65, head_129^0'=head_129^post65, r_124^0'=r_124^post65, len_183^0'=len_183^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, a_147^0'=a_147^post65, rcd_58^0'=rcd_58^post65, head_175^0'=head_175^post65, y_19^0'=y_19^post65, ct_17^0'=ct_17^post65, temp_35^0'=temp_35^post65, i_30^0'=i_30^post65, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_218^0'=r_218^post65, len_276^0'=len_276^post65, a_308^0'=a_308^post65, t_23^0'=t_23^post65, a_210^0'=a_210^post65, result_11^0'=result_11^post65, head_268^0'=head_268^post65, f_263^0'=f_263^post65, x_16^0'=x_16^post65, len_132^0'=len_132^post65, i_167^0'=i_167^post65, a_116^0'=a_116^post65, r_39^0'=r_39^post65, nondet_12^0'=nondet_12^post65, x_SLAM_f_18^0'=x_SLAM_f_18^post65, a_353^0'=a_353^post65, temp0_31^0'=temp0_31^post65, a_277^0'=a_277^post65, head_32^0'=head_32^post65, head_14^0'=head_14^post65, r_163^0'=r_163^post65, len_226^0'=len_226^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, a_184^0'=a_184^post65, rcd_88^0'=rcd_88^post65, head_223^0'=head_223^post65, f_170^0'=f_170^post65, tmp_34^0'=tmp_34^post65, i_94^0'=i_94^post65, i_108^0'=i_108^post65, r_260^0'=r_260^post65, length_29^0'=length_29^post65, x_20^0'=x_20^post65, a_330^0'=a_330^post65, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_16^0-x_16^post65 == 0 /\ -tmp_34^post65+tmp_34^0 == 0 /\ -r_163^post65+r_163^0 == 0 /\ a_116^0-a_116^post65 == 0 /\ -f_170^post65+f_170^0 == 0 /\ -r_260^post65+r_260^0 == 0 /\ -t_23^post65+t_23^0 == 0 /\ len_276^0-len_276^post65 == 0 /\ i_30^0-i_30^post65 == 0 /\ rcd_58^0-rcd_58^post65 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post65+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post65 == 0 /\ -len_183^0+len_132^post65 <= 0 /\ a_210^0-a_210^post65 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post65 == 0 /\ -temp0_31^post65+temp0_31^0 == 0 /\ a_277^0-a_277^post65 == 0 /\ r_218^0-r_218^post65 == 0 /\ -r_39^post65+r_39^0 == 0 /\ -head_223^post65+head_223^0 == 0 /\ head_27^0-head_27^post65 == 0 /\ -head_268^post65+head_268^0 == 0 /\ len_183^0-len_183^post65 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_108^post65+i_108^0 == 0 /\ len_183^0-len_132^post65 <= 0 /\ -a_184^post65+a_184^0 == 0 /\ a_241^0-a_241^post65 == 0 /\ a_353^0-a_353^post65 == 0 /\ -len_226^post65+len_226^0 == 0 /\ result_11^0-result_11^post65 == 0 /\ f_263^0-f_263^post65 == 0 /\ temp0_15^0-temp0_15^post65 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ -length_29^post65+length_29^0 == 0 /\ temp_35^0-temp_35^post65 == 0 /\ r_124^0-r_124^post65 == 0 /\ a_147^post65-a_184^0 <= 0 /\ -y_19^post65+y_19^0 == 0 /\ -i_167^post65+i_167^0 == 0 /\ -x_20^post65+x_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65 == 0 /\ head_129^0-head_129^post65 == 0 /\ -head_14^post65+head_14^0 == 0 /\ a_308^0-a_308^post65 == 0 /\ -head_32^post65+head_32^0 == 0 /\ -ct_17^post65+ct_17^0 == 0 /\ -a_330^post65+a_330^0 == 0 /\ -rcd_88^post65+rcd_88^0 == 0 /\ -a_147^post65+a_184^0 <= 0 /\ i_94^0-i_94^post65 == 0 /\ head_175^0-head_175^post65 == 0), cost: 1 New rule: l44 -> l39 : a_147^0'=a_184^0, len_132^0'=len_183^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 Applied preprocessing Original rule: l39 -> l36 : temp0_15^0'=temp0_15^post66, a_241^0'=a_241^post66, head_27^0'=head_27^post66, head_129^0'=head_129^post66, r_124^0'=r_124^post66, len_183^0'=len_183^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66, a_147^0'=a_147^post66, rcd_58^0'=rcd_58^post66, head_175^0'=head_175^post66, y_19^0'=y_19^post66, ct_17^0'=ct_17^post66, temp_35^0'=temp_35^post66, i_30^0'=i_30^post66, head_SLAM_f_26^0'=head_SLAM_f_26^post66, r_218^0'=r_218^post66, len_276^0'=len_276^post66, a_308^0'=a_308^post66, t_23^0'=t_23^post66, a_210^0'=a_210^post66, result_11^0'=result_11^post66, head_268^0'=head_268^post66, f_263^0'=f_263^post66, x_16^0'=x_16^post66, len_132^0'=len_132^post66, i_167^0'=i_167^post66, a_116^0'=a_116^post66, r_39^0'=r_39^post66, nondet_12^0'=nondet_12^post66, x_SLAM_f_18^0'=x_SLAM_f_18^post66, a_353^0'=a_353^post66, temp0_31^0'=temp0_31^post66, a_277^0'=a_277^post66, head_32^0'=head_32^post66, head_14^0'=head_14^post66, r_163^0'=r_163^post66, len_226^0'=len_226^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, a_184^0'=a_184^post66, rcd_88^0'=rcd_88^post66, head_223^0'=head_223^post66, f_170^0'=f_170^post66, tmp_34^0'=tmp_34^post66, i_94^0'=i_94^post66, i_108^0'=i_108^post66, r_260^0'=r_260^post66, length_29^0'=length_29^post66, x_20^0'=x_20^post66, a_330^0'=a_330^post66, (-length_29^post66+length_29^0 == 0 /\ a_353^0-a_353^post66 == 0 /\ -r_163^post66+r_163^0 == 0 /\ i_30^0-i_30^post66 == 0 /\ -head_32^post66+head_32^0 == 0 /\ i_167^0-i_167^post66 == 0 /\ head_223^0-head_223^post66 == 0 /\ x_16^0-x_16^post66 == 0 /\ len_183^0-len_183^post66 == 0 /\ -len_276^post66+len_276^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post66+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_27^0-head_27^post66 == 0 /\ -x_20^post66+x_20^0 == 0 /\ -temp0_31^post66+temp0_31^0 == 0 /\ -a_330^post66+a_330^0 == 0 /\ -tmp_34^post66+tmp_34^0 == 0 /\ rcd_88^0-rcd_88^post66 == 0 /\ f_263^0-f_263^post66 == 0 /\ r_124^0-r_124^post66 == 0 /\ -len_132^post66+len_132^0 == 0 /\ -f_170^post66+f_170^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post66 == 0 /\ -x_SLAM_f_18^post66+x_SLAM_f_18^0 == 0 /\ -r_39^post66+r_39^0 == 0 /\ -a_184^post66+a_184^0 == 0 /\ -len_226^post66+len_226^0 == 0 /\ head_129^0-head_129^post66 == 0 /\ -i_108^post66+i_108^0 == 0 /\ temp_35^0-temp_35^post66 == 0 /\ -a_116^post66+a_116^0 == 0 /\ result_11^0-result_11^post66 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_175^0-head_175^post66 == 0 /\ -ct_17^post66+ct_17^0 == 0 /\ r_218^0-r_218^post66 == 0 /\ a_308^0-a_308^post66 == 0 /\ i_94^0-i_94^post66 == 0 /\ -a_147^post66+a_147^0 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ a_210^0-a_210^post66 == 0 /\ temp0_15^0-temp0_15^post66 == 0 /\ a_241^0-a_241^post66 == 0 /\ -head_268^post66+head_268^0 == 0 /\ -r_260^post66+r_260^0 == 0 /\ -a_277^post66+a_277^0 == 0 /\ rcd_58^0-rcd_58^post66 == 0 /\ y_19^0-y_19^post66 == 0 /\ t_23^0-t_23^post66 == 0 /\ head_14^0-head_14^post66 == 0), cost: 1 New rule: l39 -> l36 : TRUE, cost: 1 Applied preprocessing Original rule: l62 -> l81 : temp0_15^0'=temp0_15^post122, a_241^0'=a_241^post122, head_27^0'=head_27^post122, head_129^0'=head_129^post122, r_124^0'=r_124^post122, len_183^0'=len_183^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post122, a_147^0'=a_147^post122, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post122, y_19^0'=y_19^post122, ct_17^0'=ct_17^post122, temp_35^0'=temp_35^post122, i_30^0'=i_30^post122, head_SLAM_f_26^0'=head_SLAM_f_26^post122, r_218^0'=r_218^post122, len_276^0'=len_276^post122, a_308^0'=a_308^post122, t_23^0'=t_23^post122, a_210^0'=a_210^post122, result_11^0'=result_11^post122, head_268^0'=head_268^post122, f_263^0'=f_263^post122, x_16^0'=x_16^post122, len_132^0'=len_132^post122, i_167^0'=i_167^post122, a_116^0'=a_116^post122, r_39^0'=r_39^post122, nondet_12^0'=nondet_12^post122, x_SLAM_f_18^0'=x_SLAM_f_18^post122, a_353^0'=a_353^post122, temp0_31^0'=temp0_31^post122, a_277^0'=a_277^post122, head_32^0'=head_32^post122, head_14^0'=head_14^post122, r_163^0'=r_163^post122, len_226^0'=len_226^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post122, a_184^0'=a_184^post122, rcd_88^0'=rcd_88^post122, head_223^0'=head_223^post122, f_170^0'=f_170^post122, tmp_34^0'=tmp_34^post122, i_94^0'=i_94^post122, i_108^0'=i_108^post122, r_260^0'=r_260^post122, length_29^0'=length_29^post122, x_20^0'=x_20^post122, a_330^0'=a_330^post122, (0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post122+length_29^0 <= 0 /\ a_147^0-a_147^post122 == 0 /\ f_263^0-f_263^post122 == 0 /\ 1-length_29^0 <= 0 /\ 2-i_30^post122 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post122+head_32^post122 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post122-tmp_34^post122 <= 0 /\ -len_132^post122+len_132^0 == 0 /\ -a_184^post122+a_184^0 == 0 /\ y_19^0-y_19^post122 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post122-length_29^0 <= 0 /\ -a_353^post122+a_353^0 == 0 /\ -i_94^post122+i_94^0 == 0 /\ -f_170^post122+f_170^0 == 0 /\ i_167^0-i_167^post122 == 0 /\ -len_226^post122+len_226^0 == 0 /\ len_276^0-len_276^post122 == 0 /\ -length_29^post122+length_29^0 == 0 /\ temp0_31^0-temp0_31^post122 == 0 /\ head_27^0-head_27^post122 == 0 /\ -temp_35^0+tmp_34^post122 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post122-head_32^post122 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post122 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post122+tmp_34^post122 <= 0 /\ 1+i_30^0-length_29^0 <= 0 /\ temp0_15^0-temp0_15^post122 == 0 /\ ct_17^0-ct_17^post122 == 0 /\ -result_11^post122+result_11^0 == 0 /\ -r_39^post122+r_39^0 == 0 /\ 2-length_29^0 <= 0 /\ -r_218^post122+r_218^0 == 0 /\ -a_277^post122+a_277^0 == 0 /\ -x_20^post122+x_20^0 == 0 /\ -2+i_30^post122 <= 0 /\ -r_124^post122+r_124^0 == 0 /\ len_183^0-len_183^post122 == 0 /\ r_163^0-r_163^post122 == 0 /\ -1-i_30^0+i_30^post122 == 0 /\ -x_SLAM_f_18^post122+x_SLAM_f_18^0 == 0 /\ head_32^post122-tmp_34^post122 <= 0 /\ head_32^post122-tmp_34^post122 == 0 /\ -a_330^post122+a_330^0 == 0 /\ -x_16^post122+x_16^0 == 0 /\ -a_308^post122+a_308^0 == 0 /\ a_210^0-a_210^post122 == 0 /\ -nondet_12^post122+nondet_12^0 == 0 /\ -head_14^post122+head_14^0 == 0 /\ -rcd_88^post122+rcd_88^0 == 0 /\ head_268^0-head_268^post122 == 0 /\ -a_241^post122+a_241^0 == 0 /\ -a_116^post122+a_116^0 == 0 /\ -r_260^post122+r_260^0 == 0 /\ -head_129^post122+head_129^0 == 0 /\ -head_223^post122+head_223^0 == 0 /\ head_175^0-head_175^post122 == 0 /\ -head_32^post122+tmp_34^post122 <= 0 /\ i_108^0-i_108^post122 == 0 /\ t_23^0-t_23^post122 == 0), cost: 1 New rule: l62 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post122, i_30^0'=2, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, tmp_34^0'=temp_35^0, (-1+i_30^0 == 0 /\ -2+length_29^0 >= 0), cost: 1 Applied preprocessing Original rule: l81 -> l82 : temp0_15^0'=temp0_15^post123, a_241^0'=a_241^post123, head_27^0'=head_27^post123, head_129^0'=head_129^post123, r_124^0'=r_124^post123, len_183^0'=len_183^post123, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=a_147^post123, rcd_58^0'=rcd_58^post123, head_175^0'=head_175^post123, y_19^0'=y_19^post123, ct_17^0'=ct_17^post123, temp_35^0'=temp_35^post123, i_30^0'=i_30^post123, head_SLAM_f_26^0'=head_SLAM_f_26^post123, r_218^0'=r_218^post123, len_276^0'=len_276^post123, a_308^0'=a_308^post123, t_23^0'=t_23^post123, a_210^0'=a_210^post123, result_11^0'=result_11^post123, head_268^0'=head_268^post123, f_263^0'=f_263^post123, x_16^0'=x_16^post123, len_132^0'=len_132^post123, i_167^0'=i_167^post123, a_116^0'=a_116^post123, r_39^0'=r_39^post123, nondet_12^0'=nondet_12^post123, x_SLAM_f_18^0'=x_SLAM_f_18^post123, a_353^0'=a_353^post123, temp0_31^0'=temp0_31^post123, a_277^0'=a_277^post123, head_32^0'=head_32^post123, head_14^0'=head_14^post123, r_163^0'=r_163^post123, len_226^0'=len_226^post123, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, a_184^0'=a_184^post123, rcd_88^0'=rcd_88^post123, head_223^0'=head_223^post123, f_170^0'=f_170^post123, tmp_34^0'=tmp_34^post123, i_94^0'=i_94^post123, i_108^0'=i_108^post123, r_260^0'=r_260^post123, length_29^0'=length_29^post123, x_20^0'=x_20^post123, a_330^0'=a_330^post123, (0 == 0 /\ -a_184^post123+a_184^0 == 0 /\ -a_147^post123+a_147^0 == 0 /\ -i_94^post123+i_94^0 == 0 /\ -head_32^0+temp0_31^110 == 0 /\ -a_116^post123+a_116^0 == 0 /\ -i_30^0+length_29^0 <= 0 /\ len_276^0-len_276^post123 == 0 /\ head_14^post123-head_27^post123 <= 0 /\ head_268^0-head_268^post123 == 0 /\ -x_20^post123+x_20^0 == 0 /\ -x_16^post123+x_16^0 == 0 /\ len_183^0-len_183^post123 == 0 /\ -a_330^post123+a_330^0 == 0 /\ temp0_15^0-temp0_15^post123 == 0 /\ -i_30^0 <= 0 /\ -y_19^post123+y_19^0 == 0 /\ r_218^0-r_218^post123 == 0 /\ -a_277^post123+a_277^0 == 0 /\ -a_308^post123+a_308^0 == 0 /\ -head_14^post123+head_27^post123 <= 0 /\ -f_170^post123+f_170^0 == 0 /\ head_223^0-head_223^post123 == 0 /\ len_132^0 <= 0 /\ head_175^0-head_175^post123 == 0 /\ -result_11^11+head_14^post123 == 0 /\ head_27^post123-head_SLAM_f_26^post123 <= 0 /\ head_27^post123-head_SLAM_f_26^post123 == 0 /\ a_147^0-i_30^post123 <= 0 /\ -i_108^post123+i_108^0 == 0 /\ head_14^post123-head_SLAM_f_26^post123 <= 0 /\ f_263^0-f_263^post123 == 0 /\ r_163^0-r_163^post123 == 0 /\ t_23^0-t_23^post123 == 0 /\ -nondet_12^post123+nondet_12^0 == 0 /\ a_210^0-a_210^post123 == 0 /\ rcd_58^0-rcd_58^post123 == 0 /\ len_132^0-len_132^post123 == 0 /\ -head_27^post123+head_SLAM_f_26^post123 <= 0 /\ result_11^11-temp0_31^110 == 0 /\ -a_147^0+i_30^post123 <= 0 /\ -len_132^0 <= 0 /\ -head_14^post123+head_SLAM_f_26^post123 <= 0 /\ -head_14^post123+head_SLAM_f_26^post123 == 0 /\ -rcd_88^post123+rcd_88^0 == 0 /\ -r_260^post123+r_260^0 == 0 /\ r_39^0-r_39^post123 == 0 /\ head_129^0-head_129^post123 == 0 /\ -a_353^post123+a_353^0 == 0 /\ r_124^0-r_124^post123 == 0 /\ a_241^0-a_241^post123 == 0 /\ -x_SLAM_f_18^post123+x_SLAM_f_18^0 == 0 /\ -len_226^post123+len_226^0 == 0 /\ -ct_17^post123+ct_17^0 == 0), cost: 1 New rule: l81 -> l82 : head_27^0'=head_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post123, i_167^0'=i_167^post123, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0 /\ len_132^0 == 0), cost: 1 Applied preprocessing Original rule: l82 -> l83 : temp0_15^0'=temp0_15^post124, a_241^0'=a_241^post124, head_27^0'=head_27^post124, head_129^0'=head_129^post124, r_124^0'=r_124^post124, len_183^0'=len_183^post124, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post124, a_147^0'=a_147^post124, rcd_58^0'=rcd_58^post124, head_175^0'=head_175^post124, y_19^0'=y_19^post124, ct_17^0'=ct_17^post124, temp_35^0'=temp_35^post124, i_30^0'=i_30^post124, head_SLAM_f_26^0'=head_SLAM_f_26^post124, r_218^0'=r_218^post124, len_276^0'=len_276^post124, a_308^0'=a_308^post124, t_23^0'=t_23^post124, a_210^0'=a_210^post124, result_11^0'=result_11^post124, head_268^0'=head_268^post124, f_263^0'=f_263^post124, x_16^0'=x_16^post124, len_132^0'=len_132^post124, i_167^0'=i_167^post124, a_116^0'=a_116^post124, r_39^0'=r_39^post124, nondet_12^0'=nondet_12^post124, x_SLAM_f_18^0'=x_SLAM_f_18^post124, a_353^0'=a_353^post124, temp0_31^0'=temp0_31^post124, a_277^0'=a_277^post124, head_32^0'=head_32^post124, head_14^0'=head_14^post124, r_163^0'=r_163^post124, len_226^0'=len_226^post124, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post124, a_184^0'=a_184^post124, rcd_88^0'=rcd_88^post124, head_223^0'=head_223^post124, f_170^0'=f_170^post124, tmp_34^0'=tmp_34^post124, i_94^0'=i_94^post124, i_108^0'=i_108^post124, r_260^0'=r_260^post124, length_29^0'=length_29^post124, x_20^0'=x_20^post124, a_330^0'=a_330^post124, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post124 == 0 /\ len_183^0-len_183^post124 == 0 /\ -result_11^post124+result_11^0 == 0 /\ -r_218^post124+r_218^0 == 0 /\ -x_20^post124+x_20^0 == 0 /\ ct_17^0-ct_17^post124 == 0 /\ -i_108^post124+i_108^0 == 0 /\ -a_116^post124+a_116^0 == 0 /\ -a_330^post124+a_330^0 == 0 /\ len_276^0-len_276^post124 == 0 /\ -head_14^post124+head_14^0 == 0 /\ -tmp_34^post124+tmp_34^0 == 0 /\ -r_260^post124+r_260^0 == 0 /\ -head_SLAM_f_26^post124+head_SLAM_f_26^0 == 0 /\ i_30^0-i_30^post124 == 0 /\ a_147^0-a_147^post124 == 0 /\ -r_163^post124+r_163^0 == 0 /\ -i_167^post124+i_167^0 == 0 /\ r_124^0-r_124^post124 == 0 /\ head_129^0-head_129^post124 == 0 /\ 1-head_14^0 <= 0 /\ -head_223^post124+head_223^0 == 0 /\ -x_16^post124+x_16^0 == 0 /\ temp0_15^0-temp0_15^post124 == 0 /\ -i_94^post124+i_94^0 == 0 /\ -nondet_12^post124+nondet_12^0 == 0 /\ head_175^0-head_175^post124 == 0 /\ temp0_31^0-temp0_31^post124 == 0 /\ -a_184^post124+a_184^0 == 0 /\ f_263^0-f_263^post124 == 0 /\ a_308^0-a_308^post124 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post124+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_268^0-head_268^post124 == 0 /\ len_226^0-len_226^post124 == 0 /\ -x_SLAM_f_18^post124+x_SLAM_f_18^0 == 0 /\ a_241^0-a_241^post124 == 0 /\ a_210^0-a_210^post124 == 0 /\ -rcd_88^post124+rcd_88^0 == 0 /\ -head_27^post124+head_27^0 == 0 /\ -temp_35^post124+temp_35^0 == 0 /\ len_132^0-len_132^post124 == 0 /\ -a_277^post124+a_277^0 == 0 /\ -f_170^post124+f_170^0 == 0 /\ -length_29^post124+length_29^0 == 0 /\ y_19^0-y_19^post124 == 0 /\ t_23^0-t_23^post124 == 0 /\ rcd_58^0-rcd_58^post124 == 0 /\ r_39^0-r_39^post124 == 0 /\ -a_353^post124+a_353^0 == 0 /\ head_32^0-head_32^post124 == 0), cost: 1 New rule: l82 -> l83 : -1+head_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l82 -> l83 : temp0_15^0'=temp0_15^post125, a_241^0'=a_241^post125, head_27^0'=head_27^post125, head_129^0'=head_129^post125, r_124^0'=r_124^post125, len_183^0'=len_183^post125, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post125, a_147^0'=a_147^post125, rcd_58^0'=rcd_58^post125, head_175^0'=head_175^post125, y_19^0'=y_19^post125, ct_17^0'=ct_17^post125, temp_35^0'=temp_35^post125, i_30^0'=i_30^post125, head_SLAM_f_26^0'=head_SLAM_f_26^post125, r_218^0'=r_218^post125, len_276^0'=len_276^post125, a_308^0'=a_308^post125, t_23^0'=t_23^post125, a_210^0'=a_210^post125, result_11^0'=result_11^post125, head_268^0'=head_268^post125, f_263^0'=f_263^post125, x_16^0'=x_16^post125, len_132^0'=len_132^post125, i_167^0'=i_167^post125, a_116^0'=a_116^post125, r_39^0'=r_39^post125, nondet_12^0'=nondet_12^post125, x_SLAM_f_18^0'=x_SLAM_f_18^post125, a_353^0'=a_353^post125, temp0_31^0'=temp0_31^post125, a_277^0'=a_277^post125, head_32^0'=head_32^post125, head_14^0'=head_14^post125, r_163^0'=r_163^post125, len_226^0'=len_226^post125, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post125, a_184^0'=a_184^post125, rcd_88^0'=rcd_88^post125, head_223^0'=head_223^post125, f_170^0'=f_170^post125, tmp_34^0'=tmp_34^post125, i_94^0'=i_94^post125, i_108^0'=i_108^post125, r_260^0'=r_260^post125, length_29^0'=length_29^post125, x_20^0'=x_20^post125, a_330^0'=a_330^post125, (r_124^0-r_124^post125 == 0 /\ -f_263^post125+f_263^0 == 0 /\ -rcd_88^post125+rcd_88^0 == 0 /\ -x_20^post125+x_20^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post125 == 0 /\ temp0_15^0-temp0_15^post125 == 0 /\ r_218^0-r_218^post125 == 0 /\ -a_330^post125+a_330^0 == 0 /\ f_170^0-f_170^post125 == 0 /\ -i_108^post125+i_108^0 == 0 /\ r_39^0-r_39^post125 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post125 == 0 /\ head_129^0-head_129^post125 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post125+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_260^post125+r_260^0 == 0 /\ -tmp_34^post125+tmp_34^0 == 0 /\ -nondet_12^post125+nondet_12^0 == 0 /\ -temp_35^post125+temp_35^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_268^post125+head_268^0 == 0 /\ a_184^0-a_184^post125 == 0 /\ -temp0_31^post125+temp0_31^0 == 0 /\ a_241^0-a_241^post125 == 0 /\ head_175^0-head_175^post125 == 0 /\ result_11^0-result_11^post125 == 0 /\ x_16^0-x_16^post125 == 0 /\ -a_210^post125+a_210^0 == 0 /\ a_308^0-a_308^post125 == 0 /\ head_27^0-head_27^post125 == 0 /\ i_30^0-i_30^post125 == 0 /\ a_147^0-a_147^post125 == 0 /\ -head_32^post125+head_32^0 == 0 /\ -head_223^post125+head_223^0 == 0 /\ len_226^0-len_226^post125 == 0 /\ ct_17^0-ct_17^post125 == 0 /\ -i_94^post125+i_94^0 == 0 /\ y_19^0-y_19^post125 == 0 /\ t_23^0-t_23^post125 == 0 /\ a_353^0-a_353^post125 == 0 /\ rcd_58^0-rcd_58^post125 == 0 /\ -len_276^post125+len_276^0 == 0 /\ -len_183^post125+len_183^0 == 0 /\ -i_167^post125+i_167^0 == 0 /\ a_116^0-a_116^post125 == 0 /\ -head_14^post125+head_14^0 == 0 /\ -length_29^post125+length_29^0 == 0 /\ -r_163^post125+r_163^0 == 0 /\ -len_132^post125+len_132^0 == 0 /\ -a_277^post125+a_277^0 == 0 /\ -head_SLAM_f_26^post125+head_SLAM_f_26^0 == 0), cost: 1 New rule: l82 -> l83 : 1+head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l83 -> l36 : temp0_15^0'=temp0_15^post126, a_241^0'=a_241^post126, head_27^0'=head_27^post126, head_129^0'=head_129^post126, r_124^0'=r_124^post126, len_183^0'=len_183^post126, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post126, a_147^0'=a_147^post126, rcd_58^0'=rcd_58^post126, head_175^0'=head_175^post126, y_19^0'=y_19^post126, ct_17^0'=ct_17^post126, temp_35^0'=temp_35^post126, i_30^0'=i_30^post126, head_SLAM_f_26^0'=head_SLAM_f_26^post126, r_218^0'=r_218^post126, len_276^0'=len_276^post126, a_308^0'=a_308^post126, t_23^0'=t_23^post126, a_210^0'=a_210^post126, result_11^0'=result_11^post126, head_268^0'=head_268^post126, f_263^0'=f_263^post126, x_16^0'=x_16^post126, len_132^0'=len_132^post126, i_167^0'=i_167^post126, a_116^0'=a_116^post126, r_39^0'=r_39^post126, nondet_12^0'=nondet_12^post126, x_SLAM_f_18^0'=x_SLAM_f_18^post126, a_353^0'=a_353^post126, temp0_31^0'=temp0_31^post126, a_277^0'=a_277^post126, head_32^0'=head_32^post126, head_14^0'=head_14^post126, r_163^0'=r_163^post126, len_226^0'=len_226^post126, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post126, a_184^0'=a_184^post126, rcd_88^0'=rcd_88^post126, head_223^0'=head_223^post126, f_170^0'=f_170^post126, tmp_34^0'=tmp_34^post126, i_94^0'=i_94^post126, i_108^0'=i_108^post126, r_260^0'=r_260^post126, length_29^0'=length_29^post126, x_20^0'=x_20^post126, a_330^0'=a_330^post126, (2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_30^0-i_30^post126 == 0 /\ -y_19^post126+y_19^0 == 0 /\ head_27^0-head_27^post126 == 0 /\ head_223^0-head_223^post126 == 0 /\ rcd_88^0-rcd_88^post126 == 0 /\ -x_20^post126+x_20^0 == 0 /\ -a_184^post126+a_184^0 == 0 /\ -head_14^post126+head_14^0 == 0 /\ -a_330^post126+a_330^0 == 0 /\ -nondet_12^post126+nondet_12^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post126 == 0 /\ rcd_58^0-rcd_58^post126 == 0 /\ -i_94^post126+i_94^0 == 0 /\ a_353^0-a_353^post126 == 0 /\ a_116^0-a_116^post126 == 0 /\ result_11^0-result_11^post126 == 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -f_170^post126+f_170^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post126+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -length_29^post126+length_29^0 == 0 /\ len_183^0-len_183^post126 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post126 == 0 /\ -len_226^post126+len_226^0 == 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -f_263^post126+f_263^0 == 0 /\ x_16^0-x_16^post126 == 0 /\ -temp0_31^post126+temp0_31^0 == 0 /\ r_124^0-r_124^post126 == 0 /\ -a_277^post126+a_277^0 == 0 /\ a_308^0-a_308^post126 == 0 /\ temp_35^0-temp_35^post126 == 0 /\ -len_276^post126+len_276^0 == 0 /\ -len_132^post126+len_132^0 == 0 /\ -a_210^post126+a_210^0 == 0 /\ -i_108^post126+i_108^0 == 0 /\ t_23^0-t_23^post126 == 0 /\ temp0_15^0-temp0_15^post126 == 0 /\ -head_32^post126+head_32^0 == 0 /\ -tmp_34^post126+tmp_34^0 == 0 /\ -head_268^post126+head_268^0 == 0 /\ ct_17^0-ct_17^post126 == 0 /\ head_129^0-head_129^post126 == 0 /\ -r_260^post126+r_260^0 == 0 /\ -r_39^post126+r_39^0 == 0 /\ a_241^0-a_241^post126 == 0 /\ head_175^0-head_175^post126 == 0 /\ r_218^0-r_218^post126 == 0 /\ i_167^0-i_167^post126 == 0 /\ -r_163^post126+r_163^0 == 0 /\ -a_147^post126+a_147^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post126 == 0), cost: 1 New rule: l83 -> l36 : (-i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 Applied preprocessing Original rule: l81 -> l84 : temp0_15^0'=temp0_15^post127, a_241^0'=a_241^post127, head_27^0'=head_27^post127, head_129^0'=head_129^post127, r_124^0'=r_124^post127, len_183^0'=len_183^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post127, a_147^0'=a_147^post127, rcd_58^0'=rcd_58^post127, head_175^0'=head_175^post127, y_19^0'=y_19^post127, ct_17^0'=ct_17^post127, temp_35^0'=temp_35^post127, i_30^0'=i_30^post127, head_SLAM_f_26^0'=head_SLAM_f_26^post127, r_218^0'=r_218^post127, len_276^0'=len_276^post127, a_308^0'=a_308^post127, t_23^0'=t_23^post127, a_210^0'=a_210^post127, result_11^0'=result_11^post127, head_268^0'=head_268^post127, f_263^0'=f_263^post127, x_16^0'=x_16^post127, len_132^0'=len_132^post127, i_167^0'=i_167^post127, a_116^0'=a_116^post127, r_39^0'=r_39^post127, nondet_12^0'=nondet_12^post127, x_SLAM_f_18^0'=x_SLAM_f_18^post127, a_353^0'=a_353^post127, temp0_31^0'=temp0_31^post127, a_277^0'=a_277^post127, head_32^0'=head_32^post127, head_14^0'=head_14^post127, r_163^0'=r_163^post127, len_226^0'=len_226^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post127, a_184^0'=a_184^post127, rcd_88^0'=rcd_88^post127, head_223^0'=head_223^post127, f_170^0'=f_170^post127, tmp_34^0'=tmp_34^post127, i_94^0'=i_94^post127, i_108^0'=i_108^post127, r_260^0'=r_260^post127, length_29^0'=length_29^post127, x_20^0'=x_20^post127, a_330^0'=a_330^post127, (0 == 0 /\ -x_20^post127+x_20^0 == 0 /\ -a_330^post127+a_330^0 == 0 /\ -a_147^post127+a_147^0 == 0 /\ -a_308^post127+a_308^0 == 0 /\ -ct_17^post127+ct_17^0 == 0 /\ head_27^0-head_27^post127 == 0 /\ len_276^0-len_276^post127 == 0 /\ 1+i_94^post127-length_29^0 <= 0 /\ -a_184^post127+a_184^0 == 0 /\ -x_SLAM_f_18^post127+x_SLAM_f_18^0 == 0 /\ -len_226^post127+len_226^0 == 0 /\ -f_170^post127+f_170^0 == 0 /\ f_263^0-f_263^post127 == 0 /\ len_183^0-len_183^post127 == 0 /\ a_353^0-a_353^post127 == 0 /\ -i_30^0 <= 0 /\ r_218^0-r_218^post127 == 0 /\ -y_19^post127+y_19^0 == 0 /\ a_210^0-a_210^post127 == 0 /\ -t_23^post127+t_23^0 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ a_116^0-a_116^post127 == 0 /\ 1+i_94^post127-i_30^post127 <= 0 /\ -head_268^post127+head_268^0 == 0 /\ i_167^0-i_167^post127 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post127+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_132^post127+len_132^0 == 0 /\ r_124^0-r_124^post127 == 0 /\ head_175^0-head_175^post127 == 0 /\ head_14^0-head_14^post127 == 0 /\ a_277^0-a_277^post127 == 0 /\ -temp0_31^post127+temp0_31^0 == 0 /\ -1-i_30^0+i_30^post127 == 0 /\ -r_163^post127+r_163^0 == 0 /\ -i_108^post127+i_108^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post127 == 0 /\ r_260^0-r_260^post127 == 0 /\ temp0_15^0-temp0_15^post127 == 0 /\ nondet_12^0-nondet_12^post127 == 0 /\ head_32^post127-tmp_34^post127 == 0 /\ rcd_58^0-rcd_58^post127 == 0 /\ -length_29^post127+length_29^0 == 0 /\ result_11^0-result_11^post127 == 0 /\ -temp_35^0+tmp_34^post127 == 0 /\ -head_223^post127+head_223^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post127 == 0 /\ -r_39^post127+r_39^0 == 0 /\ head_129^0-head_129^post127 == 0 /\ a_241^0-a_241^post127 == 0 /\ -1-i_94^post127+i_30^post127 <= 0 /\ x_16^0-x_16^post127 == 0), cost: 1 New rule: l81 -> l84 : temp_35^0'=temp_35^post127, i_30^0'=1+i_30^0, head_32^0'=temp_35^0, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1 Applied preprocessing Original rule: l84 -> l81 : temp0_15^0'=temp0_15^post128, a_241^0'=a_241^post128, head_27^0'=head_27^post128, head_129^0'=head_129^post128, r_124^0'=r_124^post128, len_183^0'=len_183^post128, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post128, a_147^0'=a_147^post128, rcd_58^0'=rcd_58^post128, head_175^0'=head_175^post128, y_19^0'=y_19^post128, ct_17^0'=ct_17^post128, temp_35^0'=temp_35^post128, i_30^0'=i_30^post128, head_SLAM_f_26^0'=head_SLAM_f_26^post128, r_218^0'=r_218^post128, len_276^0'=len_276^post128, a_308^0'=a_308^post128, t_23^0'=t_23^post128, a_210^0'=a_210^post128, result_11^0'=result_11^post128, head_268^0'=head_268^post128, f_263^0'=f_263^post128, x_16^0'=x_16^post128, len_132^0'=len_132^post128, i_167^0'=i_167^post128, a_116^0'=a_116^post128, r_39^0'=r_39^post128, nondet_12^0'=nondet_12^post128, x_SLAM_f_18^0'=x_SLAM_f_18^post128, a_353^0'=a_353^post128, temp0_31^0'=temp0_31^post128, a_277^0'=a_277^post128, head_32^0'=head_32^post128, head_14^0'=head_14^post128, r_163^0'=r_163^post128, len_226^0'=len_226^post128, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post128, a_184^0'=a_184^post128, rcd_88^0'=rcd_88^post128, head_223^0'=head_223^post128, f_170^0'=f_170^post128, tmp_34^0'=tmp_34^post128, i_94^0'=i_94^post128, i_108^0'=i_108^post128, r_260^0'=r_260^post128, length_29^0'=length_29^post128, x_20^0'=x_20^post128, a_330^0'=a_330^post128, (a_210^0-a_210^post128 == 0 /\ x_16^0-x_16^post128 == 0 /\ len_183^0-len_183^post128 == 0 /\ -tmp_34^post128+tmp_34^0 == 0 /\ temp0_15^0-temp0_15^post128 == 0 /\ i_167^0-i_167^post128 == 0 /\ -x_SLAM_f_18^post128+x_SLAM_f_18^0 == 0 /\ -t_23^post128+t_23^0 == 0 /\ r_124^0-r_124^post128 == 0 /\ -f_170^post128+f_170^0 == 0 /\ len_276^0-len_276^post128 == 0 /\ temp_35^0-temp_35^post128 == 0 /\ -len_226^post128+len_226^0 == 0 /\ -a_147^post128+a_147^0 == 0 /\ a_241^0-a_241^post128 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post128 == 0 /\ a_277^0-a_277^post128 == 0 /\ -a_116^post128+a_116^0 == 0 /\ r_218^0-r_218^post128 == 0 /\ -head_32^post128+head_32^0 == 0 /\ -head_223^post128+head_223^0 == 0 /\ -r_39^post128+r_39^0 == 0 /\ -rcd_88^post128+rcd_88^0 == 0 /\ -head_268^post128+head_268^0 == 0 /\ i_30^0-i_30^post128 == 0 /\ -i_108^post128+i_108^0 == 0 /\ -a_184^post128+a_184^0 == 0 /\ -head_175^post128+head_175^0 == 0 /\ -a_330^post128+a_330^0 == 0 /\ -r_260^post128+r_260^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post128+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_11^0-result_11^post128 == 0 /\ -temp0_31^post128+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post128 == 0 /\ rcd_58^0-rcd_58^post128 == 0 /\ f_263^0-f_263^post128 == 0 /\ -length_29^post128+length_29^0 == 0 /\ head_129^0-head_129^post128 == 0 /\ -a_353^post128+a_353^0 == 0 /\ -len_132^post128+len_132^0 == 0 /\ head_14^0-head_14^post128 == 0 /\ y_19^0-y_19^post128 == 0 /\ r_163^0-r_163^post128 == 0 /\ a_308^0-a_308^post128 == 0 /\ head_27^0-head_27^post128 == 0 /\ -ct_17^post128+ct_17^0 == 0 /\ -x_20^post128+x_20^0 == 0 /\ i_94^0-i_94^post128 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post128+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0), cost: 1 New rule: l84 -> l81 : TRUE, cost: 1 Applied preprocessing Original rule: l35 -> l62 : temp0_15^0'=temp0_15^post130, a_241^0'=a_241^post130, head_27^0'=head_27^post130, head_129^0'=head_129^post130, r_124^0'=r_124^post130, len_183^0'=len_183^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post130, a_147^0'=a_147^post130, rcd_58^0'=rcd_58^post130, head_175^0'=head_175^post130, y_19^0'=y_19^post130, ct_17^0'=ct_17^post130, temp_35^0'=temp_35^post130, i_30^0'=i_30^post130, head_SLAM_f_26^0'=head_SLAM_f_26^post130, r_218^0'=r_218^post130, len_276^0'=len_276^post130, a_308^0'=a_308^post130, t_23^0'=t_23^post130, a_210^0'=a_210^post130, result_11^0'=result_11^post130, head_268^0'=head_268^post130, f_263^0'=f_263^post130, x_16^0'=x_16^post130, len_132^0'=len_132^post130, i_167^0'=i_167^post130, a_116^0'=a_116^post130, r_39^0'=r_39^post130, nondet_12^0'=nondet_12^post130, x_SLAM_f_18^0'=x_SLAM_f_18^post130, a_353^0'=a_353^post130, temp0_31^0'=temp0_31^post130, a_277^0'=a_277^post130, head_32^0'=head_32^post130, head_14^0'=head_14^post130, r_163^0'=r_163^post130, len_226^0'=len_226^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post130, a_184^0'=a_184^post130, rcd_88^0'=rcd_88^post130, head_223^0'=head_223^post130, f_170^0'=f_170^post130, tmp_34^0'=tmp_34^post130, i_94^0'=i_94^post130, i_108^0'=i_108^post130, r_260^0'=r_260^post130, length_29^0'=length_29^post130, x_20^0'=x_20^post130, a_330^0'=a_330^post130, (0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post130-tmp_34^post130 <= 0 /\ 1-length_29^0 <= 0 /\ -x_SLAM_f_18^post130+x_SLAM_f_18^0 == 0 /\ -result_11^post130+result_11^0 == 0 /\ -f_170^post130+f_170^0 == 0 /\ y_19^0-y_19^post130 == 0 /\ t_23^0-t_23^post130 == 0 /\ -r_260^post130+r_260^0 == 0 /\ head_268^0-head_268^post130 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post130-length_29^0 <= 0 /\ len_276^0-len_276^post130 == 0 /\ len_183^0-len_183^post130 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post130 == 0 /\ ct_17^0-ct_17^post130 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post130+tmp_34^post130 <= 0 /\ -r_218^post130+r_218^0 == 0 /\ 1-i_30^post130 <= 0 /\ -1+i_30^post130 <= 0 /\ -a_308^post130+a_308^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post130+length_29^0 <= 0 /\ a_147^0-a_147^post130 == 0 /\ -a_116^post130+a_116^0 == 0 /\ -head_14^post130+head_14^0 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ head_27^0-head_27^post130 == 0 /\ -i_94^post130+i_94^0 == 0 /\ -r_163^post130+r_163^0 == 0 /\ head_175^0-head_175^post130 == 0 /\ -a_353^post130+a_353^0 == 0 /\ temp0_31^0-temp0_31^post130 == 0 /\ -length_29^post130+length_29^0 == 0 /\ temp0_15^0-temp0_15^post130 == 0 /\ -i_167^post130+i_167^0 == 0 /\ -head_223^post130+head_223^0 == 0 /\ f_263^0-f_263^post130 == 0 /\ -head_32^post130+tmp_34^post130 <= 0 /\ -r_39^post130+r_39^0 == 0 /\ r_124^0-r_124^post130 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post130+head_32^post130 <= 0 /\ -1-i_30^0+i_30^post130 == 0 /\ -temp_35^0+tmp_34^post130 == 0 /\ a_210^0-a_210^post130 == 0 /\ a_241^0-a_241^post130 == 0 /\ -a_277^post130+a_277^0 == 0 /\ len_132^0-len_132^post130 == 0 /\ i_108^0-i_108^post130 == 0 /\ -x_20^post130+x_20^0 == 0 /\ -rcd_88^post130+rcd_88^0 == 0 /\ rcd_58^0-rcd_58^post130 == 0 /\ -a_330^post130+a_330^0 == 0 /\ head_129^0-head_129^post130 == 0 /\ -x_16^post130+x_16^0 == 0 /\ head_32^post130-tmp_34^post130 <= 0 /\ head_32^post130-tmp_34^post130 == 0 /\ -a_184^post130+a_184^0 == 0 /\ -nondet_12^post130+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post130-head_32^post130 <= 0 /\ len_226^0-len_226^post130 == 0), cost: 1 New rule: l35 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, temp_35^0'=temp_35^post130, i_30^0'=1, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, tmp_34^0'=temp_35^0, (i_30^0 == 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1 Applied preprocessing Original rule: l4 -> l85 : temp0_15^0'=temp0_15^post131, a_241^0'=a_241^post131, head_27^0'=head_27^post131, head_129^0'=head_129^post131, r_124^0'=r_124^post131, len_183^0'=len_183^post131, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post131, a_147^0'=a_147^post131, rcd_58^0'=rcd_58^post131, head_175^0'=head_175^post131, y_19^0'=y_19^post131, ct_17^0'=ct_17^post131, temp_35^0'=temp_35^post131, i_30^0'=i_30^post131, head_SLAM_f_26^0'=head_SLAM_f_26^post131, r_218^0'=r_218^post131, len_276^0'=len_276^post131, a_308^0'=a_308^post131, t_23^0'=t_23^post131, a_210^0'=a_210^post131, result_11^0'=result_11^post131, head_268^0'=head_268^post131, f_263^0'=f_263^post131, x_16^0'=x_16^post131, len_132^0'=len_132^post131, i_167^0'=i_167^post131, a_116^0'=a_116^post131, r_39^0'=r_39^post131, nondet_12^0'=nondet_12^post131, x_SLAM_f_18^0'=x_SLAM_f_18^post131, a_353^0'=a_353^post131, temp0_31^0'=temp0_31^post131, a_277^0'=a_277^post131, head_32^0'=head_32^post131, head_14^0'=head_14^post131, r_163^0'=r_163^post131, len_226^0'=len_226^post131, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post131, a_184^0'=a_184^post131, rcd_88^0'=rcd_88^post131, head_223^0'=head_223^post131, f_170^0'=f_170^post131, tmp_34^0'=tmp_34^post131, i_94^0'=i_94^post131, i_108^0'=i_108^post131, r_260^0'=r_260^post131, length_29^0'=length_29^post131, x_20^0'=x_20^post131, a_330^0'=a_330^post131, (0 == 0 /\ x_20^post131-head_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post131 == 0 /\ head_27^0 <= 0 /\ -r_260^post131+r_260^0 == 0 /\ temp0_15^0-temp0_15^post131 == 0 /\ x_16^post131-head_14^0 <= 0 /\ x_16^post131-head_14^0 == 0 /\ -r_218^post131+r_218^0 == 0 /\ len_183^0-len_183^post131 == 0 /\ a_308^0-a_308^post131 == 0 /\ -ct_17^post131+y_19^post131 <= 0 /\ -ct_17^post131+y_19^post131 == 0 /\ r_124^0-r_124^post131 == 0 /\ len_276^0-len_276^post131 == 0 /\ result_11^0-result_11^post131 == 0 /\ -x_20^post131+head_14^0 <= 0 /\ t_23^0-t_23^post131 == 0 /\ len_132^0-len_132^post131 == 0 /\ i_30^0-i_30^post131 == 0 /\ -a_330^post131+a_330^0 == 0 /\ a_147^0-a_147^post131 == 0 /\ -y_19^post131 <= 0 /\ f_170^0-f_170^post131 == 0 /\ -x_16^post131+head_14^0 <= 0 /\ -rcd_88^post131+rcd_88^0 == 0 /\ -head_14^post131+head_14^0 == 0 /\ r_39^0-r_39^post131 == 0 /\ ct_17^post131-y_19^post131 <= 0 /\ a_184^0-a_184^post131 == 0 /\ -a_353^post131+a_353^0 == 0 /\ -tmp_34^post131+tmp_34^0 == 0 /\ -len_226^post131+len_226^0 == 0 /\ -i_94^post131+i_94^0 == 0 /\ -r_163^post131+r_163^0 == 0 /\ head_129^0-head_129^post131 == 0 /\ -head_14^0+x_SLAM_f_18^post131 <= 0 /\ -length_29^post131+length_29^0 == 0 /\ ct_17^post131 <= 0 /\ ct_17^post131 == 0 /\ -head_223^post131+head_223^0 == 0 /\ -len_226^0 <= 0 /\ -i_167^post131+i_167^0 == 0 /\ -x_20^post131+x_SLAM_f_18^post131 <= 0 /\ -x_16^post131+x_SLAM_f_18^post131 <= 0 /\ -x_16^post131+x_SLAM_f_18^post131 == 0 /\ head_175^0-head_175^post131 == 0 /\ -temp0_31^post131+temp0_31^0 == 0 /\ -f_263^post131+f_263^0 == 0 /\ head_268^0-head_268^post131 == 0 /\ head_32^0-head_32^post131 == 0 /\ y_19^post131 <= 0 /\ -a_210^post131+a_210^0 == 0 /\ -a_277^post131+a_277^0 == 0 /\ -a_241^0 <= 0 /\ a_241^0-a_241^post131 == 0 /\ head_14^0-x_SLAM_f_18^post131 <= 0 /\ -ct_17^post131 <= 0 /\ a_116^0-a_116^post131 == 0 /\ -i_108^post131+i_108^0 == 0 /\ rcd_58^0-rcd_58^post131 == 0 /\ x_20^post131-x_SLAM_f_18^post131 <= 0 /\ x_20^post131-x_SLAM_f_18^post131 == 0 /\ x_16^post131-x_SLAM_f_18^post131 <= 0 /\ -temp_35^post131+temp_35^0 == 0 /\ -nondet_12^post131+nondet_12^0 == 0 /\ -head_27^0 <= 0), cost: 1 New rule: l4 -> l85 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=0, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=head_14^0, x_SLAM_f_18^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post131, x_20^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0), cost: 1 Applied preprocessing Original rule: l85 -> l86 : temp0_15^0'=temp0_15^post132, a_241^0'=a_241^post132, head_27^0'=head_27^post132, head_129^0'=head_129^post132, r_124^0'=r_124^post132, len_183^0'=len_183^post132, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post132, a_147^0'=a_147^post132, rcd_58^0'=rcd_58^post132, head_175^0'=head_175^post132, y_19^0'=y_19^post132, ct_17^0'=ct_17^post132, temp_35^0'=temp_35^post132, i_30^0'=i_30^post132, head_SLAM_f_26^0'=head_SLAM_f_26^post132, r_218^0'=r_218^post132, len_276^0'=len_276^post132, a_308^0'=a_308^post132, t_23^0'=t_23^post132, a_210^0'=a_210^post132, result_11^0'=result_11^post132, head_268^0'=head_268^post132, f_263^0'=f_263^post132, x_16^0'=x_16^post132, len_132^0'=len_132^post132, i_167^0'=i_167^post132, a_116^0'=a_116^post132, r_39^0'=r_39^post132, nondet_12^0'=nondet_12^post132, x_SLAM_f_18^0'=x_SLAM_f_18^post132, a_353^0'=a_353^post132, temp0_31^0'=temp0_31^post132, a_277^0'=a_277^post132, head_32^0'=head_32^post132, head_14^0'=head_14^post132, r_163^0'=r_163^post132, len_226^0'=len_226^post132, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post132, a_184^0'=a_184^post132, rcd_88^0'=rcd_88^post132, head_223^0'=head_223^post132, f_170^0'=f_170^post132, tmp_34^0'=tmp_34^post132, i_94^0'=i_94^post132, i_108^0'=i_108^post132, r_260^0'=r_260^post132, length_29^0'=length_29^post132, x_20^0'=x_20^post132, a_330^0'=a_330^post132, (a_308^0-a_308^post132 == 0 /\ r_124^0-r_124^post132 == 0 /\ -f_263^post132+f_263^0 == 0 /\ -head_223^post132+head_223^0 == 0 /\ a_241^0-a_241^post132 == 0 /\ -rcd_88^post132+rcd_88^0 == 0 /\ a_184^0-a_184^post132 == 0 /\ len_132^0-len_132^post132 == 0 /\ -nondet_12^post132+nondet_12^0 == 0 /\ -x_16^post132+x_16^0 == 0 /\ tmp_34^0-tmp_34^post132 == 0 /\ -i_94^post132+i_94^0 == 0 /\ r_218^0-r_218^post132 == 0 /\ -len_276^post132+len_276^0 == 0 /\ t_23^0-t_23^post132 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post132 == 0 /\ head_129^0-head_129^post132 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post132+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_170^post132+f_170^0 == 0 /\ -temp_35^post132+temp_35^0 == 0 /\ -length_29^post132+length_29^0 == 0 /\ head_175^0-head_175^post132 == 0 /\ -a_277^post132+a_277^0 == 0 /\ head_268^0-head_268^post132 == 0 /\ a_116^0-a_116^post132 == 0 /\ len_226^0-len_226^post132 == 0 /\ -a_210^post132+a_210^0 == 0 /\ 1-head_14^0 <= 0 /\ i_30^0-i_30^post132 == 0 /\ a_147^0-a_147^post132 == 0 /\ -x_20^post132+x_20^0 == 0 /\ y_19^0-y_19^post132 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post132 == 0 /\ r_39^0-r_39^post132 == 0 /\ a_353^0-a_353^post132 == 0 /\ -i_108^post132+i_108^0 == 0 /\ rcd_58^0-rcd_58^post132 == 0 /\ -a_330^post132+a_330^0 == 0 /\ -head_SLAM_f_26^post132+head_SLAM_f_26^0 == 0 /\ -len_183^post132+len_183^0 == 0 /\ -r_260^post132+r_260^0 == 0 /\ -head_14^post132+head_14^0 == 0 /\ temp0_15^0-temp0_15^post132 == 0 /\ ct_17^0-ct_17^post132 == 0 /\ head_32^0-head_32^post132 == 0 /\ result_11^0-result_11^post132 == 0 /\ temp0_31^0-temp0_31^post132 == 0 /\ -head_27^post132+head_27^0 == 0 /\ -r_163^post132+r_163^0 == 0 /\ -i_167^post132+i_167^0 == 0), cost: 1 New rule: l85 -> l86 : -1+head_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l85 -> l86 : temp0_15^0'=temp0_15^post133, a_241^0'=a_241^post133, head_27^0'=head_27^post133, head_129^0'=head_129^post133, r_124^0'=r_124^post133, len_183^0'=len_183^post133, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post133, a_147^0'=a_147^post133, rcd_58^0'=rcd_58^post133, head_175^0'=head_175^post133, y_19^0'=y_19^post133, ct_17^0'=ct_17^post133, temp_35^0'=temp_35^post133, i_30^0'=i_30^post133, head_SLAM_f_26^0'=head_SLAM_f_26^post133, r_218^0'=r_218^post133, len_276^0'=len_276^post133, a_308^0'=a_308^post133, t_23^0'=t_23^post133, a_210^0'=a_210^post133, result_11^0'=result_11^post133, head_268^0'=head_268^post133, f_263^0'=f_263^post133, x_16^0'=x_16^post133, len_132^0'=len_132^post133, i_167^0'=i_167^post133, a_116^0'=a_116^post133, r_39^0'=r_39^post133, nondet_12^0'=nondet_12^post133, x_SLAM_f_18^0'=x_SLAM_f_18^post133, a_353^0'=a_353^post133, temp0_31^0'=temp0_31^post133, a_277^0'=a_277^post133, head_32^0'=head_32^post133, head_14^0'=head_14^post133, r_163^0'=r_163^post133, len_226^0'=len_226^post133, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post133, a_184^0'=a_184^post133, rcd_88^0'=rcd_88^post133, head_223^0'=head_223^post133, f_170^0'=f_170^post133, tmp_34^0'=tmp_34^post133, i_94^0'=i_94^post133, i_108^0'=i_108^post133, r_260^0'=r_260^post133, length_29^0'=length_29^post133, x_20^0'=x_20^post133, a_330^0'=a_330^post133, (a_116^0-a_116^post133 == 0 /\ -f_263^post133+f_263^0 == 0 /\ r_124^0-r_124^post133 == 0 /\ head_175^0-head_175^post133 == 0 /\ -a_184^post133+a_184^0 == 0 /\ -a_330^post133+a_330^0 == 0 /\ r_218^0-r_218^post133 == 0 /\ r_39^0-r_39^post133 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post133 == 0 /\ -i_94^post133+i_94^0 == 0 /\ -nondet_12^post133+nondet_12^0 == 0 /\ -rcd_88^post133+rcd_88^0 == 0 /\ result_11^0-result_11^post133 == 0 /\ -f_170^post133+f_170^0 == 0 /\ -length_29^post133+length_29^0 == 0 /\ 1+head_14^0 <= 0 /\ temp0_15^0-temp0_15^post133 == 0 /\ x_16^0-x_16^post133 == 0 /\ head_223^0-head_223^post133 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post133+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_241^0-a_241^post133 == 0 /\ -a_277^post133+a_277^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post133 == 0 /\ -temp0_31^post133+temp0_31^0 == 0 /\ head_129^0-head_129^post133 == 0 /\ y_19^0-y_19^post133 == 0 /\ a_308^0-a_308^post133 == 0 /\ len_226^0-len_226^post133 == 0 /\ i_30^0-i_30^post133 == 0 /\ a_147^0-a_147^post133 == 0 /\ -len_132^post133+len_132^0 == 0 /\ -a_210^post133+a_210^0 == 0 /\ head_27^0-head_27^post133 == 0 /\ -len_183^post133+len_183^0 == 0 /\ -x_20^post133+x_20^0 == 0 /\ a_353^0-a_353^post133 == 0 /\ -len_276^post133+len_276^0 == 0 /\ -head_32^post133+head_32^0 == 0 /\ i_167^0-i_167^post133 == 0 /\ -rcd_58^post133+rcd_58^0 == 0 /\ -head_268^post133+head_268^0 == 0 /\ t_23^0-t_23^post133 == 0 /\ -i_108^post133+i_108^0 == 0 /\ -tmp_34^post133+tmp_34^0 == 0 /\ -r_260^post133+r_260^0 == 0 /\ -head_14^post133+head_14^0 == 0 /\ -r_163^post133+r_163^0 == 0 /\ -head_SLAM_f_26^post133+head_SLAM_f_26^0 == 0 /\ ct_17^0-ct_17^post133 == 0 /\ temp_35^0-temp_35^post133 == 0), cost: 1 New rule: l85 -> l86 : 1+head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l86 -> l1 : temp0_15^0'=temp0_15^post134, a_241^0'=a_241^post134, head_27^0'=head_27^post134, head_129^0'=head_129^post134, r_124^0'=r_124^post134, len_183^0'=len_183^post134, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post134, a_147^0'=a_147^post134, rcd_58^0'=rcd_58^post134, head_175^0'=head_175^post134, y_19^0'=y_19^post134, ct_17^0'=ct_17^post134, temp_35^0'=temp_35^post134, i_30^0'=i_30^post134, head_SLAM_f_26^0'=head_SLAM_f_26^post134, r_218^0'=r_218^post134, len_276^0'=len_276^post134, a_308^0'=a_308^post134, t_23^0'=t_23^post134, a_210^0'=a_210^post134, result_11^0'=result_11^post134, head_268^0'=head_268^post134, f_263^0'=f_263^post134, x_16^0'=x_16^post134, len_132^0'=len_132^post134, i_167^0'=i_167^post134, a_116^0'=a_116^post134, r_39^0'=r_39^post134, nondet_12^0'=nondet_12^post134, x_SLAM_f_18^0'=x_SLAM_f_18^post134, a_353^0'=a_353^post134, temp0_31^0'=temp0_31^post134, a_277^0'=a_277^post134, head_32^0'=head_32^post134, head_14^0'=head_14^post134, r_163^0'=r_163^post134, len_226^0'=len_226^post134, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post134, a_184^0'=a_184^post134, rcd_88^0'=rcd_88^post134, head_223^0'=head_223^post134, f_170^0'=f_170^post134, tmp_34^0'=tmp_34^post134, i_94^0'=i_94^post134, i_108^0'=i_108^post134, r_260^0'=r_260^post134, length_29^0'=length_29^post134, x_20^0'=x_20^post134, a_330^0'=a_330^post134, (2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_268^post134+head_268^0 == 0 /\ -len_132^post134+len_132^0 == 0 /\ head_27^0-head_27^post134 == 0 /\ -a_330^post134+a_330^0 == 0 /\ head_223^0-head_223^post134 == 0 /\ -len_276^post134+len_276^0 == 0 /\ -r_260^post134+r_260^0 == 0 /\ a_210^0-a_210^post134 == 0 /\ r_163^0-r_163^post134 == 0 /\ -f_170^post134+f_170^0 == 0 /\ i_30^0-i_30^post134 == 0 /\ -head_32^post134+head_32^0 == 0 /\ x_16^0-x_16^post134 == 0 /\ -i_94^post134+i_94^0 == 0 /\ rcd_88^0-rcd_88^post134 == 0 /\ len_183^0-len_183^post134 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post134 == 0 /\ -r_39^post134+r_39^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ temp_35^0-temp_35^post134 == 0 /\ -y_19^post134+y_19^0 == 0 /\ -x_20^post134+x_20^0 == 0 /\ -ct_17^post134+ct_17^0 == 0 /\ r_124^0-r_124^post134 == 0 /\ result_11^0-result_11^post134 == 0 /\ head_175^0-head_175^post134 == 0 /\ -a_277^post134+a_277^0 == 0 /\ -tmp_34^post134+tmp_34^0 == 0 /\ r_218^0-r_218^post134 == 0 /\ -x_SLAM_f_18^post134+x_SLAM_f_18^0 == 0 /\ -a_116^post134+a_116^0 == 0 /\ -nondet_12^post134+nondet_12^0 == 0 /\ -length_29^post134+length_29^0 == 0 /\ temp0_15^0-temp0_15^post134 == 0 /\ -a_184^post134+a_184^0 == 0 /\ a_308^0-a_308^post134 == 0 /\ rcd_58^0-rcd_58^post134 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post134+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_14^0-head_14^post134 == 0 /\ -i_108^post134+i_108^0 == 0 /\ -a_147^post134+a_147^0 == 0 /\ -a_353^post134+a_353^0 == 0 /\ -len_226^post134+len_226^0 == 0 /\ t_23^0-t_23^post134 == 0 /\ a_241^0-a_241^post134 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post134 == 0 /\ head_129^0-head_129^post134 == 0 /\ -temp0_31^post134+temp0_31^0 == 0 /\ -f_263^post134+f_263^0 == 0 /\ i_167^0-i_167^post134 == 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 : temp0_15^0'=temp0_15^post135, a_241^0'=a_241^post135, head_27^0'=head_27^post135, head_129^0'=head_129^post135, r_124^0'=r_124^post135, len_183^0'=len_183^post135, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post135, a_147^0'=a_147^post135, rcd_58^0'=rcd_58^post135, head_175^0'=head_175^post135, y_19^0'=y_19^post135, ct_17^0'=ct_17^post135, temp_35^0'=temp_35^post135, i_30^0'=i_30^post135, head_SLAM_f_26^0'=head_SLAM_f_26^post135, r_218^0'=r_218^post135, len_276^0'=len_276^post135, a_308^0'=a_308^post135, t_23^0'=t_23^post135, a_210^0'=a_210^post135, result_11^0'=result_11^post135, head_268^0'=head_268^post135, f_263^0'=f_263^post135, x_16^0'=x_16^post135, len_132^0'=len_132^post135, i_167^0'=i_167^post135, a_116^0'=a_116^post135, r_39^0'=r_39^post135, nondet_12^0'=nondet_12^post135, x_SLAM_f_18^0'=x_SLAM_f_18^post135, a_353^0'=a_353^post135, temp0_31^0'=temp0_31^post135, a_277^0'=a_277^post135, head_32^0'=head_32^post135, head_14^0'=head_14^post135, r_163^0'=r_163^post135, len_226^0'=len_226^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, a_184^0'=a_184^post135, rcd_88^0'=rcd_88^post135, head_223^0'=head_223^post135, f_170^0'=f_170^post135, tmp_34^0'=tmp_34^post135, i_94^0'=i_94^post135, i_108^0'=i_108^post135, r_260^0'=r_260^post135, length_29^0'=length_29^post135, x_20^0'=x_20^post135, a_330^0'=a_330^post135, (0 == 0 /\ i_167^0-i_167^post135 == 0 /\ -temp0_31^post135+temp0_31^0 == 0 /\ len_183^0-len_183^post135 == 0 /\ -len_132^post135+len_132^0 == 0 /\ r_218^0-r_218^post135 == 0 /\ -i_108^post135+i_108^0 == 0 /\ a_241^0-a_241^post135 == 0 /\ temp_35^0-temp_35^post135 == 0 /\ -tmp_34^post135+tmp_34^0 == 0 /\ rcd_88^0-rcd_88^post135 == 0 /\ -result_11^post135+result_11^0 == 0 /\ -a_184^post135+a_184^0 == 0 /\ -a_116^post135+a_116^0 == 0 /\ -r_260^post135+r_260^0 == 0 /\ r_124^0-r_124^post135 == 0 /\ -head_32^post135+head_32^0 == 0 /\ nondet_12^0-nondet_12^post135 == 0 /\ -head_223^post135+head_223^0 == 0 /\ i_30^0-i_30^post135 == 0 /\ -x_20^post135+x_20^0 == 0 /\ -a_330^post135+a_330^0 == 0 /\ rcd_58^0-rcd_58^post135 == 0 /\ -a_308^post135+a_308^0 == 0 /\ -len_226^0 <= 0 /\ a_210^0-a_210^post135 == 0 /\ head_129^0-head_129^post135 == 0 /\ -head_175^post135+head_175^0 == 0 /\ a_147^0-a_147^post135 == 0 /\ -x_SLAM_f_18^post135+x_SLAM_f_18^0 == 0 /\ x_16^0-x_16^post135 == 0 /\ -a_353^post135+a_353^0 == 0 /\ -length_29^post135+length_29^0 == 0 /\ -len_226^post135+len_226^0 == 0 /\ -i_94^post135+i_94^0 == 0 /\ y_19^0-y_19^post135 == 0 /\ -a_241^0 <= 0 /\ -f_170^post135+f_170^0 == 0 /\ len_276^0-len_276^post135 == 0 /\ a_277^0-a_277^post135 == 0 /\ r_163^0-r_163^post135 == 0 /\ head_27^0-head_27^post135 == 0 /\ -t_23^post135+t_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post135+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ ct_17^0-ct_17^post135 == 0 /\ temp0_15^0-temp0_15^post135 == 0), cost: 1 New rule: l4 -> l88 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ len_226^0 >= 0), cost: 1 Applied preprocessing Original rule: l88 -> l89 : temp0_15^0'=temp0_15^post136, a_241^0'=a_241^post136, head_27^0'=head_27^post136, head_129^0'=head_129^post136, r_124^0'=r_124^post136, len_183^0'=len_183^post136, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post136, a_147^0'=a_147^post136, rcd_58^0'=rcd_58^post136, head_175^0'=head_175^post136, y_19^0'=y_19^post136, ct_17^0'=ct_17^post136, temp_35^0'=temp_35^post136, i_30^0'=i_30^post136, head_SLAM_f_26^0'=head_SLAM_f_26^post136, r_218^0'=r_218^post136, len_276^0'=len_276^post136, a_308^0'=a_308^post136, t_23^0'=t_23^post136, a_210^0'=a_210^post136, result_11^0'=result_11^post136, head_268^0'=head_268^post136, f_263^0'=f_263^post136, x_16^0'=x_16^post136, len_132^0'=len_132^post136, i_167^0'=i_167^post136, a_116^0'=a_116^post136, r_39^0'=r_39^post136, nondet_12^0'=nondet_12^post136, x_SLAM_f_18^0'=x_SLAM_f_18^post136, a_353^0'=a_353^post136, temp0_31^0'=temp0_31^post136, a_277^0'=a_277^post136, head_32^0'=head_32^post136, head_14^0'=head_14^post136, r_163^0'=r_163^post136, len_226^0'=len_226^post136, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post136, a_184^0'=a_184^post136, rcd_88^0'=rcd_88^post136, head_223^0'=head_223^post136, f_170^0'=f_170^post136, tmp_34^0'=tmp_34^post136, i_94^0'=i_94^post136, i_108^0'=i_108^post136, r_260^0'=r_260^post136, length_29^0'=length_29^post136, x_20^0'=x_20^post136, a_330^0'=a_330^post136, (-t_23^post136+t_23^0 == 0 /\ -tmp_34^post136+tmp_34^0 == 0 /\ f_263^0-f_263^post136 == 0 /\ rcd_58^0-rcd_58^post136 == 0 /\ nondet_12^0-nondet_12^post136 == 0 /\ head_129^0-head_129^post136 == 0 /\ a_147^0-a_147^post136 == 0 /\ -len_132^post136+len_132^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post136 == 0 /\ -i_108^post136+i_108^0 == 0 /\ -r_39^post136+r_39^0 == 0 /\ y_19^0-y_19^post136 == 0 /\ -a_116^post136+a_116^0 == 0 /\ head_27^0-head_27^post136 == 0 /\ -head_223^post136+head_223^0 == 0 /\ head_32^0-head_32^post136 == 0 /\ head_268^0-head_268^post136 == 0 /\ -result_11^post136+result_11^0 == 0 /\ temp0_15^0-temp0_15^post136 == 0 /\ -a_184^post136+a_184^0 == 0 /\ -r_218^post136+r_218^0 == 0 /\ len_183^0-len_183^post136 == 0 /\ -head_14^post136+head_14^0 == 0 /\ -i_167^post136+i_167^0 == 0 /\ -a_330^post136+a_330^0 == 0 /\ temp0_31^0-temp0_31^post136 == 0 /\ x_16^0-x_16^post136 == 0 /\ -x_SLAM_f_18^post136+x_SLAM_f_18^0 == 0 /\ -i_30^post136+i_30^0 == 0 /\ -f_170^post136+f_170^0 == 0 /\ len_276^0-len_276^post136 == 0 /\ -r_163^post136+r_163^0 == 0 /\ -rcd_88^post136+rcd_88^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post136 == 0 /\ -length_29^post136+length_29^0 == 0 /\ a_241^0-a_241^post136 == 0 /\ temp_35^0-temp_35^post136 == 0 /\ -r_260^post136+r_260^0 == 0 /\ -a_308^post136+a_308^0 == 0 /\ a_210^0-a_210^post136 == 0 /\ -a_353^post136+a_353^0 == 0 /\ -len_226^post136+len_226^0 == 0 /\ ct_17^0-ct_17^post136 == 0 /\ a_277^0-a_277^post136 == 0 /\ head_175^0-head_175^post136 == 0 /\ r_124^0-r_124^post136 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post136 == 0 /\ 1-head_27^0 <= 0 /\ -i_94^post136+i_94^0 == 0 /\ -x_20^post136+x_20^0 == 0), cost: 1 New rule: l88 -> l89 : -1+head_27^0 >= 0, cost: 1 Applied preprocessing Original rule: l88 -> l89 : temp0_15^0'=temp0_15^post137, a_241^0'=a_241^post137, head_27^0'=head_27^post137, head_129^0'=head_129^post137, r_124^0'=r_124^post137, len_183^0'=len_183^post137, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post137, a_147^0'=a_147^post137, rcd_58^0'=rcd_58^post137, head_175^0'=head_175^post137, y_19^0'=y_19^post137, ct_17^0'=ct_17^post137, temp_35^0'=temp_35^post137, i_30^0'=i_30^post137, head_SLAM_f_26^0'=head_SLAM_f_26^post137, r_218^0'=r_218^post137, len_276^0'=len_276^post137, a_308^0'=a_308^post137, t_23^0'=t_23^post137, a_210^0'=a_210^post137, result_11^0'=result_11^post137, head_268^0'=head_268^post137, f_263^0'=f_263^post137, x_16^0'=x_16^post137, len_132^0'=len_132^post137, i_167^0'=i_167^post137, a_116^0'=a_116^post137, r_39^0'=r_39^post137, nondet_12^0'=nondet_12^post137, x_SLAM_f_18^0'=x_SLAM_f_18^post137, a_353^0'=a_353^post137, temp0_31^0'=temp0_31^post137, a_277^0'=a_277^post137, head_32^0'=head_32^post137, head_14^0'=head_14^post137, r_163^0'=r_163^post137, len_226^0'=len_226^post137, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post137, a_184^0'=a_184^post137, rcd_88^0'=rcd_88^post137, head_223^0'=head_223^post137, f_170^0'=f_170^post137, tmp_34^0'=tmp_34^post137, i_94^0'=i_94^post137, i_108^0'=i_108^post137, r_260^0'=r_260^post137, length_29^0'=length_29^post137, x_20^0'=x_20^post137, a_330^0'=a_330^post137, (-length_29^post137+length_29^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post137 == 0 /\ -a_353^post137+a_353^0 == 0 /\ -tmp_34^post137+tmp_34^0 == 0 /\ -head_14^post137+head_14^0 == 0 /\ head_129^0-head_129^post137 == 0 /\ -result_11^post137+result_11^0 == 0 /\ 1+head_27^0 <= 0 /\ head_268^0-head_268^post137 == 0 /\ -a_277^post137+a_277^0 == 0 /\ a_147^0-a_147^post137 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post137 == 0 /\ a_241^0-a_241^post137 == 0 /\ -x_20^post137+x_20^0 == 0 /\ -x_16^post137+x_16^0 == 0 /\ -a_308^post137+a_308^0 == 0 /\ temp0_15^0-temp0_15^post137 == 0 /\ -a_330^post137+a_330^0 == 0 /\ -head_223^post137+head_223^0 == 0 /\ -head_175^post137+head_175^0 == 0 /\ temp0_31^0-temp0_31^post137 == 0 /\ y_19^0-y_19^post137 == 0 /\ rcd_58^0-rcd_58^post137 == 0 /\ -i_108^post137+i_108^0 == 0 /\ -x_SLAM_f_18^post137+x_SLAM_f_18^0 == 0 /\ -a_184^post137+a_184^0 == 0 /\ len_276^0-len_276^post137 == 0 /\ r_163^0-r_163^post137 == 0 /\ -f_170^post137+f_170^0 == 0 /\ -len_226^post137+len_226^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post137 == 0 /\ ct_17^0-ct_17^post137 == 0 /\ f_263^0-f_263^post137 == 0 /\ -r_39^post137+r_39^0 == 0 /\ len_183^0-len_183^post137 == 0 /\ -r_260^post137+r_260^0 == 0 /\ head_27^0-head_27^post137 == 0 /\ len_132^0-len_132^post137 == 0 /\ -r_218^post137+r_218^0 == 0 /\ a_210^0-a_210^post137 == 0 /\ -i_30^post137+i_30^0 == 0 /\ -r_124^post137+r_124^0 == 0 /\ -i_167^post137+i_167^0 == 0 /\ temp_35^0-temp_35^post137 == 0 /\ t_23^0-t_23^post137 == 0 /\ -head_32^post137+head_32^0 == 0 /\ -a_116^post137+a_116^0 == 0 /\ -i_94^post137+i_94^0 == 0 /\ -rcd_88^post137+rcd_88^0 == 0 /\ -nondet_12^post137+nondet_12^0 == 0), cost: 1 New rule: l88 -> l89 : 1+head_27^0 <= 0, cost: 1 Applied preprocessing Original rule: l89 -> l90 : temp0_15^0'=temp0_15^post138, a_241^0'=a_241^post138, head_27^0'=head_27^post138, head_129^0'=head_129^post138, r_124^0'=r_124^post138, len_183^0'=len_183^post138, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post138, a_147^0'=a_147^post138, rcd_58^0'=rcd_58^post138, head_175^0'=head_175^post138, y_19^0'=y_19^post138, ct_17^0'=ct_17^post138, temp_35^0'=temp_35^post138, i_30^0'=i_30^post138, head_SLAM_f_26^0'=head_SLAM_f_26^post138, r_218^0'=r_218^post138, len_276^0'=len_276^post138, a_308^0'=a_308^post138, t_23^0'=t_23^post138, a_210^0'=a_210^post138, result_11^0'=result_11^post138, head_268^0'=head_268^post138, f_263^0'=f_263^post138, x_16^0'=x_16^post138, len_132^0'=len_132^post138, i_167^0'=i_167^post138, a_116^0'=a_116^post138, r_39^0'=r_39^post138, nondet_12^0'=nondet_12^post138, x_SLAM_f_18^0'=x_SLAM_f_18^post138, a_353^0'=a_353^post138, temp0_31^0'=temp0_31^post138, a_277^0'=a_277^post138, head_32^0'=head_32^post138, head_14^0'=head_14^post138, r_163^0'=r_163^post138, len_226^0'=len_226^post138, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post138, a_184^0'=a_184^post138, rcd_88^0'=rcd_88^post138, head_223^0'=head_223^post138, f_170^0'=f_170^post138, tmp_34^0'=tmp_34^post138, i_94^0'=i_94^post138, i_108^0'=i_108^post138, r_260^0'=r_260^post138, length_29^0'=length_29^post138, x_20^0'=x_20^post138, a_330^0'=a_330^post138, (0 == 0 /\ -i_108^post138+i_108^0 == 0 /\ -a_353^post138+a_353^0 == 0 /\ -length_29^post138+length_29^0 == 0 /\ -r_163^post138+r_163^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post138 == 0 /\ a_147^0-a_147^post138 == 0 /\ i_30^0-i_30^post138 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post138+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_183^0-len_183^post138 == 0 /\ head_27^0-head_27^post138 == 0 /\ head_268^0-head_268^post138 == 0 /\ head_27^0-f_263^0 <= 0 /\ -result_11^post138+result_11^0 == 0 /\ -1-len_226^0+len_276^post138 <= 0 /\ -x_20^post138+x_20^0 == 0 /\ -x_16^post138+x_16^0 == 0 /\ -1+a_241^0-a_277^post138 <= 0 /\ -a_330^post138+a_330^0 == 0 /\ -tmp_34^post138+tmp_34^0 == 0 /\ ct_17^0-ct_17^post138 == 0 /\ -a_308^post138+a_308^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post138 == 0 /\ r_124^0-r_124^post138 == 0 /\ -head_27^0+f_263^0 <= 0 /\ head_32^0-head_32^post138 == 0 /\ -a_184^post138+a_184^0 == 0 /\ -f_170^post138+f_170^0 == 0 /\ -head_223^post138+head_223^0 == 0 /\ head_129^0-head_129^post138 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ -i_94^post138+i_94^0 == 0 /\ -r_218^post138+r_218^0 == 0 /\ a_116^0-a_116^post138 == 0 /\ f_263^0-f_263^post138 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post138 == 0 /\ head_175^0-head_175^post138 == 0 /\ 1+len_226^0-len_276^post138 <= 0 /\ t_23^0-t_23^post138 == 0 /\ len_132^0-len_132^post138 == 0 /\ -i_167^post138+i_167^0 == 0 /\ a_241^0-a_241^post138 == 0 /\ a_210^0-a_210^post138 == 0 /\ temp0_15^0-temp0_15^post138 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ 1-a_241^0+a_277^post138 <= 0 /\ -nondet_12^post138+nondet_12^0 == 0 /\ -head_14^post138+head_14^0 == 0 /\ temp0_31^0-temp0_31^post138 == 0 /\ y_19^0-y_19^post138 == 0 /\ len_226^0-len_226^post138 == 0 /\ rcd_58^0-rcd_58^post138 == 0 /\ -r_260^post138+r_260^0 == 0 /\ -temp_35^post138+temp_35^0 == 0 /\ -rcd_88^post138+rcd_88^0 == 0 /\ r_39^0-r_39^post138 == 0), cost: 1 New rule: l89 -> l90 : len_276^0'=1+len_226^0, a_277^0'=-1+a_241^0, (head_27^0-f_263^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 Applied preprocessing Original rule: l90 -> l91 : temp0_15^0'=temp0_15^post139, a_241^0'=a_241^post139, head_27^0'=head_27^post139, head_129^0'=head_129^post139, r_124^0'=r_124^post139, len_183^0'=len_183^post139, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post139, a_147^0'=a_147^post139, rcd_58^0'=rcd_58^post139, head_175^0'=head_175^post139, y_19^0'=y_19^post139, ct_17^0'=ct_17^post139, temp_35^0'=temp_35^post139, i_30^0'=i_30^post139, head_SLAM_f_26^0'=head_SLAM_f_26^post139, r_218^0'=r_218^post139, len_276^0'=len_276^post139, a_308^0'=a_308^post139, t_23^0'=t_23^post139, a_210^0'=a_210^post139, result_11^0'=result_11^post139, head_268^0'=head_268^post139, f_263^0'=f_263^post139, x_16^0'=x_16^post139, len_132^0'=len_132^post139, i_167^0'=i_167^post139, a_116^0'=a_116^post139, r_39^0'=r_39^post139, nondet_12^0'=nondet_12^post139, x_SLAM_f_18^0'=x_SLAM_f_18^post139, a_353^0'=a_353^post139, temp0_31^0'=temp0_31^post139, a_277^0'=a_277^post139, head_32^0'=head_32^post139, head_14^0'=head_14^post139, r_163^0'=r_163^post139, len_226^0'=len_226^post139, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post139, a_184^0'=a_184^post139, rcd_88^0'=rcd_88^post139, head_223^0'=head_223^post139, f_170^0'=f_170^post139, tmp_34^0'=tmp_34^post139, i_94^0'=i_94^post139, i_108^0'=i_108^post139, r_260^0'=r_260^post139, length_29^0'=length_29^post139, x_20^0'=x_20^post139, a_330^0'=a_330^post139, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post139 == 0 /\ -head_32^post139+head_32^0 == 0 /\ a_116^0-a_116^post139 == 0 /\ len_183^0-len_183^post139 == 0 /\ -f_263^post139+f_263^0 == 0 /\ result_11^0-result_11^post139 == 0 /\ -len_276^post139+len_276^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post139 == 0 /\ r_218^0-r_218^post139 == 0 /\ a_308^0-a_308^post139 == 0 /\ a_184^0-a_184^post139 == 0 /\ r_124^0-r_124^post139 == 0 /\ t_23^0-t_23^post139 == 0 /\ -temp0_31^post139+temp0_31^0 == 0 /\ -tmp_34^post139+tmp_34^0 == 0 /\ len_132^0-len_132^post139 == 0 /\ -r_163^post139+r_163^0 == 0 /\ -temp_35^post139+temp_35^0 == 0 /\ -f_170^post139+f_170^0 == 0 /\ -length_29^post139+length_29^0 == 0 /\ a_353^0-a_353^post139 == 0 /\ r_39^0-r_39^post139 == 0 /\ head_129^0-head_129^post139 == 0 /\ -head_223^post139+head_223^0 == 0 /\ 1-head_14^0 <= 0 /\ -rcd_88^post139+rcd_88^0 == 0 /\ i_30^0-i_30^post139 == 0 /\ a_147^0-a_147^post139 == 0 /\ -i_94^post139+i_94^0 == 0 /\ head_175^0-head_175^post139 == 0 /\ -x_20^post139+x_20^0 == 0 /\ -i_108^post139+i_108^0 == 0 /\ -x_16^post139+x_16^0 == 0 /\ head_268^0-head_268^post139 == 0 /\ -a_330^post139+a_330^0 == 0 /\ -head_14^post139+head_14^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post139+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_167^post139+i_167^0 == 0 /\ -head_SLAM_f_26^post139+head_SLAM_f_26^0 == 0 /\ -nondet_12^post139+nondet_12^0 == 0 /\ -a_277^post139+a_277^0 == 0 /\ a_241^0-a_241^post139 == 0 /\ temp0_15^0-temp0_15^post139 == 0 /\ -head_27^post139+head_27^0 == 0 /\ ct_17^0-ct_17^post139 == 0 /\ -r_260^post139+r_260^0 == 0 /\ y_19^0-y_19^post139 == 0 /\ -len_226^post139+len_226^0 == 0 /\ rcd_58^0-rcd_58^post139 == 0 /\ -a_210^post139+a_210^0 == 0), cost: 1 New rule: l90 -> l91 : -1+head_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l90 -> l91 : temp0_15^0'=temp0_15^post140, a_241^0'=a_241^post140, head_27^0'=head_27^post140, head_129^0'=head_129^post140, r_124^0'=r_124^post140, len_183^0'=len_183^post140, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post140, a_147^0'=a_147^post140, rcd_58^0'=rcd_58^post140, head_175^0'=head_175^post140, y_19^0'=y_19^post140, ct_17^0'=ct_17^post140, temp_35^0'=temp_35^post140, i_30^0'=i_30^post140, head_SLAM_f_26^0'=head_SLAM_f_26^post140, r_218^0'=r_218^post140, len_276^0'=len_276^post140, a_308^0'=a_308^post140, t_23^0'=t_23^post140, a_210^0'=a_210^post140, result_11^0'=result_11^post140, head_268^0'=head_268^post140, f_263^0'=f_263^post140, x_16^0'=x_16^post140, len_132^0'=len_132^post140, i_167^0'=i_167^post140, a_116^0'=a_116^post140, r_39^0'=r_39^post140, nondet_12^0'=nondet_12^post140, x_SLAM_f_18^0'=x_SLAM_f_18^post140, a_353^0'=a_353^post140, temp0_31^0'=temp0_31^post140, a_277^0'=a_277^post140, head_32^0'=head_32^post140, head_14^0'=head_14^post140, r_163^0'=r_163^post140, len_226^0'=len_226^post140, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post140, a_184^0'=a_184^post140, rcd_88^0'=rcd_88^post140, head_223^0'=head_223^post140, f_170^0'=f_170^post140, tmp_34^0'=tmp_34^post140, i_94^0'=i_94^post140, i_108^0'=i_108^post140, r_260^0'=r_260^post140, length_29^0'=length_29^post140, x_20^0'=x_20^post140, a_330^0'=a_330^post140, (-y_19^post140+y_19^0 == 0 /\ i_30^0-i_30^post140 == 0 /\ -len_132^post140+len_132^0 == 0 /\ -head_32^post140+head_32^0 == 0 /\ -r_39^post140+r_39^0 == 0 /\ a_210^0-a_210^post140 == 0 /\ x_16^0-x_16^post140 == 0 /\ len_183^0-len_183^post140 == 0 /\ head_223^0-head_223^post140 == 0 /\ i_167^0-i_167^post140 == 0 /\ -len_276^post140+len_276^0 == 0 /\ -a_184^post140+a_184^0 == 0 /\ -head_268^post140+head_268^0 == 0 /\ r_124^0-r_124^post140 == 0 /\ -tmp_34^post140+tmp_34^0 == 0 /\ -x_SLAM_f_18^post140+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ rcd_88^0-rcd_88^post140 == 0 /\ -f_170^post140+f_170^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post140 == 0 /\ -length_29^post140+length_29^0 == 0 /\ -temp0_31^post140+temp0_31^0 == 0 /\ f_263^0-f_263^post140 == 0 /\ -r_163^post140+r_163^0 == 0 /\ temp_35^0-temp_35^post140 == 0 /\ -a_116^post140+a_116^0 == 0 /\ head_129^0-head_129^post140 == 0 /\ -i_108^post140+i_108^0 == 0 /\ result_11^0-result_11^post140 == 0 /\ -ct_17^post140+ct_17^0 == 0 /\ -nondet_12^post140+nondet_12^0 == 0 /\ head_175^0-head_175^post140 == 0 /\ r_218^0-r_218^post140 == 0 /\ -x_20^post140+x_20^0 == 0 /\ r_260^0-r_260^post140 == 0 /\ -a_330^post140+a_330^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post140+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_308^0-a_308^post140 == 0 /\ head_27^0-head_27^post140 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post140+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_94^0-i_94^post140 == 0 /\ a_241^0-a_241^post140 == 0 /\ head_14^0-head_14^post140 == 0 /\ temp0_15^0-temp0_15^post140 == 0 /\ -a_353^post140+a_353^0 == 0 /\ -a_147^post140+a_147^0 == 0 /\ -len_226^post140+len_226^0 == 0 /\ -a_277^post140+a_277^0 == 0 /\ t_23^0-t_23^post140 == 0 /\ rcd_58^0-rcd_58^post140 == 0), cost: 1 New rule: l90 -> l91 : 1+head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l91 -> l92 : temp0_15^0'=temp0_15^post141, a_241^0'=a_241^post141, head_27^0'=head_27^post141, head_129^0'=head_129^post141, r_124^0'=r_124^post141, len_183^0'=len_183^post141, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post141, a_147^0'=a_147^post141, rcd_58^0'=rcd_58^post141, head_175^0'=head_175^post141, y_19^0'=y_19^post141, ct_17^0'=ct_17^post141, temp_35^0'=temp_35^post141, i_30^0'=i_30^post141, head_SLAM_f_26^0'=head_SLAM_f_26^post141, r_218^0'=r_218^post141, len_276^0'=len_276^post141, a_308^0'=a_308^post141, t_23^0'=t_23^post141, a_210^0'=a_210^post141, result_11^0'=result_11^post141, head_268^0'=head_268^post141, f_263^0'=f_263^post141, x_16^0'=x_16^post141, len_132^0'=len_132^post141, i_167^0'=i_167^post141, a_116^0'=a_116^post141, r_39^0'=r_39^post141, nondet_12^0'=nondet_12^post141, x_SLAM_f_18^0'=x_SLAM_f_18^post141, a_353^0'=a_353^post141, temp0_31^0'=temp0_31^post141, a_277^0'=a_277^post141, head_32^0'=head_32^post141, head_14^0'=head_14^post141, r_163^0'=r_163^post141, len_226^0'=len_226^post141, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post141, a_184^0'=a_184^post141, rcd_88^0'=rcd_88^post141, head_223^0'=head_223^post141, f_170^0'=f_170^post141, tmp_34^0'=tmp_34^post141, i_94^0'=i_94^post141, i_108^0'=i_108^post141, r_260^0'=r_260^post141, length_29^0'=length_29^post141, x_20^0'=x_20^post141, a_330^0'=a_330^post141, (temp_35^0-temp_35^post141 == 0 /\ -len_132^post141+len_132^0 == 0 /\ len_183^0-len_183^post141 == 0 /\ 1-head_268^0 <= 0 /\ r_163^0-r_163^post141 == 0 /\ a_241^0-a_241^post141 == 0 /\ r_218^0-r_218^post141 == 0 /\ -head_32^post141+head_32^0 == 0 /\ -x_SLAM_f_18^post141+x_SLAM_f_18^0 == 0 /\ i_167^0-i_167^post141 == 0 /\ f_263^0-f_263^post141 == 0 /\ -i_94^post141+i_94^0 == 0 /\ -f_170^post141+f_170^0 == 0 /\ -tmp_34^post141+tmp_34^0 == 0 /\ head_268^0-head_268^post141 == 0 /\ -length_29^post141+length_29^0 == 0 /\ rcd_88^0-rcd_88^post141 == 0 /\ r_124^0-r_124^post141 == 0 /\ -head_223^post141+head_223^0 == 0 /\ nondet_12^0-nondet_12^post141 == 0 /\ -i_30^post141+i_30^0 == 0 /\ -temp0_31^post141+temp0_31^0 == 0 /\ a_147^0-a_147^post141 == 0 /\ -a_308^post141+a_308^0 == 0 /\ rcd_58^0-rcd_58^post141 == 0 /\ -x_20^post141+x_20^0 == 0 /\ head_14^0-head_14^post141 == 0 /\ -a_330^post141+a_330^0 == 0 /\ a_210^0-a_210^post141 == 0 /\ a_277^0-a_277^post141 == 0 /\ -a_116^post141+a_116^0 == 0 /\ x_16^0-x_16^post141 == 0 /\ r_260^0-r_260^post141 == 0 /\ -i_108^post141+i_108^0 == 0 /\ head_129^0-head_129^post141 == 0 /\ y_19^0-y_19^post141 == 0 /\ -a_353^post141+a_353^0 == 0 /\ -a_184^post141+a_184^0 == 0 /\ head_27^0-head_27^post141 == 0 /\ -len_226^post141+len_226^0 == 0 /\ -t_23^post141+t_23^0 == 0 /\ -head_175^post141+head_175^0 == 0 /\ result_11^0-result_11^post141 == 0 /\ len_276^0-len_276^post141 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post141+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post141 == 0 /\ -r_39^post141+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post141+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ ct_17^0-ct_17^post141 == 0 /\ temp0_15^0-temp0_15^post141 == 0), cost: 1 New rule: l91 -> l92 : -1+head_268^0 >= 0, cost: 1 Applied preprocessing Original rule: l91 -> l92 : temp0_15^0'=temp0_15^post142, a_241^0'=a_241^post142, head_27^0'=head_27^post142, head_129^0'=head_129^post142, r_124^0'=r_124^post142, len_183^0'=len_183^post142, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post142, a_147^0'=a_147^post142, rcd_58^0'=rcd_58^post142, head_175^0'=head_175^post142, y_19^0'=y_19^post142, ct_17^0'=ct_17^post142, temp_35^0'=temp_35^post142, i_30^0'=i_30^post142, head_SLAM_f_26^0'=head_SLAM_f_26^post142, r_218^0'=r_218^post142, len_276^0'=len_276^post142, a_308^0'=a_308^post142, t_23^0'=t_23^post142, a_210^0'=a_210^post142, result_11^0'=result_11^post142, head_268^0'=head_268^post142, f_263^0'=f_263^post142, x_16^0'=x_16^post142, len_132^0'=len_132^post142, i_167^0'=i_167^post142, a_116^0'=a_116^post142, r_39^0'=r_39^post142, nondet_12^0'=nondet_12^post142, x_SLAM_f_18^0'=x_SLAM_f_18^post142, a_353^0'=a_353^post142, temp0_31^0'=temp0_31^post142, a_277^0'=a_277^post142, head_32^0'=head_32^post142, head_14^0'=head_14^post142, r_163^0'=r_163^post142, len_226^0'=len_226^post142, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post142, a_184^0'=a_184^post142, rcd_88^0'=rcd_88^post142, head_223^0'=head_223^post142, f_170^0'=f_170^post142, tmp_34^0'=tmp_34^post142, i_94^0'=i_94^post142, i_108^0'=i_108^post142, r_260^0'=r_260^post142, length_29^0'=length_29^post142, x_20^0'=x_20^post142, a_330^0'=a_330^post142, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post142 == 0 /\ f_263^0-f_263^post142 == 0 /\ rcd_58^0-rcd_58^post142 == 0 /\ r_218^0-r_218^post142 == 0 /\ -tmp_34^post142+tmp_34^0 == 0 /\ temp_35^0-temp_35^post142 == 0 /\ -rcd_88^post142+rcd_88^0 == 0 /\ -a_308^post142+a_308^0 == 0 /\ -a_353^post142+a_353^0 == 0 /\ -len_226^post142+len_226^0 == 0 /\ -length_29^post142+length_29^0 == 0 /\ -r_39^post142+r_39^0 == 0 /\ -i_94^post142+i_94^0 == 0 /\ i_167^0-i_167^post142 == 0 /\ temp0_31^0-temp0_31^post142 == 0 /\ -f_170^post142+f_170^0 == 0 /\ head_27^0-head_27^post142 == 0 /\ nondet_12^0-nondet_12^post142 == 0 /\ i_30^0-i_30^post142 == 0 /\ -ct_17^post142+ct_17^0 == 0 /\ -head_223^post142+head_223^0 == 0 /\ -result_11^post142+result_11^0 == 0 /\ temp0_15^0-temp0_15^post142 == 0 /\ -a_277^post142+a_277^0 == 0 /\ -t_23^post142+t_23^0 == 0 /\ -head_175^post142+head_175^0 == 0 /\ len_183^0-len_183^post142 == 0 /\ -x_20^post142+x_20^0 == 0 /\ r_163^0-r_163^post142 == 0 /\ -a_330^post142+a_330^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post142 == 0 /\ -x_SLAM_f_18^post142+x_SLAM_f_18^0 == 0 /\ head_129^0-head_129^post142 == 0 /\ -head_14^post142+head_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post142 == 0 /\ a_210^0-a_210^post142 == 0 /\ -len_132^post142+len_132^0 == 0 /\ a_147^0-a_147^post142 == 0 /\ -a_241^post142+a_241^0 == 0 /\ i_108^0-i_108^post142 == 0 /\ x_16^0-x_16^post142 == 0 /\ -a_184^post142+a_184^0 == 0 /\ -r_260^post142+r_260^0 == 0 /\ r_124^0-r_124^post142 == 0 /\ -head_32^post142+head_32^0 == 0 /\ y_19^0-y_19^post142 == 0 /\ -a_116^post142+a_116^0 == 0 /\ 1+head_268^0 <= 0 /\ len_276^0-len_276^post142 == 0 /\ -head_268^post142+head_268^0 == 0), cost: 1 New rule: l91 -> l92 : 1+head_268^0 <= 0, cost: 1 Applied preprocessing Original rule: l92 -> l87 : temp0_15^0'=temp0_15^post143, a_241^0'=a_241^post143, head_27^0'=head_27^post143, head_129^0'=head_129^post143, r_124^0'=r_124^post143, len_183^0'=len_183^post143, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post143, a_147^0'=a_147^post143, rcd_58^0'=rcd_58^post143, head_175^0'=head_175^post143, y_19^0'=y_19^post143, ct_17^0'=ct_17^post143, temp_35^0'=temp_35^post143, i_30^0'=i_30^post143, head_SLAM_f_26^0'=head_SLAM_f_26^post143, r_218^0'=r_218^post143, len_276^0'=len_276^post143, a_308^0'=a_308^post143, t_23^0'=t_23^post143, a_210^0'=a_210^post143, result_11^0'=result_11^post143, head_268^0'=head_268^post143, f_263^0'=f_263^post143, x_16^0'=x_16^post143, len_132^0'=len_132^post143, i_167^0'=i_167^post143, a_116^0'=a_116^post143, r_39^0'=r_39^post143, nondet_12^0'=nondet_12^post143, x_SLAM_f_18^0'=x_SLAM_f_18^post143, a_353^0'=a_353^post143, temp0_31^0'=temp0_31^post143, a_277^0'=a_277^post143, head_32^0'=head_32^post143, head_14^0'=head_14^post143, r_163^0'=r_163^post143, len_226^0'=len_226^post143, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post143, a_184^0'=a_184^post143, rcd_88^0'=rcd_88^post143, head_223^0'=head_223^post143, f_170^0'=f_170^post143, tmp_34^0'=tmp_34^post143, i_94^0'=i_94^post143, i_108^0'=i_108^post143, r_260^0'=r_260^post143, length_29^0'=length_29^post143, x_20^0'=x_20^post143, a_330^0'=a_330^post143, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -tmp_34^post143+tmp_34^0 == 0 /\ -length_29^post143+length_29^0 == 0 /\ f_263^0-f_263^post143 == 0 /\ rcd_58^0-rcd_58^post143 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post143 == 0 /\ -a_353^post143+a_353^0 == 0 /\ -r_39^post143+r_39^0 == 0 /\ a_147^0-a_147^post143 == 0 /\ head_129^0-head_129^post143 == 0 /\ head_268^0-head_268^post143 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post143 == 0 /\ temp0_15^0-temp0_15^post143 == 0 /\ -a_308^post143+a_308^0 == 0 /\ y_19^0-y_19^post143 == 0 /\ i_167^0-i_167^post143 == 0 /\ -x_20^post143+x_20^0 == 0 /\ temp0_31^0-temp0_31^post143 == 0 /\ -a_184^post143+a_184^0 == 0 /\ len_276^0-len_276^post143 == 0 /\ -i_108^post143+i_108^0 == 0 /\ -x_16^post143+x_16^0 == 0 /\ -a_330^post143+a_330^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_260^post143+r_260^0 == 0 /\ -t_23^post143+t_23^0 == 0 /\ len_132^0-len_132^post143 == 0 /\ ct_17^0-ct_17^post143 == 0 /\ -x_SLAM_f_18^post143+x_SLAM_f_18^0 == 0 /\ a_210^0-a_210^post143 == 0 /\ r_163^0-r_163^post143 == 0 /\ -head_14^post143+head_14^0 == 0 /\ -result_11^post143+result_11^0 == 0 /\ -f_170^post143+f_170^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post143 == 0 /\ -len_276^0+len_226^post143 <= 0 /\ -i_30^post143+i_30^0 == 0 /\ head_27^0-head_27^post143 == 0 /\ temp_35^0-temp_35^post143 == 0 /\ len_183^0-len_183^post143 == 0 /\ -a_277^0+a_241^post143 <= 0 /\ a_277^0-a_277^post143 == 0 /\ head_175^0-head_175^post143 == 0 /\ -rcd_88^post143+rcd_88^0 == 0 /\ -head_223^post143+head_223^0 == 0 /\ -r_124^post143+r_124^0 == 0 /\ len_276^0-len_226^post143 <= 0 /\ -nondet_12^post143+nondet_12^0 == 0 /\ -head_32^post143+head_32^0 == 0 /\ -r_218^post143+r_218^0 == 0 /\ -i_94^post143+i_94^0 == 0 /\ -a_116^post143+a_116^0 == 0 /\ a_277^0-a_241^post143 <= 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 : temp0_15^0'=temp0_15^post144, a_241^0'=a_241^post144, head_27^0'=head_27^post144, head_129^0'=head_129^post144, r_124^0'=r_124^post144, len_183^0'=len_183^post144, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post144, a_147^0'=a_147^post144, rcd_58^0'=rcd_58^post144, head_175^0'=head_175^post144, y_19^0'=y_19^post144, ct_17^0'=ct_17^post144, temp_35^0'=temp_35^post144, i_30^0'=i_30^post144, head_SLAM_f_26^0'=head_SLAM_f_26^post144, r_218^0'=r_218^post144, len_276^0'=len_276^post144, a_308^0'=a_308^post144, t_23^0'=t_23^post144, a_210^0'=a_210^post144, result_11^0'=result_11^post144, head_268^0'=head_268^post144, f_263^0'=f_263^post144, x_16^0'=x_16^post144, len_132^0'=len_132^post144, i_167^0'=i_167^post144, a_116^0'=a_116^post144, r_39^0'=r_39^post144, nondet_12^0'=nondet_12^post144, x_SLAM_f_18^0'=x_SLAM_f_18^post144, a_353^0'=a_353^post144, temp0_31^0'=temp0_31^post144, a_277^0'=a_277^post144, head_32^0'=head_32^post144, head_14^0'=head_14^post144, r_163^0'=r_163^post144, len_226^0'=len_226^post144, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post144, a_184^0'=a_184^post144, rcd_88^0'=rcd_88^post144, head_223^0'=head_223^post144, f_170^0'=f_170^post144, tmp_34^0'=tmp_34^post144, i_94^0'=i_94^post144, i_108^0'=i_108^post144, r_260^0'=r_260^post144, length_29^0'=length_29^post144, x_20^0'=x_20^post144, a_330^0'=a_330^post144, (len_132^0-len_132^post144 == 0 /\ -r_163^post144+r_163^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post144 == 0 /\ a_147^0-a_147^post144 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post144+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_353^post144+a_353^0 == 0 /\ -length_29^post144+length_29^0 == 0 /\ -i_167^post144+i_167^0 == 0 /\ y_19^0-y_19^post144 == 0 /\ head_27^0-head_27^post144 == 0 /\ -head_223^post144+head_223^0 == 0 /\ rcd_58^0-rcd_58^post144 == 0 /\ len_183^0-len_183^post144 == 0 /\ tmp_34^0-tmp_34^post144 == 0 /\ a_184^0-a_184^post144 == 0 /\ -f_263^post144+f_263^0 == 0 /\ -a_277^post144+a_277^0 == 0 /\ head_268^0-head_268^post144 == 0 /\ -i_30^post144+i_30^0 == 0 /\ -a_210^post144+a_210^0 == 0 /\ -x_20^post144+x_20^0 == 0 /\ -x_16^post144+x_16^0 == 0 /\ -i_108^post144+i_108^0 == 0 /\ -a_330^post144+a_330^0 == 0 /\ r_124^0-r_124^post144 == 0 /\ len_276^0-len_276^post144 == 0 /\ head_32^0-head_32^post144 == 0 /\ ct_17^0-ct_17^post144 == 0 /\ -head_14^post144+head_14^0 == 0 /\ -result_11^post144+result_11^0 == 0 /\ -f_170^post144+f_170^0 == 0 /\ -r_260^post144+r_260^0 == 0 /\ temp_35^0-temp_35^post144 == 0 /\ r_39^0-r_39^post144 == 0 /\ t_23^0-t_23^post144 == 0 /\ a_241^0-a_241^post144 == 0 /\ -rcd_88^post144+rcd_88^0 == 0 /\ -nondet_12^post144+nondet_12^0 == 0 /\ -r_218^post144+r_218^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post144 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post144 == 0 /\ temp0_31^0-temp0_31^post144 == 0 /\ temp0_15^0-temp0_15^post144 == 0 /\ len_226^0-len_226^post144 == 0 /\ a_308^0-a_308^post144 == 0 /\ -a_116^post144+a_116^0 == 0 /\ -i_94^post144+i_94^0 == 0 /\ -head_129^post144+head_129^0 == 0 /\ head_175^0-head_175^post144 == 0), cost: 1 New rule: l87 -> l4 : TRUE, cost: 1 Applied preprocessing Original rule: l93 -> l34 : temp0_15^0'=temp0_15^post145, a_241^0'=a_241^post145, head_27^0'=head_27^post145, head_129^0'=head_129^post145, r_124^0'=r_124^post145, len_183^0'=len_183^post145, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post145, a_147^0'=a_147^post145, rcd_58^0'=rcd_58^post145, head_175^0'=head_175^post145, y_19^0'=y_19^post145, ct_17^0'=ct_17^post145, temp_35^0'=temp_35^post145, i_30^0'=i_30^post145, head_SLAM_f_26^0'=head_SLAM_f_26^post145, r_218^0'=r_218^post145, len_276^0'=len_276^post145, a_308^0'=a_308^post145, t_23^0'=t_23^post145, a_210^0'=a_210^post145, result_11^0'=result_11^post145, head_268^0'=head_268^post145, f_263^0'=f_263^post145, x_16^0'=x_16^post145, len_132^0'=len_132^post145, i_167^0'=i_167^post145, a_116^0'=a_116^post145, r_39^0'=r_39^post145, nondet_12^0'=nondet_12^post145, x_SLAM_f_18^0'=x_SLAM_f_18^post145, a_353^0'=a_353^post145, temp0_31^0'=temp0_31^post145, a_277^0'=a_277^post145, head_32^0'=head_32^post145, head_14^0'=head_14^post145, r_163^0'=r_163^post145, len_226^0'=len_226^post145, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post145, a_184^0'=a_184^post145, rcd_88^0'=rcd_88^post145, head_223^0'=head_223^post145, f_170^0'=f_170^post145, tmp_34^0'=tmp_34^post145, i_94^0'=i_94^post145, i_108^0'=i_108^post145, r_260^0'=r_260^post145, length_29^0'=length_29^post145, x_20^0'=x_20^post145, a_330^0'=a_330^post145, (-r_260^post145+r_260^0 == 0 /\ -i_108^post145+i_108^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post145+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp0_15^0-temp0_15^post145 == 0 /\ head_129^0-head_129^post145 == 0 /\ r_124^0-r_124^post145 == 0 /\ a_308^0-a_308^post145 == 0 /\ result_11^0-result_11^post145 == 0 /\ head_175^0-head_175^post145 == 0 /\ a_184^0-a_184^post145 == 0 /\ len_132^0-len_132^post145 == 0 /\ a_241^0-a_241^post145 == 0 /\ -i_167^post145+i_167^0 == 0 /\ f_170^0-f_170^post145 == 0 /\ -head_14^post145+head_14^0 == 0 /\ r_39^0-r_39^post145 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post145 == 0 /\ -tmp_34^post145+tmp_34^0 == 0 /\ -head_268^post145+head_268^0 == 0 /\ -length_29^post145+length_29^0 == 0 /\ -i_94^post145+i_94^0 == 0 /\ -a_353^post145+a_353^0 == 0 /\ t_23^0-t_23^post145 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post145 == 0 /\ y_19^0-y_19^post145 == 0 /\ -r_163^post145+r_163^0 == 0 /\ len_226^0-len_226^post145 == 0 /\ -head_SLAM_f_26^post145+head_SLAM_f_26^0 == 0 /\ i_30^0-i_30^post145 == 0 /\ -f_263^post145+f_263^0 == 0 /\ -head_223^post145+head_223^0 == 0 /\ -temp0_31^post145+temp0_31^0 == 0 /\ -rcd_88^post145+rcd_88^0 == 0 /\ -a_277^post145+a_277^0 == 0 /\ head_32^0-head_32^post145 == 0 /\ r_218^0-r_218^post145 == 0 /\ -x_20^post145+x_20^0 == 0 /\ -a_210^post145+a_210^0 == 0 /\ -nondet_12^post145+nondet_12^0 == 0 /\ -x_16^post145+x_16^0 == 0 /\ -len_276^post145+len_276^0 == 0 /\ -len_183^post145+len_183^0 == 0 /\ ct_17^0-ct_17^post145 == 0 /\ -a_330^post145+a_330^0 == 0 /\ temp_35^0-temp_35^post145 == 0 /\ a_116^0-a_116^post145 == 0 /\ a_147^0-a_147^post145 == 0 /\ -rcd_58^post145+rcd_58^0 == 0 /\ head_27^0-head_27^post145 == 0), cost: 1 New rule: l93 -> l34 : TRUE, cost: 1 Simplified rules Start location: l93 158: l1 -> l28 : ct_17^0'=ct_17^post41, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, len_226^0 >= 0, cost: 1 192: l4 -> l85 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=0, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=head_14^0, x_SLAM_f_18^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post131, x_20^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0), cost: 1 196: l4 -> l88 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ len_226^0 >= 0), cost: 1 146: l10 -> l13 : ct_17^0'=ct_17^post14, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0 >= 0, cost: 1 147: l13 -> l14 : 1+y_19^0-x_20^0 <= 0, cost: 1 148: l13 -> l14 : 1-y_19^0+x_20^0 <= 0, cost: 1 149: l14 -> l15 : t_23^0'=x_20^0, a_353^0'=-1+a_330^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0), cost: 1 150: l15 -> l16 : -1+head_14^0 >= 0, cost: 1 151: l15 -> l16 : 1+head_14^0 <= 0, cost: 1 152: l16 -> l17 : 1-y_19^0+head_14^0 <= 0, cost: 1 153: l16 -> l17 : 1+y_19^0-head_14^0 <= 0, cost: 1 154: l17 -> l18 : 1+y_19^0-t_23^0 <= 0, cost: 1 155: l17 -> l18 : 1-y_19^0+t_23^0 <= 0, cost: 1 156: l18 -> l12 : a_330^0'=a_353^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 157: l12 -> l10 : TRUE, cost: 1 159: l28 -> l29 : 1+y_19^0-x_20^0 <= 0, cost: 1 160: l28 -> l29 : 1-y_19^0+x_20^0 <= 0, cost: 1 161: l29 -> l30 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ head_14^0-x_20^0 == 0), cost: 1 162: l30 -> l31 : -1+head_14^0 >= 0, cost: 1 163: l30 -> l31 : 1+head_14^0 <= 0, cost: 1 164: l31 -> l32 : 1-y_19^0+head_14^0 <= 0, cost: 1 165: l31 -> l32 : 1+y_19^0-head_14^0 <= 0, cost: 1 166: l32 -> l33 : 1+y_19^0-t_23^0 <= 0, cost: 1 167: l32 -> l33 : 1-y_19^0+t_23^0 <= 0, cost: 1 168: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 169: l34 -> l35 : i_30^0'=0, nondet_12^0'=nondet_12^post52, head_32^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, length_29^0'=nondet_12^10, 0 == 0, cost: 1 191: l35 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, temp_35^0'=temp_35^post130, i_30^0'=1, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, tmp_34^0'=temp_35^0, (i_30^0 == 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1 170: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 1 174: l36 -> l40 : head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, f_170^0'=f_170^post57, (a_147^0 >= 0 /\ len_132^0 >= 0), cost: 1 171: l37 -> l38 : -1+head_14^0 >= 0, cost: 1 172: l37 -> l38 : 1+head_14^0 <= 0, cost: 1 173: l38 -> l4 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 175: l40 -> l41 : -1+head_27^0 >= 0, cost: 1 176: l40 -> l41 : 1+head_27^0 <= 0, cost: 1 177: l41 -> l42 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (-head_27^0+f_170^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 178: l42 -> l43 : -1+head_14^0 >= 0, cost: 1 179: l42 -> l43 : 1+head_14^0 <= 0, cost: 1 180: l43 -> l44 : -1+head_175^0 >= 0, cost: 1 181: l43 -> l44 : 1+head_175^0 <= 0, cost: 1 182: l44 -> l39 : a_147^0'=a_184^0, len_132^0'=len_183^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 183: l39 -> l36 : TRUE, cost: 1 184: l62 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post122, i_30^0'=2, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, tmp_34^0'=temp_35^0, (-1+i_30^0 == 0 /\ -2+length_29^0 >= 0), cost: 1 185: l81 -> l82 : head_27^0'=head_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post123, i_167^0'=i_167^post123, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0 /\ len_132^0 == 0), cost: 1 189: l81 -> l84 : temp_35^0'=temp_35^post127, i_30^0'=1+i_30^0, head_32^0'=temp_35^0, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1 186: l82 -> l83 : -1+head_14^0 >= 0, cost: 1 187: l82 -> l83 : 1+head_14^0 <= 0, cost: 1 188: l83 -> l36 : (-i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 190: l84 -> l81 : TRUE, cost: 1 193: l85 -> l86 : -1+head_14^0 >= 0, cost: 1 194: l85 -> l86 : 1+head_14^0 <= 0, cost: 1 195: l86 -> l1 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 197: l88 -> l89 : -1+head_27^0 >= 0, cost: 1 198: l88 -> l89 : 1+head_27^0 <= 0, cost: 1 199: l89 -> l90 : len_276^0'=1+len_226^0, a_277^0'=-1+a_241^0, (head_27^0-f_263^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 200: l90 -> l91 : -1+head_14^0 >= 0, cost: 1 201: l90 -> l91 : 1+head_14^0 <= 0, cost: 1 202: l91 -> l92 : -1+head_268^0 >= 0, cost: 1 203: l91 -> l92 : 1+head_268^0 <= 0, cost: 1 204: 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: 1 205: l87 -> l4 : TRUE, cost: 1 206: l93 -> l34 : TRUE, cost: 1 Eliminating location l34 by chaining: Applied chaining First rule: l93 -> l34 : TRUE, cost: 1 Second rule: l34 -> l35 : i_30^0'=0, nondet_12^0'=nondet_12^post52, head_32^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, length_29^0'=nondet_12^10, 0 == 0, cost: 1 New rule: l93 -> l35 : i_30^0'=0, nondet_12^0'=nondet_12^post52, head_32^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, length_29^0'=nondet_12^10, 0 == 0, cost: 2 Applied deletion Removed the following rules: 169 206 Eliminating location l35 by chaining: Applied chaining First rule: l93 -> l35 : i_30^0'=0, nondet_12^0'=nondet_12^post52, head_32^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, length_29^0'=nondet_12^10, 0 == 0, cost: 2 Second rule: l35 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, temp_35^0'=temp_35^post130, i_30^0'=1, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, tmp_34^0'=temp_35^0, (i_30^0 == 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1 New rule: l93 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, temp_35^0'=temp_35^post130, i_30^0'=1, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_34^0'=temp_35^0, length_29^0'=nondet_12^10, (0 == 0 /\ 1-nondet_12^10 <= 0), cost: 3 Applied simplification Original rule: l93 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, temp_35^0'=temp_35^post130, i_30^0'=1, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_34^0'=temp_35^0, length_29^0'=nondet_12^10, (0 == 0 /\ 1-nondet_12^10 <= 0), cost: 3 New rule: l93 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, temp_35^0'=temp_35^post130, i_30^0'=1, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_34^0'=temp_35^0, length_29^0'=nondet_12^10, -1+nondet_12^10 >= 0, cost: 3 Applied deletion Removed the following rules: 191 207 Eliminating location l62 by chaining: Applied chaining First rule: l93 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, temp_35^0'=temp_35^post130, i_30^0'=1, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_34^0'=temp_35^0, length_29^0'=nondet_12^10, -1+nondet_12^10 >= 0, cost: 3 Second rule: l62 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post122, i_30^0'=2, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, tmp_34^0'=temp_35^0, (-1+i_30^0 == 0 /\ -2+length_29^0 >= 0), cost: 1 New rule: l93 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post130, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post122, i_30^0'=2, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_34^0'=temp_35^post130, length_29^0'=nondet_12^10, (0 == 0 /\ -2+nondet_12^10 >= 0 /\ -1+nondet_12^10 >= 0), cost: 4 Applied simplification Original rule: l93 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post130, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post122, i_30^0'=2, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_34^0'=temp_35^post130, length_29^0'=nondet_12^10, (0 == 0 /\ -2+nondet_12^10 >= 0 /\ -1+nondet_12^10 >= 0), cost: 4 New rule: l93 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post130, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post122, i_30^0'=2, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_34^0'=temp_35^post130, length_29^0'=nondet_12^10, -2+nondet_12^10 >= 0, cost: 4 Applied deletion Removed the following rules: 184 208 Eliminating location l84 by chaining: Applied chaining First rule: l81 -> l84 : temp_35^0'=temp_35^post127, i_30^0'=1+i_30^0, head_32^0'=temp_35^0, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1 Second rule: l84 -> l81 : TRUE, cost: 1 New rule: l81 -> l81 : temp_35^0'=temp_35^post127, i_30^0'=1+i_30^0, head_32^0'=temp_35^0, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 2 Applied deletion Removed the following rules: 189 190 Eliminating location l1 by chaining: Applied chaining First rule: l86 -> l1 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 Second rule: l1 -> l28 : ct_17^0'=ct_17^post41, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, len_226^0 >= 0, cost: 1 New rule: l86 -> l28 : ct_17^0'=ct_17^post41, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_226^0 >= 0), cost: 2 Applied deletion Removed the following rules: 158 195 Eliminating location l12 by chaining: Applied chaining First rule: l18 -> l12 : a_330^0'=a_353^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 Second rule: l12 -> l10 : TRUE, cost: 1 New rule: l18 -> l10 : a_330^0'=a_353^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 Applied deletion Removed the following rules: 156 157 Eliminating location l87 by chaining: Applied chaining First 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 Second rule: l87 -> l4 : TRUE, cost: 1 New rule: l92 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 Applied deletion Removed the following rules: 204 205 Eliminating location l39 by chaining: Applied chaining First rule: l44 -> l39 : a_147^0'=a_184^0, len_132^0'=len_183^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 Second rule: l39 -> l36 : TRUE, cost: 1 New rule: l44 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 Applied deletion Removed the following rules: 182 183 Eliminated locations on linear paths Start location: l93 192: l4 -> l85 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=0, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=head_14^0, x_SLAM_f_18^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post131, x_20^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0), cost: 1 196: l4 -> l88 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ len_226^0 >= 0), cost: 1 146: l10 -> l13 : ct_17^0'=ct_17^post14, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0 >= 0, cost: 1 147: l13 -> l14 : 1+y_19^0-x_20^0 <= 0, cost: 1 148: l13 -> l14 : 1-y_19^0+x_20^0 <= 0, cost: 1 149: l14 -> l15 : t_23^0'=x_20^0, a_353^0'=-1+a_330^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0), cost: 1 150: l15 -> l16 : -1+head_14^0 >= 0, cost: 1 151: l15 -> l16 : 1+head_14^0 <= 0, cost: 1 152: l16 -> l17 : 1-y_19^0+head_14^0 <= 0, cost: 1 153: l16 -> l17 : 1+y_19^0-head_14^0 <= 0, cost: 1 154: l17 -> l18 : 1+y_19^0-t_23^0 <= 0, cost: 1 155: l17 -> l18 : 1-y_19^0+t_23^0 <= 0, cost: 1 212: l18 -> l10 : a_330^0'=a_353^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 159: l28 -> l29 : 1+y_19^0-x_20^0 <= 0, cost: 1 160: l28 -> l29 : 1-y_19^0+x_20^0 <= 0, cost: 1 161: l29 -> l30 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ head_14^0-x_20^0 == 0), cost: 1 162: l30 -> l31 : -1+head_14^0 >= 0, cost: 1 163: l30 -> l31 : 1+head_14^0 <= 0, cost: 1 164: l31 -> l32 : 1-y_19^0+head_14^0 <= 0, cost: 1 165: l31 -> l32 : 1+y_19^0-head_14^0 <= 0, cost: 1 166: l32 -> l33 : 1+y_19^0-t_23^0 <= 0, cost: 1 167: l32 -> l33 : 1-y_19^0+t_23^0 <= 0, cost: 1 168: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 170: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 1 174: l36 -> l40 : head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, f_170^0'=f_170^post57, (a_147^0 >= 0 /\ len_132^0 >= 0), cost: 1 171: l37 -> l38 : -1+head_14^0 >= 0, cost: 1 172: l37 -> l38 : 1+head_14^0 <= 0, cost: 1 173: l38 -> l4 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 175: l40 -> l41 : -1+head_27^0 >= 0, cost: 1 176: l40 -> l41 : 1+head_27^0 <= 0, cost: 1 177: l41 -> l42 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (-head_27^0+f_170^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 178: l42 -> l43 : -1+head_14^0 >= 0, cost: 1 179: l42 -> l43 : 1+head_14^0 <= 0, cost: 1 180: l43 -> l44 : -1+head_175^0 >= 0, cost: 1 181: l43 -> l44 : 1+head_175^0 <= 0, cost: 1 214: l44 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 185: l81 -> l82 : head_27^0'=head_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post123, i_167^0'=i_167^post123, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0 /\ len_132^0 == 0), cost: 1 210: l81 -> l81 : temp_35^0'=temp_35^post127, i_30^0'=1+i_30^0, head_32^0'=temp_35^0, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 2 186: l82 -> l83 : -1+head_14^0 >= 0, cost: 1 187: l82 -> l83 : 1+head_14^0 <= 0, cost: 1 188: l83 -> l36 : (-i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 193: l85 -> l86 : -1+head_14^0 >= 0, cost: 1 194: l85 -> l86 : 1+head_14^0 <= 0, cost: 1 211: l86 -> l28 : ct_17^0'=ct_17^post41, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_226^0 >= 0), cost: 2 197: l88 -> l89 : -1+head_27^0 >= 0, cost: 1 198: l88 -> l89 : 1+head_27^0 <= 0, cost: 1 199: l89 -> l90 : len_276^0'=1+len_226^0, a_277^0'=-1+a_241^0, (head_27^0-f_263^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 200: l90 -> l91 : -1+head_14^0 >= 0, cost: 1 201: l90 -> l91 : 1+head_14^0 <= 0, cost: 1 202: l91 -> l92 : -1+head_268^0 >= 0, cost: 1 203: l91 -> l92 : 1+head_268^0 <= 0, cost: 1 213: l92 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 209: l93 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post130, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post122, i_30^0'=2, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_34^0'=temp_35^post130, length_29^0'=nondet_12^10, -2+nondet_12^10 >= 0, cost: 4 Applied acceleration Original rule: l81 -> l81 : temp_35^0'=temp_35^post127, i_30^0'=1+i_30^0, head_32^0'=temp_35^0, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 2 New rule: l81 -> l81 : temp_35^0'=temp_35^post127, i_30^0'=i_30^0+n, head_32^0'=temp_35^post127, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^post127, i_94^0'=-1+i_30^0+n, (-i_30^0-n+length_29^0 >= 0 /\ i_30^0 >= 0 /\ -2+n >= 0), cost: 2*n Sub-proof via acceration calculus written to file:///tmp/tmpnam_HCckPD.txt Applied instantiation Original rule: l81 -> l81 : temp_35^0'=temp_35^post127, i_30^0'=i_30^0+n, head_32^0'=temp_35^post127, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^post127, i_94^0'=-1+i_30^0+n, (-i_30^0-n+length_29^0 >= 0 /\ i_30^0 >= 0 /\ -2+n >= 0), cost: 2*n New rule: l81 -> l81 : temp_35^0'=temp_35^post127, i_30^0'=length_29^0, head_32^0'=temp_35^post127, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^post127, i_94^0'=-1+length_29^0, (0 >= 0 /\ -2-i_30^0+length_29^0 >= 0 /\ i_30^0 >= 0), cost: -2*i_30^0+2*length_29^0 Applied simplification Original rule: l81 -> l81 : temp_35^0'=temp_35^post127, i_30^0'=length_29^0, head_32^0'=temp_35^post127, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^post127, i_94^0'=-1+length_29^0, (0 >= 0 /\ -2-i_30^0+length_29^0 >= 0 /\ i_30^0 >= 0), cost: -2*i_30^0+2*length_29^0 New rule: l81 -> l81 : temp_35^0'=temp_35^post127, i_30^0'=length_29^0, head_32^0'=temp_35^post127, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^post127, i_94^0'=-1+length_29^0, (-2-i_30^0+length_29^0 >= 0 /\ i_30^0 >= 0), cost: -2*i_30^0+2*length_29^0 Accelerated simple loops Start location: l93 192: l4 -> l85 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=0, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=head_14^0, x_SLAM_f_18^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post131, x_20^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0), cost: 1 196: l4 -> l88 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ len_226^0 >= 0), cost: 1 146: l10 -> l13 : ct_17^0'=ct_17^post14, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0 >= 0, cost: 1 147: l13 -> l14 : 1+y_19^0-x_20^0 <= 0, cost: 1 148: l13 -> l14 : 1-y_19^0+x_20^0 <= 0, cost: 1 149: l14 -> l15 : t_23^0'=x_20^0, a_353^0'=-1+a_330^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0), cost: 1 150: l15 -> l16 : -1+head_14^0 >= 0, cost: 1 151: l15 -> l16 : 1+head_14^0 <= 0, cost: 1 152: l16 -> l17 : 1-y_19^0+head_14^0 <= 0, cost: 1 153: l16 -> l17 : 1+y_19^0-head_14^0 <= 0, cost: 1 154: l17 -> l18 : 1+y_19^0-t_23^0 <= 0, cost: 1 155: l17 -> l18 : 1-y_19^0+t_23^0 <= 0, cost: 1 212: l18 -> l10 : a_330^0'=a_353^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 159: l28 -> l29 : 1+y_19^0-x_20^0 <= 0, cost: 1 160: l28 -> l29 : 1-y_19^0+x_20^0 <= 0, cost: 1 161: l29 -> l30 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ head_14^0-x_20^0 == 0), cost: 1 162: l30 -> l31 : -1+head_14^0 >= 0, cost: 1 163: l30 -> l31 : 1+head_14^0 <= 0, cost: 1 164: l31 -> l32 : 1-y_19^0+head_14^0 <= 0, cost: 1 165: l31 -> l32 : 1+y_19^0-head_14^0 <= 0, cost: 1 166: l32 -> l33 : 1+y_19^0-t_23^0 <= 0, cost: 1 167: l32 -> l33 : 1-y_19^0+t_23^0 <= 0, cost: 1 168: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 170: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 1 174: l36 -> l40 : head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, f_170^0'=f_170^post57, (a_147^0 >= 0 /\ len_132^0 >= 0), cost: 1 171: l37 -> l38 : -1+head_14^0 >= 0, cost: 1 172: l37 -> l38 : 1+head_14^0 <= 0, cost: 1 173: l38 -> l4 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 175: l40 -> l41 : -1+head_27^0 >= 0, cost: 1 176: l40 -> l41 : 1+head_27^0 <= 0, cost: 1 177: l41 -> l42 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (-head_27^0+f_170^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 178: l42 -> l43 : -1+head_14^0 >= 0, cost: 1 179: l42 -> l43 : 1+head_14^0 <= 0, cost: 1 180: l43 -> l44 : -1+head_175^0 >= 0, cost: 1 181: l43 -> l44 : 1+head_175^0 <= 0, cost: 1 214: l44 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 185: l81 -> l82 : head_27^0'=head_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post123, i_167^0'=i_167^post123, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0 /\ len_132^0 == 0), cost: 1 210: l81 -> l81 : temp_35^0'=temp_35^post127, i_30^0'=1+i_30^0, head_32^0'=temp_35^0, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 2 216: l81 -> l81 : temp_35^0'=temp_35^post127, i_30^0'=length_29^0, head_32^0'=temp_35^post127, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^post127, i_94^0'=-1+length_29^0, (-2-i_30^0+length_29^0 >= 0 /\ i_30^0 >= 0), cost: -2*i_30^0+2*length_29^0 186: l82 -> l83 : -1+head_14^0 >= 0, cost: 1 187: l82 -> l83 : 1+head_14^0 <= 0, cost: 1 188: l83 -> l36 : (-i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 193: l85 -> l86 : -1+head_14^0 >= 0, cost: 1 194: l85 -> l86 : 1+head_14^0 <= 0, cost: 1 211: l86 -> l28 : ct_17^0'=ct_17^post41, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_226^0 >= 0), cost: 2 197: l88 -> l89 : -1+head_27^0 >= 0, cost: 1 198: l88 -> l89 : 1+head_27^0 <= 0, cost: 1 199: l89 -> l90 : len_276^0'=1+len_226^0, a_277^0'=-1+a_241^0, (head_27^0-f_263^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 200: l90 -> l91 : -1+head_14^0 >= 0, cost: 1 201: l90 -> l91 : 1+head_14^0 <= 0, cost: 1 202: l91 -> l92 : -1+head_268^0 >= 0, cost: 1 203: l91 -> l92 : 1+head_268^0 <= 0, cost: 1 213: l92 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 209: l93 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post130, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post122, i_30^0'=2, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_34^0'=temp_35^post130, length_29^0'=nondet_12^10, -2+nondet_12^10 >= 0, cost: 4 Applied chaining First rule: l93 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post130, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post122, i_30^0'=2, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_34^0'=temp_35^post130, length_29^0'=nondet_12^10, -2+nondet_12^10 >= 0, cost: 4 Second rule: l81 -> l81 : temp_35^0'=temp_35^post127, i_30^0'=1+i_30^0, head_32^0'=temp_35^0, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 2 New rule: l93 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post130, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post127, i_30^0'=3, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^post122, i_94^0'=2, length_29^0'=nondet_12^10, -3+nondet_12^10 >= 0, cost: 6 Applied chaining First rule: l93 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post130, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post122, i_30^0'=2, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_34^0'=temp_35^post130, length_29^0'=nondet_12^10, -2+nondet_12^10 >= 0, cost: 4 Second rule: l81 -> l81 : temp_35^0'=temp_35^post127, i_30^0'=length_29^0, head_32^0'=temp_35^post127, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^post127, i_94^0'=-1+length_29^0, (-2-i_30^0+length_29^0 >= 0 /\ i_30^0 >= 0), cost: -2*i_30^0+2*length_29^0 New rule: l93 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post130, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post127, i_30^0'=nondet_12^10, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^post127, i_94^0'=-1+nondet_12^10, length_29^0'=nondet_12^10, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10 Applied deletion Removed the following rules: 210 216 Chained accelerated rules with incoming rules Start location: l93 192: l4 -> l85 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=0, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=head_14^0, x_SLAM_f_18^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post131, x_20^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0), cost: 1 196: l4 -> l88 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ len_226^0 >= 0), cost: 1 146: l10 -> l13 : ct_17^0'=ct_17^post14, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0 >= 0, cost: 1 147: l13 -> l14 : 1+y_19^0-x_20^0 <= 0, cost: 1 148: l13 -> l14 : 1-y_19^0+x_20^0 <= 0, cost: 1 149: l14 -> l15 : t_23^0'=x_20^0, a_353^0'=-1+a_330^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0), cost: 1 150: l15 -> l16 : -1+head_14^0 >= 0, cost: 1 151: l15 -> l16 : 1+head_14^0 <= 0, cost: 1 152: l16 -> l17 : 1-y_19^0+head_14^0 <= 0, cost: 1 153: l16 -> l17 : 1+y_19^0-head_14^0 <= 0, cost: 1 154: l17 -> l18 : 1+y_19^0-t_23^0 <= 0, cost: 1 155: l17 -> l18 : 1-y_19^0+t_23^0 <= 0, cost: 1 212: l18 -> l10 : a_330^0'=a_353^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 159: l28 -> l29 : 1+y_19^0-x_20^0 <= 0, cost: 1 160: l28 -> l29 : 1-y_19^0+x_20^0 <= 0, cost: 1 161: l29 -> l30 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ head_14^0-x_20^0 == 0), cost: 1 162: l30 -> l31 : -1+head_14^0 >= 0, cost: 1 163: l30 -> l31 : 1+head_14^0 <= 0, cost: 1 164: l31 -> l32 : 1-y_19^0+head_14^0 <= 0, cost: 1 165: l31 -> l32 : 1+y_19^0-head_14^0 <= 0, cost: 1 166: l32 -> l33 : 1+y_19^0-t_23^0 <= 0, cost: 1 167: l32 -> l33 : 1-y_19^0+t_23^0 <= 0, cost: 1 168: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 170: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 1 174: l36 -> l40 : head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, f_170^0'=f_170^post57, (a_147^0 >= 0 /\ len_132^0 >= 0), cost: 1 171: l37 -> l38 : -1+head_14^0 >= 0, cost: 1 172: l37 -> l38 : 1+head_14^0 <= 0, cost: 1 173: l38 -> l4 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 175: l40 -> l41 : -1+head_27^0 >= 0, cost: 1 176: l40 -> l41 : 1+head_27^0 <= 0, cost: 1 177: l41 -> l42 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (-head_27^0+f_170^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 178: l42 -> l43 : -1+head_14^0 >= 0, cost: 1 179: l42 -> l43 : 1+head_14^0 <= 0, cost: 1 180: l43 -> l44 : -1+head_175^0 >= 0, cost: 1 181: l43 -> l44 : 1+head_175^0 <= 0, cost: 1 214: l44 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 185: l81 -> l82 : head_27^0'=head_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post123, i_167^0'=i_167^post123, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0 /\ len_132^0 == 0), cost: 1 186: l82 -> l83 : -1+head_14^0 >= 0, cost: 1 187: l82 -> l83 : 1+head_14^0 <= 0, cost: 1 188: l83 -> l36 : (-i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 193: l85 -> l86 : -1+head_14^0 >= 0, cost: 1 194: l85 -> l86 : 1+head_14^0 <= 0, cost: 1 211: l86 -> l28 : ct_17^0'=ct_17^post41, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_226^0 >= 0), cost: 2 197: l88 -> l89 : -1+head_27^0 >= 0, cost: 1 198: l88 -> l89 : 1+head_27^0 <= 0, cost: 1 199: l89 -> l90 : len_276^0'=1+len_226^0, a_277^0'=-1+a_241^0, (head_27^0-f_263^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 200: l90 -> l91 : -1+head_14^0 >= 0, cost: 1 201: l90 -> l91 : 1+head_14^0 <= 0, cost: 1 202: l91 -> l92 : -1+head_268^0 >= 0, cost: 1 203: l91 -> l92 : 1+head_268^0 <= 0, cost: 1 213: l92 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 209: l93 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post130, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post122, i_30^0'=2, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_34^0'=temp_35^post130, length_29^0'=nondet_12^10, -2+nondet_12^10 >= 0, cost: 4 217: l93 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post130, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post127, i_30^0'=3, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^post122, i_94^0'=2, length_29^0'=nondet_12^10, -3+nondet_12^10 >= 0, cost: 6 218: l93 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post130, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post127, i_30^0'=nondet_12^10, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^post127, i_94^0'=-1+nondet_12^10, length_29^0'=nondet_12^10, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10 Eliminating location l81 by chaining: Applied chaining First rule: l93 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post130, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post122, i_30^0'=2, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_34^0'=temp_35^post130, length_29^0'=nondet_12^10, -2+nondet_12^10 >= 0, cost: 4 Second rule: l81 -> l82 : head_27^0'=head_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post123, i_167^0'=i_167^post123, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0 /\ len_132^0 == 0), cost: 1 New rule: l93 -> l82 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2 <= 0 /\ len_132^0 == 0), cost: 5 Applied simplification Original rule: l93 -> l82 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2 <= 0 /\ len_132^0 == 0), cost: 5 New rule: l93 -> l82 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 5 Applied chaining First rule: l93 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post130, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post127, i_30^0'=3, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^post122, i_94^0'=2, length_29^0'=nondet_12^10, -3+nondet_12^10 >= 0, cost: 6 Second rule: l81 -> l82 : head_27^0'=head_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post123, i_167^0'=i_167^post123, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0 /\ len_132^0 == 0), cost: 1 New rule: l93 -> l82 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-3 <= 0 /\ -3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 7 Applied simplification Original rule: l93 -> l82 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-3 <= 0 /\ -3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 7 New rule: l93 -> l82 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 7 Applied chaining First rule: l93 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post130, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post127, i_30^0'=nondet_12^10, nondet_12^0'=nondet_12^post52, head_32^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_88^0'=rcd_88^post127, tmp_34^0'=temp_35^post127, i_94^0'=-1+nondet_12^10, length_29^0'=nondet_12^10, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10 Second rule: l81 -> l82 : head_27^0'=head_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post123, i_167^0'=i_167^post123, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0 /\ len_132^0 == 0), cost: 1 New rule: l93 -> l82 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (0 <= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -nondet_12^10 <= 0), cost: 1+2*nondet_12^10 Applied simplification Original rule: l93 -> l82 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (0 <= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -nondet_12^10 <= 0), cost: 1+2*nondet_12^10 New rule: l93 -> l82 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (-4+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 1+2*nondet_12^10 Applied deletion Removed the following rules: 185 209 217 218 Eliminating location l83 by chaining: Applied chaining First rule: l82 -> l83 : -1+head_14^0 >= 0, cost: 1 Second rule: l83 -> l36 : (-i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 New rule: l82 -> l36 : (-i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+head_14^0 >= 0), cost: 2 Applied chaining First rule: l82 -> l83 : 1+head_14^0 <= 0, cost: 1 Second rule: l83 -> l36 : (-i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 New rule: l82 -> l36 : (1+head_14^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 Applied deletion Removed the following rules: 186 187 188 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 1 Second rule: l37 -> l38 : -1+head_14^0 >= 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 2 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 1 Second rule: l37 -> l38 : 1+head_14^0 <= 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 2 Applied deletion Removed the following rules: 170 171 172 Eliminating location l40 by chaining: Applied chaining First rule: l36 -> l40 : head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, f_170^0'=f_170^post57, (a_147^0 >= 0 /\ len_132^0 >= 0), cost: 1 Second rule: l40 -> l41 : -1+head_27^0 >= 0, cost: 1 New rule: l36 -> l41 : head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, f_170^0'=f_170^post57, (a_147^0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0), cost: 2 Applied chaining First rule: l36 -> l40 : head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, f_170^0'=f_170^post57, (a_147^0 >= 0 /\ len_132^0 >= 0), cost: 1 Second rule: l40 -> l41 : 1+head_27^0 <= 0, cost: 1 New rule: l36 -> l41 : head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0), cost: 2 Applied deletion Removed the following rules: 174 175 176 Eliminating location l85 by chaining: Applied chaining First rule: l4 -> l85 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=0, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=head_14^0, x_SLAM_f_18^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post131, x_20^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0), cost: 1 Second rule: l85 -> l86 : -1+head_14^0 >= 0, cost: 1 New rule: l4 -> l86 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=0, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=head_14^0, x_SLAM_f_18^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post131, x_20^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ len_226^0 >= 0), cost: 2 Applied chaining First rule: l4 -> l85 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=0, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=head_14^0, x_SLAM_f_18^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post131, x_20^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0), cost: 1 Second rule: l85 -> l86 : 1+head_14^0 <= 0, cost: 1 New rule: l4 -> l86 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=0, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=head_14^0, x_SLAM_f_18^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post131, x_20^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ len_226^0 >= 0), cost: 2 Applied deletion Removed the following rules: 192 193 194 Eliminating location l88 by chaining: Applied chaining First rule: l4 -> l88 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ len_226^0 >= 0), cost: 1 Second rule: l88 -> l89 : -1+head_27^0 >= 0, cost: 1 New rule: l4 -> l89 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 2 Applied chaining First rule: l4 -> l88 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ len_226^0 >= 0), cost: 1 Second rule: l88 -> l89 : 1+head_27^0 <= 0, cost: 1 New rule: l4 -> l89 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ len_226^0 >= 0), cost: 2 Applied deletion Removed the following rules: 196 197 198 Eliminating location l28 by chaining: Applied chaining First rule: l86 -> l28 : ct_17^0'=ct_17^post41, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_226^0 >= 0), cost: 2 Second rule: l28 -> l29 : 1+y_19^0-x_20^0 <= 0, cost: 1 New rule: l86 -> l29 : ct_17^0'=ct_17^post41, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ len_226^0 >= 0), cost: 3 Applied chaining First rule: l86 -> l28 : ct_17^0'=ct_17^post41, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_226^0 >= 0), cost: 2 Second rule: l28 -> l29 : 1-y_19^0+x_20^0 <= 0, cost: 1 New rule: l86 -> l29 : ct_17^0'=ct_17^post41, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_226^0 >= 0 /\ 1-y_19^0+x_20^0 <= 0), cost: 3 Applied deletion Removed the following rules: 159 160 211 Eliminating location l30 by chaining: Applied chaining First rule: l29 -> l30 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ head_14^0-x_20^0 == 0), cost: 1 Second rule: l30 -> l31 : -1+head_14^0 >= 0, cost: 1 New rule: l29 -> l31 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ -1+head_14^0 >= 0 /\ head_14^0-x_20^0 == 0), cost: 2 Applied chaining First rule: l29 -> l30 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ head_14^0-x_20^0 == 0), cost: 1 Second rule: l30 -> l31 : 1+head_14^0 <= 0, cost: 1 New rule: l29 -> l31 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ 1+head_14^0 <= 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ head_14^0-x_20^0 == 0), cost: 2 Applied deletion Removed the following rules: 161 162 163 Eliminating location l32 by chaining: Applied chaining First rule: l31 -> l32 : 1-y_19^0+head_14^0 <= 0, cost: 1 Second rule: l32 -> l33 : 1+y_19^0-t_23^0 <= 0, cost: 1 New rule: l31 -> l33 : (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 Applied chaining First rule: l31 -> l32 : 1-y_19^0+head_14^0 <= 0, cost: 1 Second rule: l32 -> l33 : 1-y_19^0+t_23^0 <= 0, cost: 1 New rule: l31 -> l33 : (1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 Applied chaining First rule: l31 -> l32 : 1+y_19^0-head_14^0 <= 0, cost: 1 Second rule: l32 -> l33 : 1+y_19^0-t_23^0 <= 0, cost: 1 New rule: l31 -> l33 : (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 Applied chaining First rule: l31 -> l32 : 1+y_19^0-head_14^0 <= 0, cost: 1 Second rule: l32 -> l33 : 1-y_19^0+t_23^0 <= 0, cost: 1 New rule: l31 -> l33 : (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 Applied deletion Removed the following rules: 164 165 166 167 Eliminating location l13 by chaining: Applied chaining First rule: l10 -> l13 : ct_17^0'=ct_17^post14, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0 >= 0, cost: 1 Second rule: l13 -> l14 : 1+y_19^0-x_20^0 <= 0, cost: 1 New rule: l10 -> l14 : ct_17^0'=ct_17^post14, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (1+y_19^0-x_20^0 <= 0 /\ a_330^0 >= 0), cost: 2 Applied chaining First rule: l10 -> l13 : ct_17^0'=ct_17^post14, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0 >= 0, cost: 1 Second rule: l13 -> l14 : 1-y_19^0+x_20^0 <= 0, cost: 1 New rule: l10 -> l14 : ct_17^0'=ct_17^post14, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 2 Applied deletion Removed the following rules: 146 147 148 Eliminating location l15 by chaining: Applied chaining First rule: l14 -> l15 : t_23^0'=x_20^0, a_353^0'=-1+a_330^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0), cost: 1 Second rule: l15 -> l16 : -1+head_14^0 >= 0, cost: 1 New rule: l14 -> l16 : t_23^0'=x_20^0, a_353^0'=-1+a_330^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ -1+head_14^0 >= 0), cost: 2 Applied chaining First rule: l14 -> l15 : t_23^0'=x_20^0, a_353^0'=-1+a_330^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0), cost: 1 Second rule: l15 -> l16 : 1+head_14^0 <= 0, cost: 1 New rule: l14 -> l16 : t_23^0'=x_20^0, a_353^0'=-1+a_330^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ 1+head_14^0 <= 0 /\ x_SLAM_f_18^0-head_14^0 == 0), cost: 2 Applied deletion Removed the following rules: 149 150 151 Eliminating location l17 by chaining: Applied chaining First rule: l16 -> l17 : 1-y_19^0+head_14^0 <= 0, cost: 1 Second rule: l17 -> l18 : 1+y_19^0-t_23^0 <= 0, cost: 1 New rule: l16 -> l18 : (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 Applied chaining First rule: l16 -> l17 : 1-y_19^0+head_14^0 <= 0, cost: 1 Second rule: l17 -> l18 : 1-y_19^0+t_23^0 <= 0, cost: 1 New rule: l16 -> l18 : (1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 Applied chaining First rule: l16 -> l17 : 1+y_19^0-head_14^0 <= 0, cost: 1 Second rule: l17 -> l18 : 1+y_19^0-t_23^0 <= 0, cost: 1 New rule: l16 -> l18 : (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 Applied chaining First rule: l16 -> l17 : 1+y_19^0-head_14^0 <= 0, cost: 1 Second rule: l17 -> l18 : 1-y_19^0+t_23^0 <= 0, cost: 1 New rule: l16 -> l18 : (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 Applied deletion Removed the following rules: 152 153 154 155 Eliminating location l90 by chaining: Applied chaining First rule: l89 -> l90 : len_276^0'=1+len_226^0, a_277^0'=-1+a_241^0, (head_27^0-f_263^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 Second rule: l90 -> l91 : -1+head_14^0 >= 0, cost: 1 New rule: l89 -> l91 : len_276^0'=1+len_226^0, a_277^0'=-1+a_241^0, (head_27^0-f_263^0 == 0 /\ -1+head_14^0 >= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 Applied chaining First rule: l89 -> l90 : len_276^0'=1+len_226^0, a_277^0'=-1+a_241^0, (head_27^0-f_263^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 Second rule: l90 -> l91 : 1+head_14^0 <= 0, cost: 1 New rule: l89 -> l91 : len_276^0'=1+len_226^0, a_277^0'=-1+a_241^0, (head_27^0-f_263^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 Applied deletion Removed the following rules: 199 200 201 Eliminating location l92 by chaining: Applied chaining First rule: l91 -> l92 : -1+head_268^0 >= 0, cost: 1 Second rule: l92 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 New rule: l91 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, (-1+head_268^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 Applied chaining First rule: l91 -> l92 : 1+head_268^0 <= 0, cost: 1 Second rule: l92 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 New rule: l91 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_268^0 <= 0), cost: 3 Applied deletion Removed the following rules: 202 203 213 Eliminating location l42 by chaining: Applied chaining First rule: l41 -> l42 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (-head_27^0+f_170^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 Second rule: l42 -> l43 : -1+head_14^0 >= 0, cost: 1 New rule: l41 -> l43 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (-head_27^0+f_170^0 == 0 /\ -1+head_14^0 >= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 Applied chaining First rule: l41 -> l42 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (-head_27^0+f_170^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 Second rule: l42 -> l43 : 1+head_14^0 <= 0, cost: 1 New rule: l41 -> l43 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (-head_27^0+f_170^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 Applied deletion Removed the following rules: 177 178 179 Eliminating location l44 by chaining: Applied chaining First rule: l43 -> l44 : -1+head_175^0 >= 0, cost: 1 Second rule: l44 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 New rule: l43 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+head_175^0 >= 0), cost: 3 Applied chaining First rule: l43 -> l44 : 1+head_175^0 <= 0, cost: 1 Second rule: l44 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 New rule: l43 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, (1+head_175^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 Applied deletion Removed the following rules: 180 181 214 Eliminated locations on tree-shaped paths Start location: l93 228: l4 -> l86 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=0, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=head_14^0, x_SLAM_f_18^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post131, x_20^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ len_226^0 >= 0), cost: 2 229: l4 -> l86 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=0, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=head_14^0, x_SLAM_f_18^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post131, x_20^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ len_226^0 >= 0), cost: 2 230: l4 -> l89 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 2 231: l4 -> l89 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ len_226^0 >= 0), cost: 2 240: l10 -> l14 : ct_17^0'=ct_17^post14, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (1+y_19^0-x_20^0 <= 0 /\ a_330^0 >= 0), cost: 2 241: l10 -> l14 : ct_17^0'=ct_17^post14, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 2 242: l14 -> l16 : t_23^0'=x_20^0, a_353^0'=-1+a_330^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ -1+head_14^0 >= 0), cost: 2 243: l14 -> l16 : t_23^0'=x_20^0, a_353^0'=-1+a_330^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ 1+head_14^0 <= 0 /\ x_SLAM_f_18^0-head_14^0 == 0), cost: 2 244: l16 -> l18 : (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 245: l16 -> l18 : (1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 246: l16 -> l18 : (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 247: l16 -> l18 : (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 212: l18 -> l10 : a_330^0'=a_353^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 234: l29 -> l31 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ -1+head_14^0 >= 0 /\ head_14^0-x_20^0 == 0), cost: 2 235: l29 -> l31 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ 1+head_14^0 <= 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ head_14^0-x_20^0 == 0), cost: 2 236: l31 -> l33 : (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 237: l31 -> l33 : (1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 238: l31 -> l33 : (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 239: l31 -> l33 : (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 168: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 224: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 2 225: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 2 226: l36 -> l41 : head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, f_170^0'=f_170^post57, (a_147^0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0), cost: 2 227: l36 -> l41 : head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0), cost: 2 173: l38 -> l4 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 252: l41 -> l43 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (-head_27^0+f_170^0 == 0 /\ -1+head_14^0 >= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 253: l41 -> l43 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (-head_27^0+f_170^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 254: l43 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+head_175^0 >= 0), cost: 3 255: l43 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, (1+head_175^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 222: l82 -> l36 : (-i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+head_14^0 >= 0), cost: 2 223: l82 -> l36 : (1+head_14^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 232: l86 -> l29 : ct_17^0'=ct_17^post41, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ len_226^0 >= 0), cost: 3 233: l86 -> l29 : ct_17^0'=ct_17^post41, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_226^0 >= 0 /\ 1-y_19^0+x_20^0 <= 0), cost: 3 248: l89 -> l91 : len_276^0'=1+len_226^0, a_277^0'=-1+a_241^0, (head_27^0-f_263^0 == 0 /\ -1+head_14^0 >= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 249: l89 -> l91 : len_276^0'=1+len_226^0, a_277^0'=-1+a_241^0, (head_27^0-f_263^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 250: l91 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, (-1+head_268^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 251: l91 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_268^0 <= 0), cost: 3 219: l93 -> l82 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 5 220: l93 -> l82 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 7 221: l93 -> l82 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (-4+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 1+2*nondet_12^10 Eliminating location l82 by chaining: Applied chaining First rule: l93 -> l82 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 5 Second rule: l82 -> l36 : (-i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+head_14^0 >= 0), cost: 2 New rule: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -1+temp_35^post130 >= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 Applied chaining First rule: l93 -> l82 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 5 Second rule: l82 -> l36 : (1+head_14^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 New rule: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post130 <= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 Applied chaining First rule: l93 -> l82 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 7 Second rule: l82 -> l36 : (-i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+head_14^0 >= 0), cost: 2 New rule: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 Applied chaining First rule: l93 -> l82 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 7 Second rule: l82 -> l36 : (1+head_14^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 New rule: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ 1+temp_35^post122 <= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 Applied chaining First rule: l93 -> l82 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (-4+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 1+2*nondet_12^10 Second rule: l82 -> l36 : (-i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+head_14^0 >= 0), cost: 2 New rule: l93 -> l36 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (-4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -1+temp_35^post127 >= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 3+2*nondet_12^10 Applied chaining First rule: l93 -> l82 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (-4+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 1+2*nondet_12^10 Second rule: l82 -> l36 : (1+head_14^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 New rule: l93 -> l36 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (1+temp_35^post127 <= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 3+2*nondet_12^10 Applied deletion Removed the following rules: 219 220 221 222 223 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 Applied deletion Removed the following rules: 173 224 225 Eliminating location l41 by chaining: Applied chaining First rule: l36 -> l41 : head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, f_170^0'=f_170^post57, (a_147^0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0), cost: 2 Second rule: l41 -> l43 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (-head_27^0+f_170^0 == 0 /\ -1+head_14^0 >= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 New rule: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0), cost: 4 Applied chaining First rule: l36 -> l41 : head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, f_170^0'=f_170^post57, (a_147^0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0), cost: 2 Second rule: l41 -> l43 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (-head_27^0+f_170^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 New rule: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_14^post57 <= 0), cost: 4 Applied chaining First rule: l36 -> l41 : head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0), cost: 2 Second rule: l41 -> l43 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (-head_27^0+f_170^0 == 0 /\ -1+head_14^0 >= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 New rule: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0), cost: 4 Applied chaining First rule: l36 -> l41 : head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0), cost: 2 Second rule: l41 -> l43 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (-head_27^0+f_170^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 New rule: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ 1+head_14^post57 <= 0), cost: 4 Applied deletion Removed the following rules: 226 227 252 253 Eliminating location l86 by chaining: Applied chaining First rule: l4 -> l86 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=0, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=head_14^0, x_SLAM_f_18^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post131, x_20^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ len_226^0 >= 0), cost: 2 Second rule: l86 -> l29 : ct_17^0'=ct_17^post41, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ len_226^0 >= 0), cost: 3 New rule: l4 -> l29 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ 1-head_14^0 <= 0 /\ -1+head_14^0 >= 0 /\ len_226^0 >= 0), cost: 5 Applied simplification Original rule: l4 -> l29 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ 1-head_14^0 <= 0 /\ -1+head_14^0 >= 0 /\ len_226^0 >= 0), cost: 5 New rule: l4 -> l29 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ len_226^0 >= 0), cost: 5 Applied chaining First rule: l4 -> l86 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=0, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=head_14^0, x_SLAM_f_18^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post131, x_20^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ len_226^0 >= 0), cost: 2 Second rule: l86 -> l29 : ct_17^0'=ct_17^post41, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_226^0 >= 0 /\ 1-y_19^0+x_20^0 <= 0), cost: 3 New rule: l4 -> l29 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ len_226^0 >= 0), cost: 5 Applied deletion Removed the following rules: 228 229 232 233 Eliminating location l89 by chaining: Applied chaining First rule: l4 -> l89 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 2 Second rule: l89 -> l91 : len_276^0'=1+len_226^0, a_277^0'=-1+a_241^0, (head_27^0-f_263^0 == 0 /\ -1+head_14^0 >= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 New rule: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_14^post135 >= 0), cost: 4 Applied chaining First rule: l4 -> l89 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 2 Second rule: l89 -> l91 : len_276^0'=1+len_226^0, a_277^0'=-1+a_241^0, (head_27^0-f_263^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 New rule: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_14^post135 <= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 4 Applied chaining First rule: l4 -> l89 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ len_226^0 >= 0), cost: 2 Second rule: l89 -> l91 : len_276^0'=1+len_226^0, a_277^0'=-1+a_241^0, (head_27^0-f_263^0 == 0 /\ -1+head_14^0 >= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 New rule: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_14^post135 >= 0), cost: 4 Applied chaining First rule: l4 -> l89 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ len_226^0 >= 0), cost: 2 Second rule: l89 -> l91 : len_276^0'=1+len_226^0, a_277^0'=-1+a_241^0, (head_27^0-f_263^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 New rule: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_14^post135 <= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0), cost: 4 Applied deletion Removed the following rules: 230 231 248 249 Eliminating location l31 by chaining: Applied chaining First rule: l29 -> l31 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ -1+head_14^0 >= 0 /\ head_14^0-x_20^0 == 0), cost: 2 Second rule: l31 -> l33 : (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 New rule: l29 -> l33 : a_308^0'=a_330^0, t_23^0'=x_20^0, (1+y_19^0-head_14^0 <= 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -1+head_14^0 >= 0 /\ head_14^0-x_20^0 == 0), cost: 4 Applied simplification Original rule: l29 -> l33 : a_308^0'=a_330^0, t_23^0'=x_20^0, (1+y_19^0-head_14^0 <= 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -1+head_14^0 >= 0 /\ head_14^0-x_20^0 == 0), cost: 4 New rule: l29 -> l33 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ -1+head_14^0 >= 0 /\ head_14^0-x_20^0 == 0), cost: 4 Applied chaining First rule: l29 -> l31 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ 1+head_14^0 <= 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ head_14^0-x_20^0 == 0), cost: 2 Second rule: l31 -> l33 : (1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 New rule: l29 -> l33 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ 1+head_14^0 <= 0 /\ 1-y_19^0+head_14^0 <= 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ head_14^0-x_20^0 == 0 /\ 1-y_19^0+x_20^0 <= 0), cost: 4 Applied simplification Original rule: l29 -> l33 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ 1+head_14^0 <= 0 /\ 1-y_19^0+head_14^0 <= 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ head_14^0-x_20^0 == 0 /\ 1-y_19^0+x_20^0 <= 0), cost: 4 New rule: l29 -> l33 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ head_14^0-x_20^0 == 0 /\ 1-y_19^0+x_20^0 <= 0), cost: 4 Applied deletion Removed the following rules: 234 235 236 237 238 239 Eliminating location l14 by chaining: Applied chaining First rule: l10 -> l14 : ct_17^0'=ct_17^post14, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (1+y_19^0-x_20^0 <= 0 /\ a_330^0 >= 0), cost: 2 Second rule: l14 -> l16 : t_23^0'=x_20^0, a_353^0'=-1+a_330^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ -1+head_14^0 >= 0), cost: 2 New rule: l10 -> l16 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -1+head_14^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ a_330^0 >= 0), cost: 4 Applied chaining First rule: l10 -> l14 : ct_17^0'=ct_17^post14, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (1+y_19^0-x_20^0 <= 0 /\ a_330^0 >= 0), cost: 2 Second rule: l14 -> l16 : t_23^0'=x_20^0, a_353^0'=-1+a_330^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ 1+head_14^0 <= 0 /\ x_SLAM_f_18^0-head_14^0 == 0), cost: 2 New rule: l10 -> l16 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 4 Applied chaining First rule: l10 -> l14 : ct_17^0'=ct_17^post14, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 2 Second rule: l14 -> l16 : t_23^0'=x_20^0, a_353^0'=-1+a_330^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ -1+head_14^0 >= 0), cost: 2 New rule: l10 -> l16 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -1+head_14^post14 >= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 4 Applied chaining First rule: l10 -> l14 : ct_17^0'=ct_17^post14, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 2 Second rule: l14 -> l16 : t_23^0'=x_20^0, a_353^0'=-1+a_330^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ 1+head_14^0 <= 0 /\ x_SLAM_f_18^0-head_14^0 == 0), cost: 2 New rule: l10 -> l16 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 4 Applied deletion Removed the following rules: 240 241 242 243 Eliminating location l18 by chaining: Applied chaining First rule: l16 -> l18 : (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 Second rule: l18 -> l10 : a_330^0'=a_353^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 New rule: l16 -> l10 : a_330^0'=a_353^0, (1-y_19^0+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 4 Applied chaining First rule: l16 -> l18 : (1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 Second rule: l18 -> l10 : a_330^0'=a_353^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 New rule: l16 -> l10 : a_330^0'=a_353^0, (1-y_19^0+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 4 Applied chaining First rule: l16 -> l18 : (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 Second rule: l18 -> l10 : a_330^0'=a_353^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 New rule: l16 -> l10 : a_330^0'=a_353^0, (1+y_19^0-head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 4 Applied chaining First rule: l16 -> l18 : (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 Second rule: l18 -> l10 : a_330^0'=a_353^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 New rule: l16 -> l10 : a_330^0'=a_353^0, (1+y_19^0-head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 4 Applied deletion Removed the following rules: 212 244 245 246 247 Eliminated locations on tree-shaped paths Start location: l93 268: l4 -> l29 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ len_226^0 >= 0), cost: 5 269: l4 -> l29 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ len_226^0 >= 0), cost: 5 270: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_14^post135 >= 0), cost: 4 271: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_14^post135 <= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 4 272: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_14^post135 >= 0), cost: 4 273: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_14^post135 <= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0), cost: 4 276: l10 -> l16 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -1+head_14^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ a_330^0 >= 0), cost: 4 277: l10 -> l16 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 4 278: l10 -> l16 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -1+head_14^post14 >= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 4 279: l10 -> l16 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 4 280: l16 -> l10 : a_330^0'=a_353^0, (1-y_19^0+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 4 281: l16 -> l10 : a_330^0'=a_353^0, (1-y_19^0+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 4 282: l16 -> l10 : a_330^0'=a_353^0, (1+y_19^0-head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 4 283: l16 -> l10 : a_330^0'=a_353^0, (1+y_19^0-head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 4 274: l29 -> l33 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ -1+head_14^0 >= 0 /\ head_14^0-x_20^0 == 0), cost: 4 275: l29 -> l33 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ head_14^0-x_20^0 == 0 /\ 1-y_19^0+x_20^0 <= 0), cost: 4 168: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 262: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 263: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 264: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0), cost: 4 265: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_14^post57 <= 0), cost: 4 266: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0), cost: 4 267: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ 1+head_14^post57 <= 0), cost: 4 254: l43 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+head_175^0 >= 0), cost: 3 255: l43 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, (1+head_175^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 250: l91 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, (-1+head_268^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 251: l91 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_268^0 <= 0), cost: 3 256: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -1+temp_35^post130 >= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 257: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post130 <= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 258: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 259: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ 1+temp_35^post122 <= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 260: l93 -> l36 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (-4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -1+temp_35^post127 >= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 3+2*nondet_12^10 261: l93 -> l36 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (1+temp_35^post127 <= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 3+2*nondet_12^10 Applied pruning (of leafs and parallel rules): Start location: l93 268: l4 -> l29 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ len_226^0 >= 0), cost: 5 269: l4 -> l29 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ len_226^0 >= 0), cost: 5 270: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_14^post135 >= 0), cost: 4 271: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_14^post135 <= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 4 272: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_14^post135 >= 0), cost: 4 273: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_14^post135 <= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0), cost: 4 276: l10 -> l16 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -1+head_14^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ a_330^0 >= 0), cost: 4 277: l10 -> l16 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 4 278: l10 -> l16 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -1+head_14^post14 >= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 4 279: l10 -> l16 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 4 280: l16 -> l10 : a_330^0'=a_353^0, (1-y_19^0+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 4 281: l16 -> l10 : a_330^0'=a_353^0, (1-y_19^0+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 4 282: l16 -> l10 : a_330^0'=a_353^0, (1+y_19^0-head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 4 283: l16 -> l10 : a_330^0'=a_353^0, (1+y_19^0-head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 4 274: l29 -> l33 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ -1+head_14^0 >= 0 /\ head_14^0-x_20^0 == 0), cost: 4 275: l29 -> l33 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ head_14^0-x_20^0 == 0 /\ 1-y_19^0+x_20^0 <= 0), cost: 4 168: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 262: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 263: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 264: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0), cost: 4 265: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_14^post57 <= 0), cost: 4 266: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0), cost: 4 267: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ 1+head_14^post57 <= 0), cost: 4 254: l43 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+head_175^0 >= 0), cost: 3 255: l43 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, (1+head_175^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 250: l91 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, (-1+head_268^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 251: l91 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_268^0 <= 0), cost: 3 256: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -1+temp_35^post130 >= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 257: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post130 <= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 258: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 259: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ 1+temp_35^post122 <= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 261: l93 -> l36 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (1+temp_35^post127 <= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 3+2*nondet_12^10 Eliminating location l43 by chaining: Applied chaining First rule: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0), cost: 4 Second rule: l43 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+head_175^0 >= 0), cost: 3 New rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_175^post57 >= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0), cost: 7 Applied chaining First rule: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0), cost: 4 Second rule: l43 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, (1+head_175^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 New rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7 Applied chaining First rule: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_14^post57 <= 0), cost: 4 Second rule: l43 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+head_175^0 >= 0), cost: 3 New rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_175^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_14^post57 <= 0), cost: 7 Applied chaining First rule: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_14^post57 <= 0), cost: 4 Second rule: l43 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, (1+head_175^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 New rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0 /\ 1+head_14^post57 <= 0), cost: 7 Applied chaining First rule: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0), cost: 4 Second rule: l43 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+head_175^0 >= 0), cost: 3 New rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_175^post57 >= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0), cost: 7 Applied chaining First rule: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0), cost: 4 Second rule: l43 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, (1+head_175^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 New rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ 1+head_175^post57 <= 0), cost: 7 Applied chaining First rule: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ 1+head_14^post57 <= 0), cost: 4 Second rule: l43 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+head_175^0 >= 0), cost: 3 New rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_175^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ 1+head_14^post57 <= 0), cost: 7 Applied chaining First rule: l36 -> l43 : len_183^0'=1+len_132^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ 1+head_14^post57 <= 0), cost: 4 Second rule: l43 -> l36 : a_147^0'=a_184^0, len_132^0'=len_183^0, (1+head_175^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 New rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ 1+head_175^post57 <= 0 /\ 1+head_14^post57 <= 0), cost: 7 Applied deletion Removed the following rules: 254 255 264 265 266 267 Eliminating location l29 by chaining: Applied chaining First rule: l4 -> l29 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ len_226^0 >= 0), cost: 5 Second rule: l29 -> l33 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ -1+head_14^0 >= 0 /\ head_14^0-x_20^0 == 0), cost: 4 New rule: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (0 == 0 /\ a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ -1+head_14^post41 >= 0 /\ -1+head_14^0 >= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 Applied simplification Original rule: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (0 == 0 /\ a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ -1+head_14^post41 >= 0 /\ -1+head_14^0 >= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 New rule: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 Applied chaining First rule: l4 -> l29 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ len_226^0 >= 0), cost: 5 Second rule: l29 -> l33 : a_308^0'=a_330^0, t_23^0'=x_20^0, (-x_16^0+x_SLAM_f_18^0 == 0 /\ y_19^0 == 0 /\ ct_17^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ head_14^0-x_20^0 == 0 /\ 1-y_19^0+x_20^0 <= 0), cost: 4 New rule: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (0 == 0 /\ a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 Applied simplification Original rule: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (0 == 0 /\ a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 New rule: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 Applied deletion Removed the following rules: 268 269 274 275 Eliminating location l91 by chaining: Applied chaining First rule: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_14^post135 >= 0), cost: 4 Second rule: l91 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, (-1+head_268^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 New rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_268^post135 >= 0 /\ -1+head_14^post135 >= 0), cost: 7 Applied chaining First rule: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_14^post135 >= 0), cost: 4 Second rule: l91 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_268^0 <= 0), cost: 3 New rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_14^post135 >= 0), cost: 7 Applied chaining First rule: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_14^post135 <= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 4 Second rule: l91 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, (-1+head_268^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 New rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_14^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_268^post135 >= 0), cost: 7 Applied chaining First rule: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_14^post135 <= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 4 Second rule: l91 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_268^0 <= 0), cost: 3 New rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_268^post135 <= 0 /\ 1+head_14^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 7 Applied chaining First rule: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_14^post135 >= 0), cost: 4 Second rule: l91 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, (-1+head_268^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 New rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_268^post135 >= 0 /\ -1+head_14^post135 >= 0), cost: 7 Applied chaining First rule: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_14^post135 >= 0), cost: 4 Second rule: l91 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_268^0 <= 0), cost: 3 New rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_14^post135 >= 0), cost: 7 Applied chaining First rule: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_14^post135 <= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0), cost: 4 Second rule: l91 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, (-1+head_268^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 New rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_14^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_268^post135 >= 0), cost: 7 Applied chaining First rule: l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_14^post135 <= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0), cost: 4 Second rule: l91 -> l4 : a_241^0'=a_277^0, len_226^0'=len_276^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_268^0 <= 0), cost: 3 New rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_268^post135 <= 0 /\ 1+head_14^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0), cost: 7 Applied deletion Removed the following rules: 250 251 270 271 272 273 Eliminating location l16 by chaining: Applied chaining First rule: l10 -> l16 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -1+head_14^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ a_330^0 >= 0), cost: 4 Second rule: l16 -> l10 : a_330^0'=a_353^0, (1+y_19^0-head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 4 New rule: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -1+head_14^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ 1+y_19^0-head_14^post14 <= 0 /\ ct_17^post14 == 0 /\ a_330^0 >= 0), cost: 8 Applied simplification Original rule: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -1+head_14^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ 1+y_19^0-head_14^post14 <= 0 /\ ct_17^post14 == 0 /\ a_330^0 >= 0), cost: 8 New rule: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ 1+y_19^0-head_14^post14 <= 0 /\ ct_17^post14 == 0 /\ a_330^0 >= 0), cost: 8 Applied chaining First rule: l10 -> l16 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 4 Second rule: l16 -> l10 : a_330^0'=a_353^0, (1-y_19^0+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 4 New rule: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+head_14^post14 <= 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 8 Applied simplification Original rule: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+head_14^post14 <= 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 8 New rule: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 8 Applied chaining First rule: l10 -> l16 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -1+head_14^post14 >= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 4 Second rule: l16 -> l10 : a_330^0'=a_353^0, (1+y_19^0-head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 4 New rule: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -1+head_14^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ 1+y_19^0-head_14^post14 <= 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 Applied simplification Original rule: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -1+head_14^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ 1+y_19^0-head_14^post14 <= 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 New rule: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ 1+y_19^0-head_14^post14 <= 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 Applied chaining First rule: l10 -> l16 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 4 Second rule: l16 -> l10 : a_330^0'=a_353^0, (1-y_19^0+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 4 New rule: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ 1-y_19^0+head_14^post14 <= 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 8 Applied simplification Original rule: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ 1-y_19^0+head_14^post14 <= 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 8 New rule: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 8 Applied deletion Removed the following rules: 276 277 278 279 280 281 282 283 Eliminated locations on tree-shaped paths Start location: l93 292: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 293: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 294: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_268^post135 >= 0 /\ -1+head_14^post135 >= 0), cost: 7 295: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_14^post135 >= 0), cost: 7 296: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_14^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_268^post135 >= 0), cost: 7 297: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_268^post135 <= 0 /\ 1+head_14^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 7 298: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_268^post135 >= 0 /\ -1+head_14^post135 >= 0), cost: 7 299: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_14^post135 >= 0), cost: 7 300: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_14^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_268^post135 >= 0), cost: 7 301: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_268^post135 <= 0 /\ 1+head_14^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0), cost: 7 302: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ 1+y_19^0-head_14^post14 <= 0 /\ ct_17^post14 == 0 /\ a_330^0 >= 0), cost: 8 303: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 8 304: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ 1+y_19^0-head_14^post14 <= 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 305: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 8 168: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 262: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 263: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 284: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_175^post57 >= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0), cost: 7 285: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7 286: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_175^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_14^post57 <= 0), cost: 7 287: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0 /\ 1+head_14^post57 <= 0), cost: 7 288: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_175^post57 >= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0), cost: 7 289: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ 1+head_175^post57 <= 0), cost: 7 290: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_175^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ 1+head_14^post57 <= 0), cost: 7 291: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ 1+head_175^post57 <= 0 /\ 1+head_14^post57 <= 0), cost: 7 256: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -1+temp_35^post130 >= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 257: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post130 <= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 258: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 259: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ 1+temp_35^post122 <= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 261: l93 -> l36 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (1+temp_35^post127 <= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 3+2*nondet_12^10 Applied pruning (of leafs and parallel rules): Start location: l93 292: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 293: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 294: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_268^post135 >= 0 /\ -1+head_14^post135 >= 0), cost: 7 295: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_14^post135 >= 0), cost: 7 297: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_268^post135 <= 0 /\ 1+head_14^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 7 298: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_268^post135 >= 0 /\ -1+head_14^post135 >= 0), cost: 7 299: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_14^post135 >= 0), cost: 7 302: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ 1+y_19^0-head_14^post14 <= 0 /\ ct_17^post14 == 0 /\ a_330^0 >= 0), cost: 8 303: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 8 304: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ 1+y_19^0-head_14^post14 <= 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 305: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 8 168: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 262: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 263: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 284: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_175^post57 >= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0), cost: 7 285: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7 287: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0 /\ 1+head_14^post57 <= 0), cost: 7 288: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_175^post57 >= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0), cost: 7 289: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ 1+head_175^post57 <= 0), cost: 7 256: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -1+temp_35^post130 >= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 257: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post130 <= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 258: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 259: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ 1+temp_35^post122 <= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 261: l93 -> l36 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (1+temp_35^post127 <= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 3+2*nondet_12^10 Applied simplification Original rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_268^post135 >= 0 /\ -1+head_14^post135 >= 0), cost: 7 New rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_268^post135 >= 0), cost: 7 Applied simplification Original rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_14^post135 >= 0), cost: 7 New rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0), cost: 7 Applied simplification Original rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_268^post135 <= 0 /\ 1+head_14^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 7 New rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_SLAM_f_26^post135 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 7 Applied simplification Original rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_268^post135 >= 0 /\ -1+head_14^post135 >= 0), cost: 7 New rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_268^post135 >= 0), cost: 7 Applied simplification Original rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=f_263^post135, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_14^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ head_27^0-f_263^post135 == 0 /\ head_14^post135-head_SLAM_f_26^post135 == 0 /\ len_226^0 >= 0 /\ -1+head_14^post135 >= 0), cost: 7 New rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0), cost: 7 Simplified simple loops Start location: l93 292: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 293: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 306: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_268^post135 >= 0), cost: 7 307: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0), cost: 7 308: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_SLAM_f_26^post135 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 7 309: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_268^post135 >= 0), cost: 7 310: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0), cost: 7 302: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ 1+y_19^0-head_14^post14 <= 0 /\ ct_17^post14 == 0 /\ a_330^0 >= 0), cost: 8 303: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 8 304: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ 1+y_19^0-head_14^post14 <= 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 305: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 8 168: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 262: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 263: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 284: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_175^post57 >= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0), cost: 7 285: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7 287: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0 /\ 1+head_14^post57 <= 0), cost: 7 288: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_175^post57 >= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0), cost: 7 289: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ 1+head_175^post57 <= 0), cost: 7 256: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -1+temp_35^post130 >= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 257: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post130 <= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 258: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 259: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ 1+temp_35^post122 <= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 261: l93 -> l36 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (1+temp_35^post127 <= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 3+2*nondet_12^10 Applied acceleration Original rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_268^post135 >= 0), cost: 7 New rule: l4 -> l4 : a_241^0'=a_241^0-n0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=n0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=a_241^0-n0, head_14^0'=head_SLAM_f_26^post135, len_226^0'=n0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (1+a_241^0-n0 >= 0 /\ -1+n0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_268^post135 >= 0), cost: 7*n0 Sub-proof via acceration calculus written to file:///tmp/tmpnam_kdlmAI.txt Applied instantiation Original rule: l4 -> l4 : a_241^0'=a_241^0-n0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=n0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=a_241^0-n0, head_14^0'=head_SLAM_f_26^post135, len_226^0'=n0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (1+a_241^0-n0 >= 0 /\ -1+n0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_268^post135 >= 0), cost: 7*n0 New rule: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (0 >= 0 /\ a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_268^post135 >= 0), cost: 7+7*a_241^0 Applied acceleration Original rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0), cost: 7 New rule: l4 -> l4 : a_241^0'=a_241^0-n1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=len_226^0+n1, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=a_241^0-n1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=len_226^0+n1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (1+a_241^0-n1 >= 0 /\ -1-head_268^post135 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ -1+n1 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0), cost: 7*n1 Sub-proof via acceration calculus written to file:///tmp/tmpnam_CMNagf.txt Applied instantiation Original rule: l4 -> l4 : a_241^0'=a_241^0-n1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=len_226^0+n1, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=a_241^0-n1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=len_226^0+n1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (1+a_241^0-n1 >= 0 /\ -1-head_268^post135 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ -1+n1 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0), cost: 7*n1 New rule: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (0 >= 0 /\ a_241^0 >= 0 /\ -1-head_268^post135 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0), cost: 7+7*a_241^0 Applied acceleration Original rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_SLAM_f_26^post135 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 7 New rule: l4 -> l4 : a_241^0'=a_241^0-n2, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=n2+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=a_241^0-n2, head_14^0'=head_SLAM_f_26^post135, len_226^0'=n2+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (1+a_241^0-n2 >= 0 /\ -1-head_SLAM_f_26^post135 >= 0 /\ -1-head_268^post135 >= 0 /\ -1+n2 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 7*n2 Sub-proof via acceration calculus written to file:///tmp/tmpnam_nkpfja.txt Applied instantiation Original rule: l4 -> l4 : a_241^0'=a_241^0-n2, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=n2+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=a_241^0-n2, head_14^0'=head_SLAM_f_26^post135, len_226^0'=n2+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (1+a_241^0-n2 >= 0 /\ -1-head_SLAM_f_26^post135 >= 0 /\ -1-head_268^post135 >= 0 /\ -1+n2 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 7*n2 New rule: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (0 >= 0 /\ a_241^0 >= 0 /\ -1-head_SLAM_f_26^post135 >= 0 /\ -1-head_268^post135 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 7+7*a_241^0 Applied acceleration Original rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_268^post135 >= 0), cost: 7 New rule: l4 -> l4 : a_241^0'=a_241^0-n3, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=n3+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=a_241^0-n3, head_14^0'=head_SLAM_f_26^post135, len_226^0'=n3+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (-1-head_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ 1+a_241^0-n3 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+n3 >= 0 /\ -1+head_268^post135 >= 0), cost: 7*n3 Sub-proof via acceration calculus written to file:///tmp/tmpnam_lIOkHd.txt Applied instantiation Original rule: l4 -> l4 : a_241^0'=a_241^0-n3, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=n3+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=a_241^0-n3, head_14^0'=head_SLAM_f_26^post135, len_226^0'=n3+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (-1-head_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ 1+a_241^0-n3 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+n3 >= 0 /\ -1+head_268^post135 >= 0), cost: 7*n3 New rule: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (0 >= 0 /\ a_241^0 >= 0 /\ -1-head_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_268^post135 >= 0), cost: 7+7*a_241^0 Applied acceleration Original rule: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1+a_241^0, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0), cost: 7 New rule: l4 -> l4 : a_241^0'=a_241^0-n4, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=n4+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=a_241^0-n4, head_14^0'=head_SLAM_f_26^post135, len_226^0'=n4+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (-1-head_27^0 >= 0 /\ -1-head_268^post135 >= 0 /\ -1+n4 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ 1+a_241^0-n4 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0), cost: 7*n4 Sub-proof via acceration calculus written to file:///tmp/tmpnam_iaOFdb.txt Applied instantiation Original rule: l4 -> l4 : a_241^0'=a_241^0-n4, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=n4+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=a_241^0-n4, head_14^0'=head_SLAM_f_26^post135, len_226^0'=n4+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (-1-head_27^0 >= 0 /\ -1-head_268^post135 >= 0 /\ -1+n4 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ 1+a_241^0-n4 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0), cost: 7*n4 New rule: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (0 >= 0 /\ a_241^0 >= 0 /\ -1-head_27^0 >= 0 /\ -1-head_268^post135 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 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^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (0 >= 0 /\ a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_268^post135 >= 0), cost: 7+7*a_241^0 New rule: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_268^post135 >= 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^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (0 >= 0 /\ a_241^0 >= 0 /\ -1-head_268^post135 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0), cost: 7+7*a_241^0 New rule: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 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^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (0 >= 0 /\ a_241^0 >= 0 /\ -1-head_SLAM_f_26^post135 >= 0 /\ -1-head_268^post135 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 7+7*a_241^0 New rule: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_SLAM_f_26^post135 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 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^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (0 >= 0 /\ a_241^0 >= 0 /\ -1-head_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_268^post135 >= 0), cost: 7+7*a_241^0 New rule: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_268^post135 >= 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^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (0 >= 0 /\ a_241^0 >= 0 /\ -1-head_27^0 >= 0 /\ -1-head_268^post135 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0), cost: 7+7*a_241^0 New rule: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0), cost: 7+7*a_241^0 Applied deletion Removed the following rules: 306 307 308 309 310 Applied simplification Original rule: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ 1+y_19^0-head_14^post14 <= 0 /\ ct_17^post14 == 0 /\ a_330^0 >= 0), cost: 8 New rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (1+y_19^0-x_SLAM_f_18^post14 <= 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 Applied simplification Original rule: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 8 New rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (y_19^0 == 0 /\ 1+x_SLAM_f_18^post14 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 Applied simplification Original rule: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ 1+y_19^0-head_14^post14 <= 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 New rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (1+y_19^0-x_SLAM_f_18^post14 <= 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 Applied simplification Original rule: l10 -> l10 : ct_17^0'=ct_17^post14, t_23^0'=x_20^0, x_16^0'=x_16^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=head_14^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (-head_14^post14+x_SLAM_f_18^post14 == 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -x_16^post14+x_SLAM_f_18^post14 == 0 /\ ct_17^post14 == 0 /\ 1-y_19^0+x_20^0 <= 0 /\ 1+head_14^post14 <= 0 /\ a_330^0 >= 0), cost: 8 New rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (y_19^0 == 0 /\ 1+x_SLAM_f_18^post14 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 Simplified simple loops Start location: l93 292: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 293: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 316: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_268^post135 >= 0), cost: 7+7*a_241^0 317: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0), cost: 7+7*a_241^0 318: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_SLAM_f_26^post135 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 7+7*a_241^0 319: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_268^post135 >= 0), cost: 7+7*a_241^0 320: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0), cost: 7+7*a_241^0 321: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (1+y_19^0-x_SLAM_f_18^post14 <= 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 322: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (y_19^0 == 0 /\ 1+x_SLAM_f_18^post14 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 323: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (1+y_19^0-x_SLAM_f_18^post14 <= 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 324: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (y_19^0 == 0 /\ 1+x_SLAM_f_18^post14 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 168: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 262: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 263: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 284: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_175^post57 >= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0), cost: 7 285: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7 287: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0 /\ 1+head_14^post57 <= 0), cost: 7 288: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_175^post57 >= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0), cost: 7 289: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ 1+head_175^post57 <= 0), cost: 7 256: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -1+temp_35^post130 >= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 257: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post130 <= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 258: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 259: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ 1+temp_35^post122 <= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 261: l93 -> l36 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (1+temp_35^post127 <= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 3+2*nondet_12^10 Applied acceleration Original rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (1+y_19^0-x_SLAM_f_18^post14 <= 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 New rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-n5+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-n5+a_330^0, (-1-y_19^0+x_20^0 >= 0 /\ 1-n5+a_330^0 >= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 >= 0 /\ -1+n5 >= 0), cost: 8*n5 Sub-proof via acceration calculus written to file:///tmp/tmpnam_dmLKCP.txt Applied instantiation Original rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-n5+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-n5+a_330^0, (-1-y_19^0+x_20^0 >= 0 /\ 1-n5+a_330^0 >= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 >= 0 /\ -1+n5 >= 0), cost: 8*n5 New rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (0 >= 0 /\ -1-y_19^0+x_20^0 >= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 Applied acceleration Original rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (y_19^0 == 0 /\ 1+x_SLAM_f_18^post14 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1+y_19^0-x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 New rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-n6+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-n6+a_330^0, (-1-y_19^0+x_20^0 >= 0 /\ -1+n6 >= 0 /\ y_19^0 >= 0 /\ -1-x_SLAM_f_18^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -y_19^0 >= 0 /\ 1-n6+a_330^0 >= 0), cost: 8*n6 Sub-proof via acceration calculus written to file:///tmp/tmpnam_pMjOOM.txt Applied instantiation Original rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-n6+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-n6+a_330^0, (-1-y_19^0+x_20^0 >= 0 /\ -1+n6 >= 0 /\ y_19^0 >= 0 /\ -1-x_SLAM_f_18^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -y_19^0 >= 0 /\ 1-n6+a_330^0 >= 0), cost: 8*n6 New rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (0 >= 0 /\ -1-y_19^0+x_20^0 >= 0 /\ y_19^0 >= 0 /\ -1-x_SLAM_f_18^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 Applied acceleration Original rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (1+y_19^0-x_SLAM_f_18^post14 <= 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 New rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-n7+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-n7+a_330^0, (y_19^0 >= 0 /\ -1+y_19^0-x_20^0 >= 0 /\ 1-n7+a_330^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 >= 0 /\ -1+n7 >= 0), cost: 8*n7 Sub-proof via acceration calculus written to file:///tmp/tmpnam_FfLgkO.txt Applied instantiation Original rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-n7+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-n7+a_330^0, (y_19^0 >= 0 /\ -1+y_19^0-x_20^0 >= 0 /\ 1-n7+a_330^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 >= 0 /\ -1+n7 >= 0), cost: 8*n7 New rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (0 >= 0 /\ y_19^0 >= 0 /\ -1+y_19^0-x_20^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 Applied acceleration Original rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1+a_330^0, (y_19^0 == 0 /\ 1+x_SLAM_f_18^post14 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ 1-y_19^0+x_20^0 <= 0 /\ a_330^0 >= 0), cost: 8 New rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-n8+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-n8+a_330^0, (y_19^0 >= 0 /\ -1+y_19^0-x_20^0 >= 0 /\ 1-n8+a_330^0 >= 0 /\ -1-x_SLAM_f_18^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -y_19^0 >= 0 /\ -1+n8 >= 0), cost: 8*n8 Sub-proof via acceration calculus written to file:///tmp/tmpnam_GGKjBJ.txt Applied instantiation Original rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-n8+a_330^0, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-n8+a_330^0, (y_19^0 >= 0 /\ -1+y_19^0-x_20^0 >= 0 /\ 1-n8+a_330^0 >= 0 /\ -1-x_SLAM_f_18^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -y_19^0 >= 0 /\ -1+n8 >= 0), cost: 8*n8 New rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (0 >= 0 /\ y_19^0 >= 0 /\ -1+y_19^0-x_20^0 >= 0 /\ -1-x_SLAM_f_18^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 Applied simplification Original rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (0 >= 0 /\ -1-y_19^0+x_20^0 >= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 New rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (-1-y_19^0+x_20^0 >= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 Applied simplification Original rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (0 >= 0 /\ -1-y_19^0+x_20^0 >= 0 /\ y_19^0 >= 0 /\ -1-x_SLAM_f_18^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 New rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (-1-y_19^0+x_20^0 >= 0 /\ y_19^0 >= 0 /\ 1+x_SLAM_f_18^post14 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 Applied simplification Original rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (0 >= 0 /\ y_19^0 >= 0 /\ -1+y_19^0-x_20^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 New rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (y_19^0 >= 0 /\ -1+y_19^0-x_20^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 Applied simplification Original rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (0 >= 0 /\ y_19^0 >= 0 /\ -1+y_19^0-x_20^0 >= 0 /\ -1-x_SLAM_f_18^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 New rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (y_19^0 <= 0 /\ y_19^0 >= 0 /\ -1+y_19^0-x_20^0 >= 0 /\ 1+x_SLAM_f_18^post14 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 Applied deletion Removed the following rules: 321 322 323 324 Applied simplification Original rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_175^post57 >= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0), cost: 7 New rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0), cost: 7 Applied simplification Original rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7 New rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7 Applied simplification Original rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (-head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0 /\ 1+head_14^post57 <= 0), cost: 7 New rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, (a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_SLAM_f_26^post57 <= 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7 Applied simplification Original rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_175^post57 >= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0), cost: 7 New rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+head_27^0 <= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0), cost: 7 Applied simplification Original rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_14^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=f_170^post57, (1+head_27^0 <= 0 /\ -1+head_14^post57 >= 0 /\ -head_27^0+f_170^post57 == 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ head_14^post57-head_SLAM_f_26^post57 == 0 /\ 1+head_175^post57 <= 0), cost: 7 New rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+head_27^0 <= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_175^post57 <= 0), cost: 7 Simplified simple loops Start location: l93 292: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 293: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 316: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_268^post135 >= 0), cost: 7+7*a_241^0 317: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0), cost: 7+7*a_241^0 318: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_SLAM_f_26^post135 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 7+7*a_241^0 319: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_268^post135 >= 0), cost: 7+7*a_241^0 320: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0), cost: 7+7*a_241^0 329: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (-1-y_19^0+x_20^0 >= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 330: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (-1-y_19^0+x_20^0 >= 0 /\ y_19^0 >= 0 /\ 1+x_SLAM_f_18^post14 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 331: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (y_19^0 >= 0 /\ -1+y_19^0-x_20^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 332: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (y_19^0 <= 0 /\ y_19^0 >= 0 /\ -1+y_19^0-x_20^0 >= 0 /\ 1+x_SLAM_f_18^post14 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 168: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 262: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 263: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 333: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0), cost: 7 334: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7 335: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, (a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_SLAM_f_26^post57 <= 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7 336: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+head_27^0 <= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0), cost: 7 337: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+head_27^0 <= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_175^post57 <= 0), cost: 7 256: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -1+temp_35^post130 >= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 257: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post130 <= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 258: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 259: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ 1+temp_35^post122 <= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 261: l93 -> l36 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (1+temp_35^post127 <= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 3+2*nondet_12^10 Applied acceleration Original rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0), cost: 7 New rule: l36 -> l36 : len_183^0'=n9+len_132^0, a_147^0'=-n9+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=n9+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-n9+a_147^0, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ len_132^0 >= 0 /\ 1-n9+a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0 /\ -1+n9 >= 0), cost: 7*n9 Sub-proof via acceration calculus written to file:///tmp/tmpnam_ilCcNp.txt Applied instantiation Original rule: l36 -> l36 : len_183^0'=n9+len_132^0, a_147^0'=-n9+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=n9+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-n9+a_147^0, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ len_132^0 >= 0 /\ 1-n9+a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0 /\ -1+n9 >= 0), cost: 7*n9 New rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (0 >= 0 /\ -1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0), cost: 7+7*a_147^0 Applied acceleration Original rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7 New rule: l36 -> l36 : len_183^0'=len_132^0+n10, a_147^0'=a_147^0-n10, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=len_132^0+n10, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=a_147^0-n10, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+a_147^0-n10 >= 0 /\ len_132^0 >= 0 /\ -1+n10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0 /\ -1-head_175^post57 >= 0), cost: 7*n10 Sub-proof via acceration calculus written to file:///tmp/tmpnam_DIChJi.txt Applied instantiation Original rule: l36 -> l36 : len_183^0'=len_132^0+n10, a_147^0'=a_147^0-n10, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=len_132^0+n10, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=a_147^0-n10, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+a_147^0-n10 >= 0 /\ len_132^0 >= 0 /\ -1+n10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0 /\ -1-head_175^post57 >= 0), cost: 7*n10 New rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (0 >= 0 /\ -1+head_SLAM_f_26^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0 /\ -1-head_175^post57 >= 0), cost: 7+7*a_147^0 Applied acceleration Original rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, (a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_SLAM_f_26^post57 <= 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7 New rule: l36 -> l36 : len_183^0'=n11+len_132^0, a_147^0'=-n11+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=n11+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-n11+a_147^0, f_170^0'=head_27^0, (1-n11+a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+n11 >= 0 /\ -1-head_SLAM_f_26^post57 >= 0 /\ -1+head_27^0 >= 0 /\ -1-head_175^post57 >= 0), cost: 7*n11 Sub-proof via acceration calculus written to file:///tmp/tmpnam_goMNJL.txt Applied instantiation Original rule: l36 -> l36 : len_183^0'=n11+len_132^0, a_147^0'=-n11+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=n11+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-n11+a_147^0, f_170^0'=head_27^0, (1-n11+a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+n11 >= 0 /\ -1-head_SLAM_f_26^post57 >= 0 /\ -1+head_27^0 >= 0 /\ -1-head_175^post57 >= 0), cost: 7*n11 New rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (0 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1-head_SLAM_f_26^post57 >= 0 /\ -1+head_27^0 >= 0 /\ -1-head_175^post57 >= 0), cost: 7+7*a_147^0 Applied acceleration Original rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+head_27^0 <= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0), cost: 7 New rule: l36 -> l36 : len_183^0'=len_132^0+n12, a_147^0'=a_147^0-n12, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=len_132^0+n12, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=a_147^0-n12, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ -1-head_27^0 >= 0 /\ -1+head_175^post57 >= 0 /\ -1+n12 >= 0 /\ len_132^0 >= 0 /\ 1+a_147^0-n12 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0), cost: 7*n12 Sub-proof via acceration calculus written to file:///tmp/tmpnam_gMMNhL.txt Applied instantiation Original rule: l36 -> l36 : len_183^0'=len_132^0+n12, a_147^0'=a_147^0-n12, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=len_132^0+n12, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=a_147^0-n12, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ -1-head_27^0 >= 0 /\ -1+head_175^post57 >= 0 /\ -1+n12 >= 0 /\ len_132^0 >= 0 /\ 1+a_147^0-n12 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0), cost: 7*n12 New rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (0 >= 0 /\ -1+head_SLAM_f_26^post57 >= 0 /\ -1-head_27^0 >= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0), cost: 7+7*a_147^0 Applied acceleration Original rule: l36 -> l36 : len_183^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+head_27^0 <= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_175^post57 <= 0), cost: 7 New rule: l36 -> l36 : len_183^0'=n13+len_132^0, a_147^0'=a_147^0-n13, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=n13+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=a_147^0-n13, f_170^0'=head_27^0, (-1+n13 >= 0 /\ -1+head_SLAM_f_26^post57 >= 0 /\ -1-head_27^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+a_147^0-n13 >= 0 /\ -1-head_175^post57 >= 0), cost: 7*n13 Sub-proof via acceration calculus written to file:///tmp/tmpnam_LgJmIA.txt Applied instantiation Original rule: l36 -> l36 : len_183^0'=n13+len_132^0, a_147^0'=a_147^0-n13, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=n13+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=a_147^0-n13, f_170^0'=head_27^0, (-1+n13 >= 0 /\ -1+head_SLAM_f_26^post57 >= 0 /\ -1-head_27^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+a_147^0-n13 >= 0 /\ -1-head_175^post57 >= 0), cost: 7*n13 New rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (0 >= 0 /\ -1+head_SLAM_f_26^post57 >= 0 /\ -1-head_27^0 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1-head_175^post57 >= 0), cost: 7+7*a_147^0 Applied simplification Original rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (0 >= 0 /\ -1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0), cost: 7+7*a_147^0 New rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0), cost: 7+7*a_147^0 Applied simplification Original rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (0 >= 0 /\ -1+head_SLAM_f_26^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0 /\ -1-head_175^post57 >= 0), cost: 7+7*a_147^0 New rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7+7*a_147^0 Applied simplification Original rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (0 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1-head_SLAM_f_26^post57 >= 0 /\ -1+head_27^0 >= 0 /\ -1-head_175^post57 >= 0), cost: 7+7*a_147^0 New rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_SLAM_f_26^post57 <= 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7+7*a_147^0 Applied simplification Original rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (0 >= 0 /\ -1+head_SLAM_f_26^post57 >= 0 /\ -1-head_27^0 >= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0), cost: 7+7*a_147^0 New rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+head_27^0 <= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0), cost: 7+7*a_147^0 Applied simplification Original rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (0 >= 0 /\ -1+head_SLAM_f_26^post57 >= 0 /\ -1-head_27^0 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1-head_175^post57 >= 0), cost: 7+7*a_147^0 New rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+head_27^0 <= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_175^post57 <= 0), cost: 7+7*a_147^0 Applied deletion Removed the following rules: 333 334 335 336 337 Accelerated simple loops Start location: l93 292: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 293: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 316: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_268^post135 >= 0), cost: 7+7*a_241^0 317: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0), cost: 7+7*a_241^0 318: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_SLAM_f_26^post135 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 0), cost: 7+7*a_241^0 319: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_268^post135 >= 0), cost: 7+7*a_241^0 320: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0), cost: 7+7*a_241^0 329: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (-1-y_19^0+x_20^0 >= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 330: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (-1-y_19^0+x_20^0 >= 0 /\ y_19^0 >= 0 /\ 1+x_SLAM_f_18^post14 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 331: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (y_19^0 >= 0 /\ -1+y_19^0-x_20^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 332: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (y_19^0 <= 0 /\ y_19^0 >= 0 /\ -1+y_19^0-x_20^0 >= 0 /\ 1+x_SLAM_f_18^post14 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 168: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 262: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 263: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 343: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0), cost: 7+7*a_147^0 344: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7+7*a_147^0 345: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_SLAM_f_26^post57 <= 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7+7*a_147^0 346: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+head_27^0 <= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0), cost: 7+7*a_147^0 347: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+head_27^0 <= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_175^post57 <= 0), cost: 7+7*a_147^0 256: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -1+temp_35^post130 >= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 257: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post130 <= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 258: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 259: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ 1+temp_35^post122 <= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 261: l93 -> l36 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (1+temp_35^post127 <= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 3+2*nondet_12^10 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 Second rule: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 0 /\ -1+head_268^post135 >= 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^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_14^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (head_27^0 == 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -len_132^0 <= 0 /\ -1+head_268^post135 >= 0), cost: 10+7*a_241^0 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 Second rule: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_27^0 >= 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^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_14^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (head_27^0 == 0 /\ 1+head_268^post135 <= 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -len_132^0 <= 0), cost: 10+7*a_241^0 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 Second rule: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_SLAM_f_26^post135 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_27^0 >= 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^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_14^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (head_27^0 == 0 /\ 1+head_SLAM_f_26^post135 <= 0 /\ 1+head_268^post135 <= 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 10+7*a_241^0 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 Second rule: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -1+head_268^post135 >= 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^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_14^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (head_27^0 == 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -len_132^0 <= 0 /\ -1+head_268^post135 >= 0), cost: 10+7*a_241^0 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 Second rule: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_27^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (a_241^0 >= 0 /\ 1+head_27^0 <= 0 /\ 1+head_268^post135 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ len_226^0 >= 0 /\ -1+head_SLAM_f_26^post135 >= 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^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_14^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (head_27^0 == 0 /\ 1+head_268^post135 <= 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -len_132^0 <= 0), cost: 10+7*a_241^0 Applied deletion Removed the following rules: 316 317 318 319 320 Applied chaining First rule: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 Second rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (-1-y_19^0+x_20^0 >= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 New rule: l33 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, len_226^0'=1+a_308^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (-1-y_19^0+x_20^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 == 0 /\ a_330^0 >= 0), cost: 9+8*a_330^0 Applied chaining First rule: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 Second rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (-1-y_19^0+x_20^0 >= 0 /\ y_19^0 >= 0 /\ 1+x_SLAM_f_18^post14 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 New rule: l33 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, len_226^0'=1+a_308^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (-1-y_19^0+x_20^0 >= 0 /\ 1+x_SLAM_f_18^post14 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -y_19^0 == 0 /\ a_330^0 >= 0), cost: 9+8*a_330^0 Applied chaining First rule: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 Second rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (y_19^0 >= 0 /\ -1+y_19^0-x_20^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 New rule: l33 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, len_226^0'=1+a_308^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (-1+y_19^0-x_20^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 == 0 /\ a_330^0 >= 0), cost: 9+8*a_330^0 Applied chaining First rule: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 Second rule: l10 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (y_19^0 <= 0 /\ y_19^0 >= 0 /\ -1+y_19^0-x_20^0 >= 0 /\ 1+x_SLAM_f_18^post14 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ a_330^0 >= 0), cost: 8+8*a_330^0 New rule: l33 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, len_226^0'=1+a_308^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (y_19^0 == 0 /\ -1+y_19^0-x_20^0 >= 0 /\ 1+x_SLAM_f_18^post14 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ a_330^0 >= 0), cost: 9+8*a_330^0 Applied deletion Removed the following rules: 329 330 331 332 Applied chaining First rule: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -1+temp_35^post130 >= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 Second rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0), cost: 7+7*a_147^0 New rule: l93 -> l36 : head_27^0'=temp_35^post130, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=temp_35^post130, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+temp_35^post130 >= 0), cost: 14+7*a_147^0 Applied chaining First rule: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 Second rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0), cost: 7+7*a_147^0 New rule: l93 -> l36 : head_27^0'=temp_35^post122, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, rcd_88^0'=rcd_88^post127, f_170^0'=temp_35^post122, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0), cost: 16+7*a_147^0 Applied chaining First rule: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -1+temp_35^post130 >= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 Second rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7+7*a_147^0 New rule: l93 -> l36 : head_27^0'=temp_35^post130, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=temp_35^post130, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-1+head_SLAM_f_26^post57 >= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_175^post57 <= 0 /\ -1+temp_35^post130 >= 0), cost: 14+7*a_147^0 Applied chaining First rule: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 Second rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7+7*a_147^0 New rule: l93 -> l36 : head_27^0'=temp_35^post122, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, rcd_88^0'=rcd_88^post127, f_170^0'=temp_35^post122, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -1+head_SLAM_f_26^post57 >= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_175^post57 <= 0), cost: 16+7*a_147^0 Applied chaining First rule: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -1+temp_35^post130 >= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 Second rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_SLAM_f_26^post57 <= 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7+7*a_147^0 New rule: l93 -> l36 : head_27^0'=temp_35^post130, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=temp_35^post130, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_SLAM_f_26^post57 <= 0 /\ 1+head_175^post57 <= 0 /\ -1+temp_35^post130 >= 0), cost: 14+7*a_147^0 Applied chaining First rule: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 Second rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_SLAM_f_26^post57 <= 0 /\ -1+head_27^0 >= 0 /\ 1+head_175^post57 <= 0), cost: 7+7*a_147^0 New rule: l93 -> l36 : head_27^0'=temp_35^post122, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, rcd_88^0'=rcd_88^post127, f_170^0'=temp_35^post122, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_SLAM_f_26^post57 <= 0 /\ 1+head_175^post57 <= 0), cost: 16+7*a_147^0 Applied chaining First rule: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post130 <= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 Second rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+head_27^0 <= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0), cost: 7+7*a_147^0 New rule: l93 -> l36 : head_27^0'=temp_35^post130, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=temp_35^post130, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ 1+temp_35^post130 <= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0), cost: 14+7*a_147^0 Applied chaining First rule: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ 1+temp_35^post122 <= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 Second rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+head_27^0 <= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0), cost: 7+7*a_147^0 New rule: l93 -> l36 : head_27^0'=temp_35^post122, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, rcd_88^0'=rcd_88^post127, f_170^0'=temp_35^post122, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+temp_35^post122 <= 0), cost: 16+7*a_147^0 Applied chaining First rule: l93 -> l36 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (1+temp_35^post127 <= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 3+2*nondet_12^10 Second rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+head_27^0 <= 0 /\ -1+head_175^post57 >= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0), cost: 7+7*a_147^0 New rule: l93 -> l36 : head_27^0'=temp_35^post127, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, rcd_88^0'=rcd_88^post127, f_170^0'=temp_35^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (-1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ 1+temp_35^post127 <= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0), cost: 10+2*nondet_12^10+7*a_147^0 Applied chaining First rule: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post130 <= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 Second rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+head_27^0 <= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_175^post57 <= 0), cost: 7+7*a_147^0 New rule: l93 -> l36 : head_27^0'=temp_35^post130, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=temp_35^post130, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+temp_35^post130 <= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_175^post57 <= 0), cost: 14+7*a_147^0 Applied chaining First rule: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ 1+temp_35^post122 <= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 Second rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+head_27^0 <= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_175^post57 <= 0), cost: 7+7*a_147^0 New rule: l93 -> l36 : head_27^0'=temp_35^post122, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, rcd_88^0'=rcd_88^post127, f_170^0'=temp_35^post122, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+head_SLAM_f_26^post57 >= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+temp_35^post122 <= 0 /\ 1+head_175^post57 <= 0), cost: 16+7*a_147^0 Applied chaining First rule: l93 -> l36 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (1+temp_35^post127 <= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 3+2*nondet_12^10 Second rule: l36 -> l36 : len_183^0'=1+a_147^0+len_132^0, a_147^0'=-1, head_175^0'=head_175^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, len_132^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post57, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=head_27^0, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+head_27^0 <= 0 /\ a_147^0 >= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_175^post57 <= 0), cost: 7+7*a_147^0 New rule: l93 -> l36 : head_27^0'=temp_35^post127, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, rcd_88^0'=rcd_88^post127, f_170^0'=temp_35^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+temp_35^post127 <= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_175^post57 <= 0), cost: 10+2*nondet_12^10+7*a_147^0 Applied deletion Removed the following rules: 343 344 345 346 347 Chained accelerated rules with incoming rules Start location: l93 292: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 293: l4 -> l33 : head_27^0'=head_27^post131, y_19^0'=0, ct_17^0'=ct_17^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post131, a_308^0'=a_330^0, t_23^0'=head_14^0, x_16^0'=x_16^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, head_14^0'=head_14^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 >= 0 /\ head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ head_14^post41-head_14^0 == 0 /\ -head_14^post41+x_SLAM_f_18^post41 == 0 /\ ct_17^post41 == 0 /\ len_226^0 >= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0), cost: 9 168: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 353: l33 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, len_226^0'=1+a_308^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (-1-y_19^0+x_20^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 == 0 /\ a_330^0 >= 0), cost: 9+8*a_330^0 354: l33 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, len_226^0'=1+a_308^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (-1-y_19^0+x_20^0 >= 0 /\ 1+x_SLAM_f_18^post14 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -y_19^0 == 0 /\ a_330^0 >= 0), cost: 9+8*a_330^0 355: l33 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, len_226^0'=1+a_308^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (-1+y_19^0-x_20^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1-y_19^0+x_SLAM_f_18^post14 >= 0 /\ -y_19^0 == 0 /\ a_330^0 >= 0), cost: 9+8*a_330^0 356: l33 -> l10 : ct_17^0'=0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post14, r_39^0'=r_39^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, a_353^0'=-1, head_14^0'=x_SLAM_f_18^post14, len_226^0'=1+a_308^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_330^0'=-1, (y_19^0 == 0 /\ -1+y_19^0-x_20^0 >= 0 /\ 1+x_SLAM_f_18^post14 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ a_330^0 >= 0), cost: 9+8*a_330^0 262: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 263: 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^post53, (head_27^0 == 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 3 348: l36 -> l4 : a_241^0'=-1, head_27^0'=head_14^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_14^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (head_27^0 == 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -len_132^0 <= 0 /\ -1+head_268^post135 >= 0), cost: 10+7*a_241^0 349: l36 -> l4 : a_241^0'=-1, head_27^0'=head_14^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_14^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (head_27^0 == 0 /\ 1+head_268^post135 <= 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -len_132^0 <= 0), cost: 10+7*a_241^0 350: l36 -> l4 : a_241^0'=-1, head_27^0'=head_14^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_14^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (head_27^0 == 0 /\ 1+head_SLAM_f_26^post135 <= 0 /\ 1+head_268^post135 <= 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ -1+head_14^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -len_132^0 <= 0), cost: 10+7*a_241^0 351: l36 -> l4 : a_241^0'=-1, head_27^0'=head_14^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_14^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (head_27^0 == 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -len_132^0 <= 0 /\ -1+head_268^post135 >= 0), cost: 10+7*a_241^0 352: l36 -> l4 : a_241^0'=-1, head_27^0'=head_14^0, head_SLAM_f_26^0'=head_SLAM_f_26^post135, len_276^0'=1+a_241^0+len_226^0, head_268^0'=head_268^post135, f_263^0'=head_14^0, r_39^0'=r_39^post135, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post135, len_226^0'=1+a_241^0+len_226^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, (head_27^0 == 0 /\ 1+head_268^post135 <= 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0 /\ -1+head_SLAM_f_26^post135 >= 0 /\ -len_132^0 <= 0), cost: 10+7*a_241^0 256: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -1+temp_35^post130 >= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 257: l93 -> l36 : head_27^0'=temp_35^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post130, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post130 <= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 7 258: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 259: l93 -> l36 : head_27^0'=temp_35^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post122, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-3+nondet_12^10 <= 0 /\ -3+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ 1+temp_35^post122 <= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 9 261: l93 -> l36 : head_27^0'=temp_35^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, rcd_58^0'=rcd_58^post122, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=temp_35^post127, result_11^0'=result_11^post123, i_167^0'=i_167^post123, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=temp_35^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, rcd_88^0'=rcd_88^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (1+temp_35^post127 <= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 >= 0 /\ -a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0 /\ -i_167^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^post123 <= 0), cost: 3+2*nondet_12^10 357: l93 -> l36 : head_27^0'=temp_35^post130, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=temp_35^post130, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ -1+temp_35^post130 >= 0), cost: 14+7*a_147^0 358: l93 -> l36 : head_27^0'=temp_35^post122, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, rcd_88^0'=rcd_88^post127, f_170^0'=temp_35^post122, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0), cost: 16+7*a_147^0 359: l93 -> l36 : head_27^0'=temp_35^post130, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=temp_35^post130, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-1+head_SLAM_f_26^post57 >= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_175^post57 <= 0 /\ -1+temp_35^post130 >= 0), cost: 14+7*a_147^0 360: l93 -> l36 : head_27^0'=temp_35^post122, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, rcd_88^0'=rcd_88^post127, f_170^0'=temp_35^post122, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -1+head_SLAM_f_26^post57 >= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_175^post57 <= 0), cost: 16+7*a_147^0 361: l93 -> l36 : head_27^0'=temp_35^post130, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=temp_35^post130, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_SLAM_f_26^post57 <= 0 /\ 1+head_175^post57 <= 0 /\ -1+temp_35^post130 >= 0), cost: 14+7*a_147^0 362: l93 -> l36 : head_27^0'=temp_35^post122, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, rcd_88^0'=rcd_88^post127, f_170^0'=temp_35^post122, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+temp_35^post122 >= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_SLAM_f_26^post57 <= 0 /\ 1+head_175^post57 <= 0), cost: 16+7*a_147^0 363: l93 -> l36 : head_27^0'=temp_35^post130, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=temp_35^post130, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ 1+temp_35^post130 <= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0), cost: 14+7*a_147^0 364: l93 -> l36 : head_27^0'=temp_35^post122, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, rcd_88^0'=rcd_88^post127, f_170^0'=temp_35^post122, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+temp_35^post122 <= 0), cost: 16+7*a_147^0 365: l93 -> l36 : head_27^0'=temp_35^post127, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, rcd_88^0'=rcd_88^post127, f_170^0'=temp_35^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (-1+head_SLAM_f_26^post57 >= 0 /\ -1+head_175^post57 >= 0 /\ 1+temp_35^post127 <= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0), cost: 10+2*nondet_12^10+7*a_147^0 366: l93 -> l36 : head_27^0'=temp_35^post130, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, f_170^0'=temp_35^post130, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+temp_35^post130 <= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_175^post57 <= 0), cost: 14+7*a_147^0 367: l93 -> l36 : head_27^0'=temp_35^post122, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, rcd_88^0'=rcd_88^post127, f_170^0'=temp_35^post122, tmp_34^0'=tmp_34^post123, i_94^0'=2, length_29^0'=length_29^post123, (-1+head_SLAM_f_26^post57 >= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+temp_35^post122 <= 0 /\ 1+head_175^post57 <= 0), cost: 16+7*a_147^0 368: l93 -> l36 : head_27^0'=temp_35^post127, len_183^0'=1+a_147^0+len_132^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_147^0'=-1, rcd_58^0'=rcd_58^post122, head_175^0'=head_175^post57, temp_35^0'=temp_35^post123, i_30^0'=a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post57, result_11^0'=result_11^post123, len_132^0'=1+a_147^0+len_132^0, i_167^0'=i_167^post123, r_39^0'=r_39^post57, nondet_12^0'=nondet_12^post52, temp0_31^0'=temp0_31^post123, head_32^0'=head_32^post123, head_14^0'=head_SLAM_f_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_184^0'=-1, rcd_88^0'=rcd_88^post127, f_170^0'=temp_35^post127, tmp_34^0'=tmp_34^post123, i_94^0'=-1+nondet_12^10, length_29^0'=length_29^post123, (-1+head_SLAM_f_26^post57 >= 0 /\ 1+temp_35^post127 <= 0 /\ -2+i_167^post123 >= 0 /\ -2+a_147^0 >= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 >= 0 /\ 1+head_175^post57 <= 0), cost: 10+2*nondet_12^10+7*a_147^0 Removed unreachable locations and irrelevant leafs Start location: l93 Computing asymptotic complexity Proved the following lower bound Complexity: Unknown Cpx degree: ? Solved cost: 0 Rule cost: 0