; LLVM IR from rl-tools/rl-tools :: src/rl/zoo/l2f (sac)

; Unoptimized IR (clang -disable-llvm-passes):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

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%"struct.rl_tools::Tensor" = type { %"struct.rl_tools::tensor::TensorDynamic" }
%"struct.rl_tools::tensor::TensorDynamic" = type { ptr }
%"struct.rl_tools::Tensor.109" = type { %"struct.rl_tools::tensor::TensorDynamic" }
%"struct.rl_tools::Tensor.111" = type { %"struct.rl_tools::tensor::TensorDynamic" }
%"struct.rl_tools::Tensor.112" = type { %"struct.rl_tools::tensor::TensorDynamic" }
%"struct.rl_tools::Tensor.110" = type { %"struct.rl_tools::tensor::TensorDynamic" }
%"struct.rl_tools::Tensor.115" = type { %"struct.rl_tools::tensor::TensorDynamic.116" }
%"struct.rl_tools::tensor::TensorDynamic.116" = type { ptr }
%"struct.rl_tools::rl::algorithms::sac::ActorTrainingBuffers" = type { %"struct.rl_tools::Tensor.123", %"struct.rl_tools::Tensor.127", %"struct.rl_tools::Tensor.128", %"struct.rl_tools::Tensor.113", %"struct.rl_tools::Tensor.123", %"struct.rl_tools::Tensor.123", %"struct.rl_tools::Tensor.129", %"struct.rl_tools::Tensor.129", %"struct.rl_tools::Tensor.129", %"struct.rl_tools::Tensor.129", %"struct.rl_tools::Tensor.131", %"struct.rl_tools::Tensor.131", %"struct.rl_tools::Tensor.133" }
%"struct.rl_tools::Tensor.127" = type { %"struct.rl_tools::tensor::TensorDynamic.124" }
%"struct.rl_tools::Tensor.128" = type { %"struct.rl_tools::tensor::TensorDynamic.124" }
%"struct.rl_tools::Tensor.129" = type { %"struct.rl_tools::tensor::TensorDynamic.130" }
%"struct.rl_tools::tensor::TensorDynamic.130" = type { ptr }
%"struct.rl_tools::Tensor.131" = type { %"struct.rl_tools::tensor::TensorDynamic.132" }
%"struct.rl_tools::tensor::TensorDynamic.132" = type { ptr }
%"struct.rl_tools::Tensor.133" = type { %"struct.rl_tools::tensor::TensorDynamic.134" }
%"struct.rl_tools::tensor::TensorDynamic.134" = type { ptr }
%"struct.rl_tools::Matrix.60" = type { %"struct.rl_tools::matrix::MatrixDynamic.49" }
%"struct.rl_tools::nn_models::sequential::ModuleBuffer.135" = type { %"struct.rl_tools::Tensor.136", %"struct.rl_tools::Tensor.136", %"struct.rl_tools::nn_models::sequential::ContentBuffer.137" }
%"struct.rl_tools::Tensor.136" = type { %"struct.rl_tools::tensor::TensorDynamic.132" }
%"struct.rl_tools::nn_models::sequential::ContentBuffer.137" = type { %"struct.rl_tools::nn_models::mlp::NeuralNetworkBuffers.138", %"struct.rl_tools::nn_models::sequential::ContentBuffer.140" }
%"struct.rl_tools::nn_models::mlp::NeuralNetworkBuffers.138" = type <{ %"struct.rl_tools::Matrix.29", %"struct.rl_tools::Matrix.29", [8 x i8] }>
%"struct.rl_tools::nn_models::sequential::ContentBuffer.140" = type <{ %"struct.rl_tools::nn::layers::sample_and_squash::Buffer", [8 x i8] }>
%"struct.rl_tools::nn::layers::sample_and_squash::Buffer" = type { %"struct.rl_tools::Matrix.60" }
%"class.std::chrono::time_point" = type { %"class.std::chrono::duration" }
%"class.std::chrono::duration" = type { i64 }
%"class.std::filesystem::__cxx11::path" = type { %"class.std::__cxx11::basic_string", %"struct.std::filesystem::__cxx11::path::_List" }
%"struct.std::filesystem::__cxx11::path::_List" = type { %"class.std::unique_ptr" }
%"class.std::unique_ptr" = type { %"struct.std::__uniq_ptr_data" }
%"struct.std::__uniq_ptr_data" = type { %"class.std::__uniq_ptr_impl" }
%"class.std::__uniq_ptr_impl" = type { %"class.std::tuple" }
%"class.std::tuple" = type { %"struct.std::_Tuple_impl" }
%"struct.std::_Tuple_impl" = type { %"struct.std::_Head_base.143" }
%"struct.std::_Head_base.143" = type { ptr }
%"struct.rl_tools::Matrix.144" = type { %"struct.rl_tools::matrix::MatrixDynamic.145" }
%"struct.rl_tools::matrix::MatrixDynamic.145" = type { ptr }
%"struct.rl_tools::rl::environments::Multirotor" = type { %"struct.rl_tools::rl::environments::l2f::ParametersDisturbances" }
%"struct.rl_tools::rl::environments::l2f::ParametersDisturbances" = type { %"struct.rl_tools::rl::environments::l2f::ParametersBase", %"struct.rl_tools::rl::environments::l2f::ParametersDisturbances<float, unsigned long, rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>>::Disturbances" }
%"struct.rl_tools::rl::environments::l2f::ParametersBase" = type { %"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::Dynamics", %"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::Integration", %"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP", %"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::DomainRandomization" }
%"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::Dynamics" = type { [4 x [3 x float]], [4 x [3 x float]], [4 x [3 x float]], [3 x float], float, float, [3 x float], [3 x [3 x float]], [3 x [3 x float]], float, float, %"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::Dynamics::ActionLimit" }
%"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::Dynamics::ActionLimit" = type { float, float }
%"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::Integration" = type { float }
%"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP" = type { %"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP::Initialization", %"struct.rl_tools::rl::environments::l2f::parameters::reward_functions::Squared", %"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP::ObservationNoise", %"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP::ActionNoise", %"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP::Termination" }
%"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP::Initialization" = type { float, float, float, float, float, i8, float, float }
%"struct.rl_tools::rl::environments::l2f::parameters::reward_functions::Squared" = type { i8, float, float, float, float, float, float, float, float, float, float }
%"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP::ObservationNoise" = type { float, float, float, float, float }
%"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP::ActionNoise" = type { float }
%"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP::Termination" = type { i8, float, float, float, float, float }
%"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::DomainRandomization" = type { float, float, float, float, float, float, float, float, float }
%"struct.rl_tools::rl::environments::l2f::ParametersDisturbances<float, unsigned long, rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>>::Disturbances" = type { %"struct.rl_tools::rl::environments::l2f::ParametersDisturbances<float, unsigned long, rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>>::Disturbances::UnivariateGaussian", %"struct.rl_tools::rl::environments::l2f::ParametersDisturbances<float, unsigned long, rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>>::Disturbances::UnivariateGaussian" }
%"struct.rl_tools::rl::environments::l2f::ParametersDisturbances<float, unsigned long, rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>>::Disturbances::UnivariateGaussian" = type { float, float }
%"struct.rl_tools::rl::utils::evaluation::Result" = type { [100 x float], float, float, [100 x i64], float, float }
%"class.std::mersenne_twister_engine" = type { [624 x i64], i64 }
%"struct.rl_tools::nn_models::sequential::ModuleBuffer.146" = type { %"struct.rl_tools::Tensor.147", %"struct.rl_tools::Tensor.147", %"struct.rl_tools::nn_models::sequential::ContentBuffer.149" }
%"struct.rl_tools::Tensor.147" = type { %"struct.rl_tools::tensor::TensorDynamic.148" }
%"struct.rl_tools::tensor::TensorDynamic.148" = type { ptr }
%"struct.rl_tools::nn_models::sequential::ContentBuffer.149" = type { %"struct.rl_tools::nn_models::mlp::NeuralNetworkBuffers.150", %"struct.rl_tools::nn_models::sequential::ContentBuffer.154" }
%"struct.rl_tools::nn_models::mlp::NeuralNetworkBuffers.150" = type <{ %"struct.rl_tools::Matrix.151", %"struct.rl_tools::Matrix.151", [8 x i8] }>
%"struct.rl_tools::Matrix.151" = type { %"struct.rl_tools::matrix::MatrixDynamic.152" }
%"struct.rl_tools::matrix::MatrixDynamic.152" = type { ptr }
%"struct.rl_tools::nn_models::sequential::ContentBuffer.154" = type <{ %"struct.rl_tools::nn::layers::sample_and_squash::Buffer.155", [8 x i8] }>
%"struct.rl_tools::nn::layers::sample_and_squash::Buffer.155" = type { %"struct.rl_tools::Matrix.156" }
%"struct.rl_tools::Matrix.156" = type { %"struct.rl_tools::matrix::MatrixDynamic.157" }
%"struct.rl_tools::matrix::MatrixDynamic.157" = type { ptr }
%"class.std::basic_ofstream" = type { %"class.std::basic_ostream.base", %"class.std::basic_filebuf", %"class.std::basic_ios" }
%"class.std::basic_ostream.base" = type { ptr }
%"class.std::basic_filebuf" = type { %"class.std::basic_streambuf", %union.pthread_mutex_t, %"class.std::__basic_file", i32, %struct.__mbstate_t, %struct.__mbstate_t, %struct.__mbstate_t, ptr, i64, i8, i8, i8, i8, ptr, ptr, i8, ptr, ptr, i64, ptr, ptr }
%"class.std::basic_streambuf" = type { ptr, ptr, ptr, ptr, ptr, ptr, ptr, %"class.std::locale" }
%union.pthread_mutex_t = type { %struct.__pthread_mutex_s }
%struct.__pthread_mutex_s = type { i32, i32, i32, i32, i32, i16, i16, %struct.__pthread_internal_list }
%struct.__pthread_internal_list = type { ptr, ptr }
%"class.std::__basic_file" = type <{ ptr, i8, [7 x i8] }>
%struct.__mbstate_t = type { i32, %union.anon.159 }
%union.anon.159 = type { i32 }
%"struct.rl_tools::rl::loop::steps::evaluation::State" = type <{ %"struct.rl_tools::rl::loop::steps::checkpoint::State", %"struct.rl_tools::Matrix.144", %"class.std::mersenne_twister_engine", [8 x i8], %"struct.rl_tools::nn_models::sequential::ModuleBuffer.146", %"struct.rl_tools::rl::environments::Multirotor", %"struct.rl_tools::rl::environments::l2f::ParametersDisturbances", [8 x i8] }>

@_Z9algorithmB5cxx11 = external dso_local global %"class.std::__cxx11::basic_string", align 8
@_Z11environmentB5cxx11 = external dso_local global %"class.std::__cxx11::basic_string", align 8
@.str.12 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [1 x i8], align 1
@.str.14 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.15 = external hidden unnamed_addr constant [2 x i8], align 1
@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.16 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [29 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [16 x i8], align 1

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #0

declare i32 @__gxx_personality_v0(...)

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_Z3zooiiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES4_S4_S4_(i32 noundef %0, i32 noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef %5) #2 personality ptr @__gxx_personality_v0 {
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca %"struct.rl_tools::devices::CPU", align 8
  %14 = alloca %"struct.rl_tools::rl::loop::steps::save_trajectories::State", align 8
  %15 = alloca ptr, align 8
  %16 = alloca i32, align 4
  %17 = alloca i64, align 8
  %18 = alloca i32, align 4
  %19 = alloca %"struct.rl_tools::rl::loop::steps::save_trajectories::State", align 8
  %20 = alloca %"class.std::__cxx11::basic_string", align 8
  %21 = alloca %"class.std::__cxx11::basic_string", align 8
  %22 = alloca %"class.std::basic_ofstream", align 8
  %23 = alloca %"class.std::filesystem::__cxx11::path", align 8
  %24 = alloca %"class.std::filesystem::__cxx11::path", align 8
  %25 = alloca i64, align 8
  %26 = alloca ptr, align 8
  %27 = alloca %"class.std::__cxx11::basic_string", align 8
  %28 = alloca %"class.std::basic_ofstream", align 8
  %29 = alloca %"class.std::filesystem::__cxx11::path", align 8
  %30 = alloca %"class.std::filesystem::__cxx11::path", align 8
  store i32 %0, ptr %7, align 4, !tbaa !5
  store i32 %1, ptr %8, align 4, !tbaa !5
  store ptr %2, ptr %9, align 8, !tbaa !9
  store ptr %3, ptr %10, align 8, !tbaa !9
  store ptr %4, ptr %11, align 8, !tbaa !9
  store ptr %5, ptr %12, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 112, ptr %13) #6
  call void @_ZN8rl_tools7devices3CPUI8DEV_SPECEC2Ev(ptr noundef nonnull align 8 dereferenceable(105) %13) #6
  call void @llvm.lifetime.start.p0(i64 20816, ptr %14) #6
  invoke void @_ZN8rl_tools2rl4loop5steps17save_trajectories5StateINS3_6ConfigINS2_10evaluation6ConfigINS2_10checkpoint6ConfigINS2_7extrack6ConfigINS2_6timing6ConfigINS0_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS0_12environments10MultirotorINSL_3l2f13SpecificationIfmNS0_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSQ_3sac7FACTORYISV_fmSK_E20LOOP_CORE_PARAMETERSENSH_22ConfigApproximatorsMLPELb1EEENSC_10ParametersImLm10000EEEEEEE26LOOP_CHECKPOINT_PARAMETERSEE26LOOP_EVALUATION_PARAMETERSNSL_7DummyUIEEE33LOOP_SAVE_TRAJECTORIES_PARAMETERSS1D_EENS6_5StateIS1E_NS8_5StateIS1B_NSA_5StateIS19_NSC_5StateIS18_NSH_5StateIS15_EEEEEEEEEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(20810) %14)
          to label %31 unwind label %40

31:                                               ; preds = %6
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #6
  %32 = load i32, ptr %7, align 4, !tbaa !5
  %33 = sext i32 %32 to i64
  store i64 %33, ptr %17, align 8, !tbaa !11
  br label %34

34:                                               ; preds = %197, %31
  %35 = load i64, ptr %17, align 8, !tbaa !11
  %36 = load i32, ptr %8, align 4, !tbaa !5
  %37 = sext i32 %36 to i64
  %38 = icmp ult i64 %35, %37
  br i1 %38, label %44, label %39

39:                                               ; preds = %34
  store i32 2, ptr %18, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #6
  br label %223

40:                                               ; preds = %6
  %41 = landingpad { ptr, i32 }
          cleanup
  %42 = extractvalue { ptr, i32 } %41, 0
  store ptr %42, ptr %15, align 8
  %43 = extractvalue { ptr, i32 } %41, 1
  store i32 %43, ptr %16, align 4
  br label %224

44:                                               ; preds = %34
  call void @llvm.lifetime.start.p0(i64 20816, ptr %19) #6
  invoke void @_ZN8rl_tools2rl4loop5steps17save_trajectories5StateINS3_6ConfigINS2_10evaluation6ConfigINS2_10checkpoint6ConfigINS2_7extrack6ConfigINS2_6timing6ConfigINS0_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS0_12environments10MultirotorINSL_3l2f13SpecificationIfmNS0_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSQ_3sac7FACTORYISV_fmSK_E20LOOP_CORE_PARAMETERSENSH_22ConfigApproximatorsMLPELb1EEENSC_10ParametersImLm10000EEEEEEE26LOOP_CHECKPOINT_PARAMETERSEE26LOOP_EVALUATION_PARAMETERSNSL_7DummyUIEEE33LOOP_SAVE_TRAJECTORIES_PARAMETERSS1D_EENS6_5StateIS1E_NS8_5StateIS1B_NSA_5StateIS19_NSC_5StateIS18_NSH_5StateIS15_EEEEEEEEEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(20810) %19)
          to label %45 unwind label %55

45:                                               ; preds = %44
  %46 = getelementptr inbounds %"struct.rl_tools::rl::loop::steps::extrack::State", ptr %19, i32 0, i32 3
  %47 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEPKc(ptr noundef nonnull align 8 dereferenceable(32) %46, ptr noundef @.str.12)
          to label %48 unwind label %59

48:                                               ; preds = %45
  %49 = invoke noundef zeroext i1 @_ZStneIcSt11char_traitsIcESaIcEEbRKNSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_(ptr noundef nonnull align 8 dereferenceable(32) %2, ptr noundef @.str.13)
          to label %50 unwind label %59

50:                                               ; preds = %48
  br i1 %49, label %51, label %63

51:                                               ; preds = %50
  %52 = getelementptr inbounds %"struct.rl_tools::rl::loop::steps::extrack::State", ptr %19, i32 0, i32 1
  %53 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNSt10filesystem7__cxx114pathaSINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEERNSt9enable_ifIX13__is_path_srcIT_EES1_E4typeERKSA_(ptr noundef nonnull align 8 dereferenceable(40) %52, ptr noundef nonnull align 8 dereferenceable(32) %2)
          to label %54 unwind label %59

54:                                               ; preds = %51
  br label %63

55:                                               ; preds = %44
  %56 = landingpad { ptr, i32 }
          cleanup
  %57 = extractvalue { ptr, i32 } %56, 0
  store ptr %57, ptr %15, align 8
  %58 = extractvalue { ptr, i32 } %56, 1
  store i32 %58, ptr %16, align 4
  br label %222

59:                                               ; preds = %122, %117, %114, %112, %110, %108, %106, %104, %102, %100, %98, %96, %95, %94, %93, %80, %75, %70, %66, %63, %51, %48, %45
  %60 = landingpad { ptr, i32 }
          cleanup
  %61 = extractvalue { ptr, i32 } %60, 0
  store ptr %61, ptr %15, align 8
  %62 = extractvalue { ptr, i32 } %60, 1
  store i32 %62, ptr %16, align 4
  br label %221

63:                                               ; preds = %54, %50
  %64 = invoke noundef zeroext i1 @_ZStneIcSt11char_traitsIcESaIcEEbRKNSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_(ptr noundef nonnull align 8 dereferenceable(32) %3, ptr noundef @.str.13)
          to label %65 unwind label %59

65:                                               ; preds = %63
  br i1 %64, label %66, label %70

66:                                               ; preds = %65
  %67 = getelementptr inbounds %"struct.rl_tools::rl::loop::steps::extrack::State", ptr %19, i32 0, i32 2
  %68 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSERKS4_(ptr noundef nonnull align 8 dereferenceable(32) %67, ptr noundef nonnull align 8 dereferenceable(32) %3)
          to label %69 unwind label %59

69:                                               ; preds = %66
  br label %70

70:                                               ; preds = %69, %65
  %71 = getelementptr inbounds %"struct.rl_tools::rl::loop::steps::extrack::State", ptr %19, i32 0, i32 4
  %72 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEPKc(ptr noundef nonnull align 8 dereferenceable(32) %71, ptr noundef @.str.14)
          to label %73 unwind label %59

73:                                               ; preds = %70
  call void @llvm.lifetime.start.p0(i64 32, ptr %20) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %21) #6
  invoke void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EERKS8_PKS5_(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %21, ptr noundef nonnull align 8 dereferenceable(32) @_Z11environmentB5cxx11, ptr noundef @.str.15)
          to label %74 unwind label %84

74:                                               ; preds = %73
  invoke void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEOS8_RKS8_(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %20, ptr noundef nonnull align 8 dereferenceable(32) %21, ptr noundef nonnull align 8 dereferenceable(32) @_Z9algorithmB5cxx11)
          to label %75 unwind label %88

75:                                               ; preds = %74
  %76 = getelementptr inbounds %"struct.rl_tools::rl::loop::steps::extrack::State", ptr %19, i32 0, i32 5
  %77 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEOS4_(ptr noundef nonnull align 8 dereferenceable(32) %76, ptr noundef nonnull align 8 dereferenceable(32) %20) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %21) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %20) #6
  %78 = invoke noundef zeroext i1 @_ZStneIcSt11char_traitsIcESaIcEEbRKNSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_(ptr noundef nonnull align 8 dereferenceable(32) %4, ptr noundef @.str.13)
          to label %79 unwind label %59

79:                                               ; preds = %75
  br i1 %78, label %80, label %93

80:                                               ; preds = %79
  %81 = getelementptr inbounds %"struct.rl_tools::rl::loop::steps::extrack::State", ptr %19, i32 0, i32 2
  %82 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSERKS4_(ptr noundef nonnull align 8 dereferenceable(32) %81, ptr noundef nonnull align 8 dereferenceable(32) %4)
          to label %83 unwind label %59

83:                                               ; preds = %80
  br label %93

84:                                               ; preds = %73
  %85 = landingpad { ptr, i32 }
          cleanup
  %86 = extractvalue { ptr, i32 } %85, 0
  store ptr %86, ptr %15, align 8
  %87 = extractvalue { ptr, i32 } %85, 1
  store i32 %87, ptr %16, align 4
  br label %92

88:                                               ; preds = %74
  %89 = landingpad { ptr, i32 }
          cleanup
  %90 = extractvalue { ptr, i32 } %89, 0
  store ptr %90, ptr %15, align 8
  %91 = extractvalue { ptr, i32 } %89, 1
  store i32 %91, ptr %16, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #6
  br label %92

92:                                               ; preds = %88, %84
  call void @llvm.lifetime.end.p0(i64 32, ptr %21) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %20) #6
  br label %221

93:                                               ; preds = %83, %79
  invoke void @_ZN8rl_tools6mallocI8DEV_SPECEEvRNS_7devices6DeviceIT_EE(ptr noundef nonnull align 1 dereferenceable(1) %13)
          to label %94 unwind label %59

94:                                               ; preds = %93
  invoke void @_ZN8rl_tools4initI8DEV_SPECEEvRNS_7devices3CPUIT_EE(ptr noundef nonnull align 8 dereferenceable(105) %13)
          to label %95 unwind label %59

95:                                               ; preds = %94
  invoke void @_ZN8rl_tools6mallocINS_7devices3CPUI8DEV_SPECEENS_2rl4loop5steps17save_trajectories6ConfigINS7_10evaluation6ConfigINS7_10checkpoint6ConfigINS7_7extrack6ConfigINS7_6timing6ConfigINS5_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS5_12environments10MultirotorINSP_3l2f13SpecificationIfmNS5_3zoo3l2f19ENVIRONMENT_FACTORYIS4_fmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSU_3sac7FACTORYIS4_fmSO_E20LOOP_CORE_PARAMETERSENSL_22ConfigApproximatorsMLPELb1EEENSG_10ParametersImLm10000EEEEEEE26LOOP_CHECKPOINT_PARAMETERSEE26LOOP_EVALUATION_PARAMETERSNSP_7DummyUIEEE33LOOP_SAVE_TRAJECTORIES_PARAMETERSS1D_EEEEvRT_RNS8_5StateIT0_NS1K_4NEXT5StateINS1K_4NEXTEEEEE(ptr noundef nonnull align 8 dereferenceable(105) %13, ptr noundef nonnull align 8 dereferenceable(20810) %19)
          to label %96 unwind label %59

96:                                               ; preds = %95
  %97 = load i64, ptr %17, align 8, !tbaa !11
  invoke void @_ZN8rl_tools4initINS_7devices3CPUI8DEV_SPECEENS_2rl4loop5steps17save_trajectories6ConfigINS7_10evaluation6ConfigINS7_10checkpoint6ConfigINS7_7extrack6ConfigINS7_6timing6ConfigINS5_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS5_12environments10MultirotorINSP_3l2f13SpecificationIfmNS5_3zoo3l2f19ENVIRONMENT_FACTORYIS4_fmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSU_3sac7FACTORYIS4_fmSO_E20LOOP_CORE_PARAMETERSENSL_22ConfigApproximatorsMLPELb1EEENSG_10ParametersImLm10000EEEEEEE26LOOP_CHECKPOINT_PARAMETERSEE26LOOP_EVALUATION_PARAMETERSNSP_7DummyUIEEE33LOOP_SAVE_TRAJECTORIES_PARAMETERSS1D_EEEEvRT_RNS8_5StateIT0_NS1K_4NEXT5StateINS1K_4NEXTEEEEENS1K_2TIE(ptr noundef nonnull align 8 dereferenceable(105) %13, ptr noundef nonnull align 8 dereferenceable(20810) %19, i64 noundef %97)
          to label %98 unwind label %59

98:                                               ; preds = %96
  %99 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.16)
          to label %100 unwind label %59

100:                                              ; preds = %98
  %101 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %99, i64 noundef 20000)
          to label %102 unwind label %59

102:                                              ; preds = %100
  %103 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %101, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %104 unwind label %59

104:                                              ; preds = %102
  %105 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.17)
          to label %106 unwind label %59

106:                                              ; preds = %104
  %107 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %105, i64 noundef 2000)
          to label %108 unwind label %59

108:                                              ; preds = %106
  %109 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %107, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %110 unwind label %59

110:                                              ; preds = %108
  %111 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.18)
          to label %112 unwind label %59

112:                                              ; preds = %110
  %113 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %111, i64 noundef 20000)
          to label %114 unwind label %59

114:                                              ; preds = %112
  %115 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %113, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %116 unwind label %59

116:                                              ; preds = %114
  br label %117

117:                                              ; preds = %121, %116
  %118 = invoke noundef zeroext i1 @_ZN8rl_tools4stepINS_7devices3CPUI8DEV_SPECEENS_2rl4loop5steps17save_trajectories6ConfigINS7_10evaluation6ConfigINS7_10checkpoint6ConfigINS7_7extrack6ConfigINS7_6timing6ConfigINS5_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS5_12environments10MultirotorINSP_3l2f13SpecificationIfmNS5_3zoo3l2f19ENVIRONMENT_FACTORYIS4_fmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSU_3sac7FACTORYIS4_fmSO_E20LOOP_CORE_PARAMETERSENSL_22ConfigApproximatorsMLPELb1EEENSG_10ParametersImLm10000EEEEEEE26LOOP_CHECKPOINT_PARAMETERSEE26LOOP_EVALUATION_PARAMETERSNSP_7DummyUIEEE33LOOP_SAVE_TRAJECTORIES_PARAMETERSS1D_EEEEbRT_RNS8_5StateIT0_NS1K_4NEXT5StateINS1K_4NEXTEEEEE(ptr noundef nonnull align 8 dereferenceable(105) %13, ptr noundef nonnull align 8 dereferenceable(20810) %19)
          to label %119 unwind label %59

119:                                              ; preds = %117
  %120 = xor i1 %118, true
  br i1 %120, label %121, label %122

121:                                              ; preds = %119
  br label %117, !llvm.loop !13

122:                                              ; preds = %119
  %123 = getelementptr inbounds %"struct.rl_tools::rl::loop::steps::extrack::State", ptr %19, i32 0, i32 9
  %124 = invoke noundef zeroext i1 @_ZNSt10filesystem18create_directoriesERKNS_7__cxx114pathE(ptr noundef nonnull align 8 dereferenceable(40) %123)
          to label %125 unwind label %59

125:                                              ; preds = %122
  call void @llvm.lifetime.start.p0(i64 512, ptr %22) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %23) #6
  %126 = getelementptr inbounds %"struct.rl_tools::rl::loop::steps::extrack::State", ptr %19, i32 0, i32 9
  call void @llvm.lifetime.start.p0(i64 40, ptr %24) #6
  invoke void @_ZNSt10filesystem7__cxx114pathC2IA12_cS1_EERKT_NS1_6formatE(ptr noundef nonnull align 8 dereferenceable(40) %24, ptr noundef nonnull align 1 dereferenceable(12) @.str.19, i8 noundef zeroext 2)
          to label %127 unwind label %136

127:                                              ; preds = %125
  invoke void @_ZNSt10filesystem7__cxx11dvERKNS0_4pathES3_(ptr dead_on_unwind writable sret(%"class.std::filesystem::__cxx11::path") align 8 %23, ptr noundef nonnull align 8 dereferenceable(40) %126, ptr noundef nonnull align 8 dereferenceable(40) %24)
          to label %128 unwind label %140

128:                                              ; preds = %127
  invoke void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1INSt10filesystem7__cxx114pathES6_EERKT_St13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248) %22, ptr noundef nonnull align 8 dereferenceable(40) %23, i32 noundef 16)
          to label %129 unwind label %144

129:                                              ; preds = %128
  call void @_ZNSt10filesystem7__cxx114pathD2Ev(ptr noundef nonnull align 8 dereferenceable(40) %23) #6
  call void @_ZNSt10filesystem7__cxx114pathD2Ev(ptr noundef nonnull align 8 dereferenceable(40) %24) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %24) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %23) #6
  %130 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %22, ptr noundef @.str.20)
          to label %131 unwind label %150

131:                                              ; preds = %129
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #6
  store i64 0, ptr %25, align 8, !tbaa !11
  br label %132

132:                                              ; preds = %184, %131
  %133 = load i64, ptr %25, align 8, !tbaa !11
  %134 = icmp ult i64 %133, 100
  br i1 %134, label %154, label %135

135:                                              ; preds = %132
  store i32 7, ptr %18, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #6
  br label %188

136:                                              ; preds = %125
  %137 = landingpad { ptr, i32 }
          cleanup
  %138 = extractvalue { ptr, i32 } %137, 0
  store ptr %138, ptr %15, align 8
  %139 = extractvalue { ptr, i32 } %137, 1
  store i32 %139, ptr %16, align 4
  br label %149

140:                                              ; preds = %127
  %141 = landingpad { ptr, i32 }
          cleanup
  %142 = extractvalue { ptr, i32 } %141, 0
  store ptr %142, ptr %15, align 8
  %143 = extractvalue { ptr, i32 } %141, 1
  store i32 %143, ptr %16, align 4
  br label %148

144:                                              ; preds = %128
  %145 = landingpad { ptr, i32 }
          cleanup
  %146 = extractvalue { ptr, i32 } %145, 0
  store ptr %146, ptr %15, align 8
  %147 = extractvalue { ptr, i32 } %145, 1
  store i32 %147, ptr %16, align 4
  call void @_ZNSt10filesystem7__cxx114pathD2Ev(ptr noundef nonnull align 8 dereferenceable(40) %23) #6
  br label %148

148:                                              ; preds = %144, %140
  call void @_ZNSt10filesystem7__cxx114pathD2Ev(ptr noundef nonnull align 8 dereferenceable(40) %24) #6
  br label %149

149:                                              ; preds = %148, %136
  call void @llvm.lifetime.end.p0(i64 40, ptr %24) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %23) #6
  br label %220

150:                                              ; preds = %188, %129
  %151 = landingpad { ptr, i32 }
          cleanup
  %152 = extractvalue { ptr, i32 } %151, 0
  store ptr %152, ptr %15, align 8
  %153 = extractvalue { ptr, i32 } %151, 1
  store i32 %153, ptr %16, align 4
  br label %219

154:                                              ; preds = %132
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #6
  %155 = getelementptr inbounds %"struct.rl_tools::rl::loop::steps::evaluation::State", ptr %19, i32 0, i32 1
  %156 = load i64, ptr %25, align 8, !tbaa !11
  %157 = invoke noundef nonnull align 8 dereferenceable(1216) ptr @_ZN8rl_tools3getINS_6matrix13SpecificationINS_2rl5utils10evaluation6ResultINS5_13SpecificationIfmNS3_12environments10MultirotorINS8_3l2f13SpecificationIfmNS3_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEELm100ELm500EEEEEmLm1ELm100ELb1ENS1_7layouts17RowMajorAlignmentImLm1EEELb0EEEEENS_5utils6typing11conditionalIXsrT_5CONSTERKNSW_1TERSX_E4typeERNS_6MatrixISW_EENSW_2TIES16_(ptr noundef nonnull align 8 dereferenceable(8) %155, i64 noundef 0, i64 noundef %156)
          to label %158 unwind label %170

158:                                              ; preds = %154
  store ptr %157, ptr %26, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 32, ptr %27) #6
  %159 = load ptr, ptr %26, align 8, !tbaa !9
  %160 = load i64, ptr %25, align 8, !tbaa !11
  %161 = mul i64 2000, %160
  invoke void @_ZN8rl_tools4jsonINS_7devices3CPUI8DEV_SPECEENS_2rl5utils10evaluation13SpecificationIfmNS5_12environments10MultirotorINS9_3l2f13SpecificationIfmNS5_3zoo3l2f19ENVIRONMENT_FACTORYIS4_fmE29ENVIRONMENT_STATIC_PARAMETERSEEEEELm100ELm500EEEEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERT_RNS7_6ResultIT0_EENSR_7index_tE(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %27, ptr noundef nonnull align 8 dereferenceable(105) %13, ptr noundef nonnull align 8 dereferenceable(1216) %159, i64 noundef %161)
          to label %162 unwind label %174

162:                                              ; preds = %158
  %163 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %22, ptr noundef nonnull align 8 dereferenceable(32) %27)
          to label %164 unwind label %178

164:                                              ; preds = %162
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %27) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %27) #6
  %165 = load i64, ptr %25, align 8, !tbaa !11
  %166 = icmp ult i64 %165, 99
  br i1 %166, label %167, label %183

167:                                              ; preds = %164
  %168 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %22, ptr noundef @.str.21)
          to label %169 unwind label %170

169:                                              ; preds = %167
  br label %183

170:                                              ; preds = %167, %154
  %171 = landingpad { ptr, i32 }
          cleanup
  %172 = extractvalue { ptr, i32 } %171, 0
  store ptr %172, ptr %15, align 8
  %173 = extractvalue { ptr, i32 } %171, 1
  store i32 %173, ptr %16, align 4
  br label %187

174:                                              ; preds = %158
  %175 = landingpad { ptr, i32 }
          cleanup
  %176 = extractvalue { ptr, i32 } %175, 0
  store ptr %176, ptr %15, align 8
  %177 = extractvalue { ptr, i32 } %175, 1
  store i32 %177, ptr %16, align 4
  br label %182

178:                                              ; preds = %162
  %179 = landingpad { ptr, i32 }
          cleanup
  %180 = extractvalue { ptr, i32 } %179, 0
  store ptr %180, ptr %15, align 8
  %181 = extractvalue { ptr, i32 } %179, 1
  store i32 %181, ptr %16, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %27) #6
  br label %182

182:                                              ; preds = %178, %174
  call void @llvm.lifetime.end.p0(i64 32, ptr %27) #6
  br label %187

183:                                              ; preds = %169, %164
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #6
  br label %184

184:                                              ; preds = %183
  %185 = load i64, ptr %25, align 8, !tbaa !11
  %186 = add i64 %185, 1
  store i64 %186, ptr %25, align 8, !tbaa !11
  br label %132, !llvm.loop !15

187:                                              ; preds = %182, %170
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #6
  br label %219

188:                                              ; preds = %135
  %189 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %22, ptr noundef @.str.22)
          to label %190 unwind label %150

190:                                              ; preds = %188
  call void @llvm.lifetime.start.p0(i64 512, ptr %28) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %29) #6
  %191 = getelementptr inbounds %"struct.rl_tools::rl::loop::steps::extrack::State", ptr %19, i32 0, i32 9
  call void @llvm.lifetime.start.p0(i64 40, ptr %30) #6
  invoke void @_ZNSt10filesystem7__cxx114pathC2IA16_cS1_EERKT_NS1_6formatE(ptr noundef nonnull align 8 dereferenceable(40) %30, ptr noundef nonnull align 1 dereferenceable(16) @.str.23, i8 noundef zeroext 2)
          to label %192 unwind label %200

192:                                              ; preds = %190
  invoke void @_ZNSt10filesystem7__cxx11dvERKNS0_4pathES3_(ptr dead_on_unwind writable sret(%"class.std::filesystem::__cxx11::path") align 8 %29, ptr noundef nonnull align 8 dereferenceable(40) %191, ptr noundef nonnull align 8 dereferenceable(40) %30)
          to label %193 unwind label %204

193:                                              ; preds = %192
  invoke void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1INSt10filesystem7__cxx114pathES6_EERKT_St13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248) %28, ptr noundef nonnull align 8 dereferenceable(40) %29, i32 noundef 16)
          to label %194 unwind label %208

194:                                              ; preds = %193
  call void @_ZNSt10filesystem7__cxx114pathD2Ev(ptr noundef nonnull align 8 dereferenceable(40) %29) #6
  call void @_ZNSt10filesystem7__cxx114pathD2Ev(ptr noundef nonnull align 8 dereferenceable(40) %30) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %30) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %29) #6
  invoke void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEE5closeEv(ptr noundef nonnull align 8 dereferenceable(248) %28)
          to label %195 unwind label %214

195:                                              ; preds = %194
  invoke void @_ZN8rl_tools4freeI8DEV_SPECEEvRNS_7devices6DeviceIT_EE(ptr noundef nonnull align 1 dereferenceable(1) %13)
          to label %196 unwind label %214

196:                                              ; preds = %195
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %28) #6
  call void @llvm.lifetime.end.p0(i64 512, ptr %28) #6
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %22) #6
  call void @llvm.lifetime.end.p0(i64 512, ptr %22) #6
  call void @_ZN8rl_tools2rl4loop5steps7extrack5StateINS3_6ConfigINS2_6timing6ConfigINS0_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS0_12environments10MultirotorINSF_3l2f13SpecificationIfmNS0_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSK_3sac7FACTORYISP_fmSE_E20LOOP_CORE_PARAMETERSENSB_22ConfigApproximatorsMLPELb1EEENS6_10ParametersImLm10000EEEEEEENS6_5StateIS12_NSB_5StateISZ_EEEEED2Ev(ptr noundef nonnull align 8 dereferenceable(20810) %19) #6
  call void @llvm.lifetime.end.p0(i64 20816, ptr %19) #6
  br label %197

197:                                              ; preds = %196
  %198 = load i64, ptr %17, align 8, !tbaa !11
  %199 = add i64 %198, 1
  store i64 %199, ptr %17, align 8, !tbaa !11
  br label %34, !llvm.loop !16

200:                                              ; preds = %190
  %201 = landingpad { ptr, i32 }
          cleanup
  %202 = extractvalue { ptr, i32 } %201, 0
  store ptr %202, ptr %15, align 8
  %203 = extractvalue { ptr, i32 } %201, 1
  store i32 %203, ptr %16, align 4
  br label %213

204:                                              ; preds = %192
  %205 = landingpad { ptr, i32 }
          cleanup
  %206 = extractvalue { ptr, i32 } %205, 0
  store ptr %206, ptr %15, align 8
  %207 = extractvalue { ptr, i32 } %205, 1
  store i32 %207, ptr %16, align 4
  br label %212

208:                                              ; preds = %193
  %209 = landingpad { ptr, i32 }
          cleanup
  %210 = extractvalue { ptr, i32 } %209, 0
  store ptr %210, ptr %15, align 8
  %211 = extractvalue { ptr, i32 } %209, 1
  store i32 %211, ptr %16, align 4
  call void @_ZNSt10filesystem7__cxx114pathD2Ev(ptr noundef nonnull align 8 dereferenceable(40) %29) #6
  br label %212

212:                                              ; preds = %208, %204
  call void @_ZNSt10filesystem7__cxx114pathD2Ev(ptr noundef nonnull align 8 dereferenceable(40) %30) #6
  br label %213

213:                                              ; preds = %212, %200
  call void @llvm.lifetime.end.p0(i64 40, ptr %30) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %29) #6
  br label %218

214:                                              ; preds = %195, %194
  %215 = landingpad { ptr, i32 }
          cleanup
  %216 = extractvalue { ptr, i32 } %215, 0
  store ptr %216, ptr %15, align 8
  %217 = extractvalue { ptr, i32 } %215, 1
  store i32 %217, ptr %16, align 4
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %28) #6
  br label %218

218:                                              ; preds = %214, %213
  call void @llvm.lifetime.end.p0(i64 512, ptr %28) #6
  br label %219

219:                                              ; preds = %218, %187, %150
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %22) #6
  br label %220

220:                                              ; preds = %219, %149
  call void @llvm.lifetime.end.p0(i64 512, ptr %22) #6
  br label %221

221:                                              ; preds = %220, %92, %59
  call void @_ZN8rl_tools2rl4loop5steps7extrack5StateINS3_6ConfigINS2_6timing6ConfigINS0_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS0_12environments10MultirotorINSF_3l2f13SpecificationIfmNS0_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSK_3sac7FACTORYISP_fmSE_E20LOOP_CORE_PARAMETERSENSB_22ConfigApproximatorsMLPELb1EEENS6_10ParametersImLm10000EEEEEEENS6_5StateIS12_NSB_5StateISZ_EEEEED2Ev(ptr noundef nonnull align 8 dereferenceable(20810) %19) #6
  br label %222

222:                                              ; preds = %221, %55
  call void @llvm.lifetime.end.p0(i64 20816, ptr %19) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #6
  call void @_ZN8rl_tools2rl4loop5steps7extrack5StateINS3_6ConfigINS2_6timing6ConfigINS0_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS0_12environments10MultirotorINSF_3l2f13SpecificationIfmNS0_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSK_3sac7FACTORYISP_fmSE_E20LOOP_CORE_PARAMETERSENSB_22ConfigApproximatorsMLPELb1EEENS6_10ParametersImLm10000EEEEEEENS6_5StateIS12_NSB_5StateISZ_EEEEED2Ev(ptr noundef nonnull align 8 dereferenceable(20810) %14) #6
  br label %224

223:                                              ; preds = %39
  store i32 1, ptr %18, align 4
  call void @_ZN8rl_tools2rl4loop5steps7extrack5StateINS3_6ConfigINS2_6timing6ConfigINS0_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS0_12environments10MultirotorINSF_3l2f13SpecificationIfmNS0_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSK_3sac7FACTORYISP_fmSE_E20LOOP_CORE_PARAMETERSENSB_22ConfigApproximatorsMLPELb1EEENS6_10ParametersImLm10000EEEEEEENS6_5StateIS12_NSB_5StateISZ_EEEEED2Ev(ptr noundef nonnull align 8 dereferenceable(20810) %14) #6
  call void @llvm.lifetime.end.p0(i64 20816, ptr %14) #6
  call void @_ZN8rl_tools7devices3CPUI8DEV_SPECED2Ev(ptr noundef nonnull align 8 dereferenceable(105) %13) #6
  call void @llvm.lifetime.end.p0(i64 112, ptr %13) #6
  ret i32 0

224:                                              ; preds = %222, %40
  call void @llvm.lifetime.end.p0(i64 20816, ptr %14) #6
  call void @_ZN8rl_tools7devices3CPUI8DEV_SPECED2Ev(ptr noundef nonnull align 8 dereferenceable(105) %13) #6
  call void @llvm.lifetime.end.p0(i64 112, ptr %13) #6
  br label %225

225:                                              ; preds = %224
  %226 = load ptr, ptr %15, align 8
  %227 = load i32, ptr %16, align 4
  %228 = insertvalue { ptr, i32 } poison, ptr %226, 0
  %229 = insertvalue { ptr, i32 } %228, i32 %227, 1
  resume { ptr, i32 } %229
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN8rl_tools7devices3CPUI8DEV_SPECEC2Ev(ptr noundef nonnull align 8 dereferenceable(105)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN8rl_tools2rl4loop5steps17save_trajectories5StateINS3_6ConfigINS2_10evaluation6ConfigINS2_10checkpoint6ConfigINS2_7extrack6ConfigINS2_6timing6ConfigINS0_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS0_12environments10MultirotorINSL_3l2f13SpecificationIfmNS0_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSQ_3sac7FACTORYISV_fmSK_E20LOOP_CORE_PARAMETERSENSH_22ConfigApproximatorsMLPELb1EEENSC_10ParametersImLm10000EEEEEEE26LOOP_CHECKPOINT_PARAMETERSEE26LOOP_EVALUATION_PARAMETERSNSL_7DummyUIEEE33LOOP_SAVE_TRAJECTORIES_PARAMETERSS1D_EENS6_5StateIS1E_NS8_5StateIS1B_NSA_5StateIS19_NSC_5StateIS18_NSH_5StateIS15_EEEEEEEEEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(20810)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEPKc(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZStneIcSt11char_traitsIcESaIcEEbRKNSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZNSt10filesystem7__cxx114pathaSINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEERNSt9enable_ifIX13__is_path_srcIT_EES1_E4typeERKSA_(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 8 dereferenceable(32)) #2 align 2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSERKS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEOS8_RKS8_(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EERKS8_PKS5_(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) #4

; Function Attrs: mustprogress nounwind uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEOS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN8rl_tools6mallocI8DEV_SPECEEvRNS_7devices6DeviceIT_EE(ptr noundef nonnull align 1 dereferenceable(1)) #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8rl_tools4initI8DEV_SPECEEvRNS_7devices3CPUIT_EE(ptr noundef nonnull align 8 dereferenceable(105)) #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8rl_tools6mallocINS_7devices3CPUI8DEV_SPECEENS_2rl4loop5steps17save_trajectories6ConfigINS7_10evaluation6ConfigINS7_10checkpoint6ConfigINS7_7extrack6ConfigINS7_6timing6ConfigINS5_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS5_12environments10MultirotorINSP_3l2f13SpecificationIfmNS5_3zoo3l2f19ENVIRONMENT_FACTORYIS4_fmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSU_3sac7FACTORYIS4_fmSO_E20LOOP_CORE_PARAMETERSENSL_22ConfigApproximatorsMLPELb1EEENSG_10ParametersImLm10000EEEEEEE26LOOP_CHECKPOINT_PARAMETERSEE26LOOP_EVALUATION_PARAMETERSNSP_7DummyUIEEE33LOOP_SAVE_TRAJECTORIES_PARAMETERSS1D_EEEEvRT_RNS8_5StateIT0_NS1K_4NEXT5StateINS1K_4NEXTEEEEE(ptr noundef nonnull align 8 dereferenceable(105), ptr noundef nonnull align 8 dereferenceable(20810)) #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8rl_tools4initINS_7devices3CPUI8DEV_SPECEENS_2rl4loop5steps17save_trajectories6ConfigINS7_10evaluation6ConfigINS7_10checkpoint6ConfigINS7_7extrack6ConfigINS7_6timing6ConfigINS5_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS5_12environments10MultirotorINSP_3l2f13SpecificationIfmNS5_3zoo3l2f19ENVIRONMENT_FACTORYIS4_fmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSU_3sac7FACTORYIS4_fmSO_E20LOOP_CORE_PARAMETERSENSL_22ConfigApproximatorsMLPELb1EEENSG_10ParametersImLm10000EEEEEEE26LOOP_CHECKPOINT_PARAMETERSEE26LOOP_EVALUATION_PARAMETERSNSP_7DummyUIEEE33LOOP_SAVE_TRAJECTORIES_PARAMETERSS1D_EEEEvRT_RNS8_5StateIT0_NS1K_4NEXT5StateINS1K_4NEXTEEEEENS1K_2TIE(ptr noundef nonnull align 8 dereferenceable(105), ptr noundef nonnull align 8 dereferenceable(20810), i64 noundef) #2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #4

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) #2 align 2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN8rl_tools4stepINS_7devices3CPUI8DEV_SPECEENS_2rl4loop5steps17save_trajectories6ConfigINS7_10evaluation6ConfigINS7_10checkpoint6ConfigINS7_7extrack6ConfigINS7_6timing6ConfigINS5_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS5_12environments10MultirotorINSP_3l2f13SpecificationIfmNS5_3zoo3l2f19ENVIRONMENT_FACTORYIS4_fmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSU_3sac7FACTORYIS4_fmSO_E20LOOP_CORE_PARAMETERSENSL_22ConfigApproximatorsMLPELb1EEENSG_10ParametersImLm10000EEEEEEE26LOOP_CHECKPOINT_PARAMETERSEE26LOOP_EVALUATION_PARAMETERSNSP_7DummyUIEEE33LOOP_SAVE_TRAJECTORIES_PARAMETERSS1D_EEEEbRT_RNS8_5StateIT0_NS1K_4NEXT5StateINS1K_4NEXTEEEEE(ptr noundef nonnull align 8 dereferenceable(105), ptr noundef nonnull align 8 dereferenceable(20810)) #2

declare noundef zeroext i1 @_ZNSt10filesystem18create_directoriesERKNS_7__cxx114pathE(ptr noundef nonnull align 8 dereferenceable(40)) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt10filesystem7__cxx11dvERKNS0_4pathES3_(ptr dead_on_unwind noalias writable sret(%"class.std::filesystem::__cxx11::path") align 8, ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 8 dereferenceable(40)) #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt10filesystem7__cxx114pathC2IA12_cS1_EERKT_NS1_6formatE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(12), i8 noundef zeroext) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1INSt10filesystem7__cxx114pathES6_EERKT_St13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248), ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10filesystem7__cxx114pathD2Ev(ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(1216) ptr @_ZN8rl_tools3getINS_6matrix13SpecificationINS_2rl5utils10evaluation6ResultINS5_13SpecificationIfmNS3_12environments10MultirotorINS8_3l2f13SpecificationIfmNS3_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEELm100ELm500EEEEEmLm1ELm100ELb1ENS1_7layouts17RowMajorAlignmentImLm1EEELb0EEEEENS_5utils6typing11conditionalIXsrT_5CONSTERKNSW_1TERSX_E4typeERNS_6MatrixISW_EENSW_2TIES16_(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef, i64 noundef) #4

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(32)) #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8rl_tools4jsonINS_7devices3CPUI8DEV_SPECEENS_2rl5utils10evaluation13SpecificationIfmNS5_12environments10MultirotorINS9_3l2f13SpecificationIfmNS5_3zoo3l2f19ENVIRONMENT_FACTORYIS4_fmE29ENVIRONMENT_STATIC_PARAMETERSEEEEELm100ELm500EEEEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERT_RNS7_6ResultIT0_EENSR_7index_tE(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(105), ptr noundef nonnull align 8 dereferenceable(1216), i64 noundef) #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt10filesystem7__cxx114pathC2IA16_cS1_EERKT_NS1_6formatE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(16), i8 noundef zeroext) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEE5closeEv(ptr noundef nonnull align 8 dereferenceable(248)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN8rl_tools4freeI8DEV_SPECEEvRNS_7devices6DeviceIT_EE(ptr noundef nonnull align 1 dereferenceable(1)) #1

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN8rl_tools2rl4loop5steps7extrack5StateINS3_6ConfigINS2_6timing6ConfigINS0_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS0_12environments10MultirotorINSF_3l2f13SpecificationIfmNS0_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSK_3sac7FACTORYISP_fmSE_E20LOOP_CORE_PARAMETERSENSB_22ConfigApproximatorsMLPELb1EEENS6_10ParametersImLm10000EEEEEEENS6_5StateIS12_NSB_5StateISZ_EEEEED2Ev(ptr noundef nonnull align 8 dereferenceable(8560)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN8rl_tools7devices3CPUI8DEV_SPECED2Ev(ptr noundef nonnull align 8 dereferenceable(105)) unnamed_addr #3 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nounwind }

!llvm.module.flags = !{!0, !1, !2, !3}
!llvm.ident = !{!4}

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"int", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"any pointer", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"long", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}
!15 = distinct !{!15, !14}
!16 = distinct !{!16, !14}


; Optimized IR (opt -passes='default<O3>'):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%"struct.rl_tools::devices::CPU" = type <{ [8 x i8], %"class.std::__cxx11::basic_string", %"class.std::__cxx11::basic_string", %"class.std::__cxx11::basic_string", i8, [7 x i8] }>
%"struct.rl_tools::rl::loop::steps::save_trajectories::State" = type <{ %"struct.rl_tools::rl::loop::steps::evaluation::State.base", [7 x i8], %"struct.rl_tools::rl::utils::evaluation::Result", ptr, %"class.std::mersenne_twister_engine", %"struct.rl_tools::nn_models::sequential::ModuleBuffer.146", i8, i8, [6 x i8] }>
%"struct.rl_tools::rl::loop::steps::evaluation::State.base" = type <{ %"struct.rl_tools::rl::loop::steps::checkpoint::State", %"struct.rl_tools::Matrix.144", %"class.std::mersenne_twister_engine", [8 x i8], %"struct.rl_tools::nn_models::sequential::ModuleBuffer.146", %"struct.rl_tools::rl::environments::Multirotor", %"struct.rl_tools::rl::environments::l2f::ParametersDisturbances", i8 }>
%"struct.rl_tools::rl::loop::steps::checkpoint::State" = type { %"struct.rl_tools::rl::loop::steps::extrack::State" }
%"struct.rl_tools::rl::loop::steps::extrack::State" = type { %"struct.rl_tools::rl::loop::steps::timing::State", %"class.std::filesystem::__cxx11::path", %"class.std::__cxx11::basic_string", %"class.std::__cxx11::basic_string", %"class.std::__cxx11::basic_string", %"class.std::__cxx11::basic_string", %"class.std::filesystem::__cxx11::path", %"class.std::filesystem::__cxx11::path", %"class.std::filesystem::__cxx11::path", %"class.std::filesystem::__cxx11::path" }
%"struct.rl_tools::rl::loop::steps::timing::State" = type { %"struct.rl_tools::rl::algorithms::sac::loop::core::State.base", %"class.std::chrono::time_point", %"class.std::chrono::time_point", i64 }
%"struct.rl_tools::rl::algorithms::sac::loop::core::State.base" = type <{ %"struct.rl_tools::nn::optimizers::Adam", [2 x %"struct.rl_tools::nn::optimizers::Adam.0"], %"struct.rl_tools::nn::optimizers::Adam.1", %"class.std::mersenne_twister_engine", %"struct.rl_tools::rl::components::OffPolicyRunner", [1 x %"struct.rl_tools::rl::environments::Multirotor"], [1 x %"struct.rl_tools::rl::environments::l2f::ParametersDisturbances"], %"struct.rl_tools::rl::algorithms::sac::ActorCritic", %"struct.rl_tools::rl::components::off_policy_runner::SequentialBatch", [2 x %"struct.rl_tools::rl::algorithms::sac::CriticTrainingBuffers"], %"struct.rl_tools::Matrix.60", [2 x %"struct.rl_tools::nn_models::sequential::ModuleBuffer"], %"struct.rl_tools::rl::components::off_policy_runner::SequentialBatch", %"struct.rl_tools::rl::algorithms::sac::ActorTrainingBuffers", %"struct.rl_tools::Matrix.60", [2 x %"struct.rl_tools::nn_models::sequential::ModuleBuffer.135"], %"struct.rl_tools::nn_models::sequential::ModuleBuffer.135", i64, i8, i8 }>
%"struct.rl_tools::nn::optimizers::Adam" = type { %"struct.rl_tools::nn::optimizers::adam::Parameters", float, float, i64 }
%"struct.rl_tools::nn::optimizers::adam::Parameters" = type { float, float, float, float, float, float, float, float, float }
%"struct.rl_tools::nn::optimizers::Adam.0" = type { %"struct.rl_tools::nn::optimizers::adam::Parameters", float, float, i64 }
%"struct.rl_tools::nn::optimizers::Adam.1" = type { %"struct.rl_tools::nn::optimizers::adam::Parameters", float, float, i64 }
%"struct.rl_tools::rl::components::OffPolicyRunner" = type { %"struct.rl_tools::rl::components::off_policy_runner::ParametersRuntime", %"struct.rl_tools::rl::components::off_policy_runner::Buffers", i64, i8, %"struct.rl_tools::Matrix.6", [8 x i8], %"struct.rl_tools::Matrix.8", %"struct.rl_tools::Matrix.10", %"struct.rl_tools::Matrix.12", %"struct.rl_tools::Matrix.14", %"struct.rl_tools::Matrix.16", %"struct.rl_tools::Matrix.18", %"struct.rl_tools::Matrix.20" }
%"struct.rl_tools::rl::components::off_policy_runner::ParametersRuntime" = type { float }
%"struct.rl_tools::rl::components::off_policy_runner::Buffers" = type { %"struct.rl_tools::Matrix", %"struct.rl_tools::Matrix.2", %"struct.rl_tools::Matrix.4", %"struct.rl_tools::Matrix", %"struct.rl_tools::Matrix.2" }
%"struct.rl_tools::Matrix.4" = type { %"struct.rl_tools::matrix::MatrixDynamic.5" }
%"struct.rl_tools::matrix::MatrixDynamic.5" = type { ptr }
%"struct.rl_tools::Matrix" = type { %"struct.rl_tools::matrix::MatrixDynamic" }
%"struct.rl_tools::matrix::MatrixDynamic" = type { ptr }
%"struct.rl_tools::Matrix.2" = type { %"struct.rl_tools::matrix::MatrixDynamic.3" }
%"struct.rl_tools::matrix::MatrixDynamic.3" = type { ptr }
%"struct.rl_tools::Matrix.6" = type { %"struct.rl_tools::matrix::MatrixDynamic.7" }
%"struct.rl_tools::matrix::MatrixDynamic.7" = type { ptr }
%"struct.rl_tools::Matrix.8" = type { %"struct.rl_tools::matrix::MatrixDynamic.9" }
%"struct.rl_tools::matrix::MatrixDynamic.9" = type { ptr }
%"struct.rl_tools::Matrix.10" = type { %"struct.rl_tools::matrix::MatrixDynamic.11" }
%"struct.rl_tools::matrix::MatrixDynamic.11" = type { ptr }
%"struct.rl_tools::Matrix.12" = type { %"struct.rl_tools::matrix::MatrixDynamic.13" }
%"struct.rl_tools::matrix::MatrixDynamic.13" = type { ptr }
%"struct.rl_tools::Matrix.14" = type { %"struct.rl_tools::matrix::MatrixDynamic.15" }
%"struct.rl_tools::matrix::MatrixDynamic.15" = type { ptr }
%"struct.rl_tools::Matrix.16" = type { %"struct.rl_tools::matrix::MatrixDynamic.17" }
%"struct.rl_tools::matrix::MatrixDynamic.17" = type { ptr }
%"struct.rl_tools::Matrix.18" = type { %"struct.rl_tools::matrix::MatrixDynamic.19" }
%"struct.rl_tools::matrix::MatrixDynamic.19" = type { ptr }
%"struct.rl_tools::Matrix.20" = type { %"struct.rl_tools::matrix::MatrixDynamic.21" }
%"struct.rl_tools::matrix::MatrixDynamic.21" = type { ptr }
%"struct.rl_tools::rl::algorithms::sac::ActorCritic" = type { %"struct.rl_tools::nn_models::sequential::Build", %"struct.rl_tools::nn_models::sequential::Build.66", %"struct.rl_tools::nn_models::sequential::Build.66", %"struct.rl_tools::nn_models::sequential::Build.95", %"struct.rl_tools::nn_models::sequential::Build.95", %"struct.rl_tools::nn::optimizers::Adam", [2 x %"struct.rl_tools::nn::optimizers::Adam.0"], %"struct.rl_tools::nn::optimizers::Adam.1" }
%"struct.rl_tools::nn_models::sequential::Build" = type { %"struct.rl_tools::nn_models::sequential::ModuleGradient" }
%"struct.rl_tools::nn_models::sequential::ModuleGradient" = type { %"struct.rl_tools::nn_models::sequential::ModuleBackward" }
%"struct.rl_tools::nn_models::sequential::ModuleBackward" = type { %"struct.rl_tools::nn_models::sequential::ModuleForward" }
%"struct.rl_tools::nn_models::sequential::ModuleForward" = type { %"struct.rl_tools::nn_models::mlp::NeuralNetworkGradient", %"struct.rl_tools::nn_models::sequential::ModuleGradient.57" }
%"struct.rl_tools::nn_models::mlp::NeuralNetworkGradient" = type { %"struct.rl_tools::nn_models::mlp::NeuralNetworkBackward" }
%"struct.rl_tools::nn_models::mlp::NeuralNetworkBackward" = type { %"struct.rl_tools::nn_models::mlp::NeuralNetworkForward" }
%"struct.rl_tools::nn_models::mlp::NeuralNetworkForward" = type { %"struct.rl_tools::nn::layers::dense::LayerGradient", [1 x %"struct.rl_tools::nn::layers::dense::LayerGradient.31"], %"struct.rl_tools::nn::layers::dense::LayerGradient.42" }
%"struct.rl_tools::nn::layers::dense::LayerGradient" = type { %"struct.rl_tools::nn::layers::dense::LayerBackward", %"struct.rl_tools::Matrix.29" }
%"struct.rl_tools::nn::layers::dense::LayerBackward" = type { %"struct.rl_tools::nn::layers::dense::LayerForward", %"struct.rl_tools::Matrix.29" }
%"struct.rl_tools::nn::layers::dense::LayerForward" = type { %"struct.rl_tools::nn::parameters::Adam::instance", %"struct.rl_tools::nn::parameters::Adam::instance.24" }
%"struct.rl_tools::nn::parameters::Adam::instance" = type { %"struct.rl_tools::nn::parameters::Gradient::instance", %"struct.rl_tools::Matrix.22", %"struct.rl_tools::Matrix.22" }
%"struct.rl_tools::nn::parameters::Gradient::instance" = type { %"struct.rl_tools::nn::parameters::Plain::instance", %"struct.rl_tools::Matrix.22" }
%"struct.rl_tools::nn::parameters::Plain::instance" = type { %"struct.rl_tools::Matrix.22" }
%"struct.rl_tools::Matrix.22" = type { %"struct.rl_tools::matrix::MatrixDynamic.23" }
%"struct.rl_tools::matrix::MatrixDynamic.23" = type { ptr }
%"struct.rl_tools::nn::parameters::Adam::instance.24" = type { %"struct.rl_tools::nn::parameters::Gradient::instance.25", %"struct.rl_tools::Matrix.27", %"struct.rl_tools::Matrix.27" }
%"struct.rl_tools::nn::parameters::Gradient::instance.25" = type { %"struct.rl_tools::nn::parameters::Plain::instance.26", %"struct.rl_tools::Matrix.27" }
%"struct.rl_tools::nn::parameters::Plain::instance.26" = type { %"struct.rl_tools::Matrix.27" }
%"struct.rl_tools::Matrix.27" = type { %"struct.rl_tools::matrix::MatrixDynamic.28" }
%"struct.rl_tools::matrix::MatrixDynamic.28" = type { ptr }
%"struct.rl_tools::Matrix.29" = type { %"struct.rl_tools::matrix::MatrixDynamic.30" }
%"struct.rl_tools::matrix::MatrixDynamic.30" = type { ptr }
%"struct.rl_tools::nn::layers::dense::LayerGradient.31" = type { %"struct.rl_tools::nn::layers::dense::LayerBackward.32", %"struct.rl_tools::Matrix.29" }
%"struct.rl_tools::nn::layers::dense::LayerBackward.32" = type { %"struct.rl_tools::nn::layers::dense::LayerForward.33", %"struct.rl_tools::Matrix.29" }
%"struct.rl_tools::nn::layers::dense::LayerForward.33" = type { %"struct.rl_tools::nn::parameters::Adam::instance.34", %"struct.rl_tools::nn::parameters::Adam::instance.39" }
%"struct.rl_tools::nn::parameters::Adam::instance.34" = type { %"struct.rl_tools::nn::parameters::Gradient::instance.35", %"struct.rl_tools::Matrix.37", %"struct.rl_tools::Matrix.37" }
%"struct.rl_tools::nn::parameters::Gradient::instance.35" = type { %"struct.rl_tools::nn::parameters::Plain::instance.36", %"struct.rl_tools::Matrix.37" }
%"struct.rl_tools::nn::parameters::Plain::instance.36" = type { %"struct.rl_tools::Matrix.37" }
%"struct.rl_tools::Matrix.37" = type { %"struct.rl_tools::matrix::MatrixDynamic.38" }
%"struct.rl_tools::matrix::MatrixDynamic.38" = type { ptr }
%"struct.rl_tools::nn::parameters::Adam::instance.39" = type { %"struct.rl_tools::nn::parameters::Gradient::instance.40", %"struct.rl_tools::Matrix.27", %"struct.rl_tools::Matrix.27" }
%"struct.rl_tools::nn::parameters::Gradient::instance.40" = type { %"struct.rl_tools::nn::parameters::Plain::instance.41", %"struct.rl_tools::Matrix.27" }
%"struct.rl_tools::nn::parameters::Plain::instance.41" = type { %"struct.rl_tools::Matrix.27" }
%"struct.rl_tools::nn::layers::dense::LayerGradient.42" = type { %"struct.rl_tools::nn::layers::dense::LayerBackward.43", %"struct.rl_tools::Matrix.55" }
%"struct.rl_tools::nn::layers::dense::LayerBackward.43" = type { %"struct.rl_tools::nn::layers::dense::LayerForward.44", %"struct.rl_tools::Matrix.55" }
%"struct.rl_tools::nn::layers::dense::LayerForward.44" = type { %"struct.rl_tools::nn::parameters::Adam::instance.45", %"struct.rl_tools::nn::parameters::Adam::instance.50" }
%"struct.rl_tools::nn::parameters::Adam::instance.45" = type { %"struct.rl_tools::nn::parameters::Gradient::instance.46", %"struct.rl_tools::Matrix.48", %"struct.rl_tools::Matrix.48" }
%"struct.rl_tools::nn::parameters::Gradient::instance.46" = type { %"struct.rl_tools::nn::parameters::Plain::instance.47", %"struct.rl_tools::Matrix.48" }
%"struct.rl_tools::nn::parameters::Plain::instance.47" = type { %"struct.rl_tools::Matrix.48" }
%"struct.rl_tools::Matrix.48" = type { %"struct.rl_tools::matrix::MatrixDynamic.49" }
%"struct.rl_tools::matrix::MatrixDynamic.49" = type { ptr }
%"struct.rl_tools::nn::parameters::Adam::instance.50" = type { %"struct.rl_tools::nn::parameters::Gradient::instance.51", %"struct.rl_tools::Matrix.53", %"struct.rl_tools::Matrix.53" }
%"struct.rl_tools::nn::parameters::Gradient::instance.51" = type { %"struct.rl_tools::nn::parameters::Plain::instance.52", %"struct.rl_tools::Matrix.53" }
%"struct.rl_tools::nn::parameters::Plain::instance.52" = type { %"struct.rl_tools::Matrix.53" }
%"struct.rl_tools::Matrix.53" = type { %"struct.rl_tools::matrix::MatrixDynamic.54" }
%"struct.rl_tools::matrix::MatrixDynamic.54" = type { ptr }
%"struct.rl_tools::Matrix.55" = type { %"struct.rl_tools::matrix::MatrixDynamic.56" }
%"struct.rl_tools::matrix::MatrixDynamic.56" = type { ptr }
%"struct.rl_tools::nn_models::sequential::ModuleGradient.57" = type { %"struct.rl_tools::nn_models::sequential::ModuleBackward.base", [7 x i8] }
%"struct.rl_tools::nn_models::sequential::ModuleBackward.base" = type { %"struct.rl_tools::nn_models::sequential::ModuleForward.base" }
%"struct.rl_tools::nn_models::sequential::ModuleForward.base" = type <{ %"struct.rl_tools::nn::layers::sample_and_squash::LayerGradient", i8 }>
%"struct.rl_tools::nn::layers::sample_and_squash::LayerGradient" = type { %"struct.rl_tools::nn::layers::sample_and_squash::LayerBackward", %"struct.rl_tools::Matrix.61", %"struct.rl_tools::Matrix.60", %"struct.rl_tools::nn::parameters::Adam::instance.63" }
%"struct.rl_tools::nn::layers::sample_and_squash::LayerBackward" = type { %"struct.rl_tools::Matrix.60", %"struct.rl_tools::Matrix.60" }
%"struct.rl_tools::Matrix.61" = type { %"struct.rl_tools::matrix::MatrixDynamic.62" }
%"struct.rl_tools::matrix::MatrixDynamic.62" = type { ptr }
%"struct.rl_tools::nn::parameters::Adam::instance.63" = type { %"struct.rl_tools::nn::parameters::Gradient::instance.64", %"struct.rl_tools::Matrix.16", %"struct.rl_tools::Matrix.16" }
%"struct.rl_tools::nn::parameters::Gradient::instance.64" = type { %"struct.rl_tools::nn::parameters::Plain::instance.65", %"struct.rl_tools::Matrix.16" }
%"struct.rl_tools::nn::parameters::Plain::instance.65" = type { %"struct.rl_tools::Matrix.16" }
%"struct.rl_tools::nn_models::sequential::Build.66" = type { %"struct.rl_tools::nn_models::sequential::ModuleGradient.base.94", [7 x i8] }
%"struct.rl_tools::nn_models::sequential::ModuleGradient.base.94" = type { %"struct.rl_tools::nn_models::sequential::ModuleBackward.base.93" }
%"struct.rl_tools::nn_models::sequential::ModuleBackward.base.93" = type { %"struct.rl_tools::nn_models::sequential::ModuleForward.base.92" }
%"struct.rl_tools::nn_models::sequential::ModuleForward.base.92" = type <{ %"struct.rl_tools::nn_models::mlp::NeuralNetworkGradient.70", i8 }>
%"struct.rl_tools::nn_models::mlp::NeuralNetworkGradient.70" = type { %"struct.rl_tools::nn_models::mlp::NeuralNetworkBackward.71" }
%"struct.rl_tools::nn_models::mlp::NeuralNetworkBackward.71" = type { %"struct.rl_tools::nn_models::mlp::NeuralNetworkForward.72" }
%"struct.rl_tools::nn_models::mlp::NeuralNetworkForward.72" = type { %"struct.rl_tools::nn::layers::dense::LayerGradient.73", [1 x %"struct.rl_tools::nn::layers::dense::LayerGradient.79"], %"struct.rl_tools::nn::layers::dense::LayerGradient.82" }
%"struct.rl_tools::nn::layers::dense::LayerGradient.73" = type { %"struct.rl_tools::nn::layers::dense::LayerBackward.74", %"struct.rl_tools::Matrix.29" }
%"struct.rl_tools::nn::layers::dense::LayerBackward.74" = type { %"struct.rl_tools::nn::layers::dense::LayerForward.75", %"struct.rl_tools::Matrix.29" }
%"struct.rl_tools::nn::layers::dense::LayerForward.75" = type { %"struct.rl_tools::nn::parameters::Adam::instance.76", %"struct.rl_tools::nn::parameters::Adam::instance.24" }
%"struct.rl_tools::nn::parameters::Adam::instance.76" = type { %"struct.rl_tools::nn::parameters::Gradient::instance.77", %"struct.rl_tools::Matrix.37", %"struct.rl_tools::Matrix.37" }
%"struct.rl_tools::nn::parameters::Gradient::instance.77" = type { %"struct.rl_tools::nn::parameters::Plain::instance.78", %"struct.rl_tools::Matrix.37" }
%"struct.rl_tools::nn::parameters::Plain::instance.78" = type { %"struct.rl_tools::Matrix.37" }
%"struct.rl_tools::nn::layers::dense::LayerGradient.79" = type { %"struct.rl_tools::nn::layers::dense::LayerBackward.80", %"struct.rl_tools::Matrix.29" }
%"struct.rl_tools::nn::layers::dense::LayerBackward.80" = type { %"struct.rl_tools::nn::layers::dense::LayerForward.81", %"struct.rl_tools::Matrix.29" }
%"struct.rl_tools::nn::layers::dense::LayerForward.81" = type { %"struct.rl_tools::nn::parameters::Adam::instance.34", %"struct.rl_tools::nn::parameters::Adam::instance.39" }
%"struct.rl_tools::nn::layers::dense::LayerGradient.82" = type { %"struct.rl_tools::nn::layers::dense::LayerBackward.83", %"struct.rl_tools::Matrix.91" }
%"struct.rl_tools::nn::layers::dense::LayerBackward.83" = type { %"struct.rl_tools::nn::layers::dense::LayerForward.84", %"struct.rl_tools::Matrix.91" }
%"struct.rl_tools::nn::layers::dense::LayerForward.84" = type { %"struct.rl_tools::nn::parameters::Adam::instance.85", %"struct.rl_tools::nn::parameters::Adam::instance.88" }
%"struct.rl_tools::nn::parameters::Adam::instance.85" = type { %"struct.rl_tools::nn::parameters::Gradient::instance.86", %"struct.rl_tools::Matrix.27", %"struct.rl_tools::Matrix.27" }
%"struct.rl_tools::nn::parameters::Gradient::instance.86" = type { %"struct.rl_tools::nn::parameters::Plain::instance.87", %"struct.rl_tools::Matrix.27" }
%"struct.rl_tools::nn::parameters::Plain::instance.87" = type { %"struct.rl_tools::Matrix.27" }
%"struct.rl_tools::nn::parameters::Adam::instance.88" = type { %"struct.rl_tools::nn::parameters::Gradient::instance.89", %"struct.rl_tools::Matrix.16", %"struct.rl_tools::Matrix.16" }
%"struct.rl_tools::nn::parameters::Gradient::instance.89" = type { %"struct.rl_tools::nn::parameters::Plain::instance.90", %"struct.rl_tools::Matrix.16" }
%"struct.rl_tools::nn::parameters::Plain::instance.90" = type { %"struct.rl_tools::Matrix.16" }
%"struct.rl_tools::Matrix.91" = type { %"struct.rl_tools::matrix::MatrixDynamic.62" }
%"struct.rl_tools::nn_models::sequential::Build.95" = type { %"struct.rl_tools::nn_models::sequential::ModuleForward.base.107", [7 x i8] }
%"struct.rl_tools::nn_models::sequential::ModuleForward.base.107" = type <{ %"struct.rl_tools::nn_models::mlp::NeuralNetworkForward.97", i8 }>
%"struct.rl_tools::nn_models::mlp::NeuralNetworkForward.97" = type { %"struct.rl_tools::nn::layers::dense::LayerForward.98", [1 x %"struct.rl_tools::nn::layers::dense::LayerForward.101"], %"struct.rl_tools::nn::layers::dense::LayerForward.104" }
%"struct.rl_tools::nn::layers::dense::LayerForward.98" = type { %"struct.rl_tools::nn::parameters::Plain::instance.99", %"struct.rl_tools::nn::parameters::Plain::instance.100" }
%"struct.rl_tools::nn::parameters::Plain::instance.99" = type { %"struct.rl_tools::Matrix.37" }
%"struct.rl_tools::nn::parameters::Plain::instance.100" = type { %"struct.rl_tools::Matrix.27" }
%"struct.rl_tools::nn::layers::dense::LayerForward.101" = type { %"struct.rl_tools::nn::parameters::Plain::instance.102", %"struct.rl_tools::nn::parameters::Plain::instance.103" }
%"struct.rl_tools::nn::parameters::Plain::instance.102" = type { %"struct.rl_tools::Matrix.37" }
%"struct.rl_tools::nn::parameters::Plain::instance.103" = type { %"struct.rl_tools::Matrix.27" }
%"struct.rl_tools::nn::layers::dense::LayerForward.104" = type { %"struct.rl_tools::nn::parameters::Plain::instance.105", %"struct.rl_tools::nn::parameters::Plain::instance.106" }
%"struct.rl_tools::nn::parameters::Plain::instance.105" = type { %"struct.rl_tools::Matrix.27" }
%"struct.rl_tools::nn::parameters::Plain::instance.106" = type { %"struct.rl_tools::Matrix.16" }
%"struct.rl_tools::rl::algorithms::sac::CriticTrainingBuffers" = type { %"struct.rl_tools::Tensor.117", %"struct.rl_tools::Tensor.119", %"struct.rl_tools::Tensor.120", %"struct.rl_tools::Tensor.121", %"struct.rl_tools::Tensor.122", %"struct.rl_tools::Tensor.113", %"struct.rl_tools::Tensor.113", %"struct.rl_tools::Tensor.113", %"struct.rl_tools::Tensor.113", %"struct.rl_tools::Tensor.123", %"struct.rl_tools::Tensor.113", %"struct.rl_tools::Tensor.113" }
%"struct.rl_tools::Tensor.117" = type { %"struct.rl_tools::tensor::TensorDynamic.118" }
%"struct.rl_tools::tensor::TensorDynamic.118" = type { ptr }
%"struct.rl_tools::Tensor.119" = type { %"struct.rl_tools::tensor::TensorDynamic.118" }
%"struct.rl_tools::Tensor.120" = type { %"struct.rl_tools::tensor::TensorDynamic.118" }
%"struct.rl_tools::Tensor.121" = type { %"struct.rl_tools::tensor::TensorDynamic.118" }
%"struct.rl_tools::Tensor.122" = type { %"struct.rl_tools::tensor::TensorDynamic.118" }
%"struct.rl_tools::Tensor.123" = type { %"struct.rl_tools::tensor::TensorDynamic.124" }
%"struct.rl_tools::tensor::TensorDynamic.124" = type { ptr }
%"struct.rl_tools::Tensor.113" = type { %"struct.rl_tools::tensor::TensorDynamic.114" }
%"struct.rl_tools::tensor::TensorDynamic.114" = type { ptr }
%"struct.rl_tools::nn_models::sequential::ModuleBuffer" = type { %"struct.rl_tools::Tensor.125", %"struct.rl_tools::Tensor.125", %"struct.rl_tools::nn_models::sequential::ContentBuffer" }
%"struct.rl_tools::Tensor.125" = type { %"struct.rl_tools::tensor::TensorDynamic.126" }
%"struct.rl_tools::tensor::TensorDynamic.126" = type { ptr }
%"struct.rl_tools::nn_models::sequential::ContentBuffer" = type { %"struct.rl_tools::nn_models::mlp::NeuralNetworkBuffers", [8 x i8] }
%"struct.rl_tools::nn_models::mlp::NeuralNetworkBuffers" = type <{ %"struct.rl_tools::Matrix.29", %"struct.rl_tools::Matrix.29", [8 x i8] }>
%"struct.rl_tools::rl::components::off_policy_runner::SequentialBatch" = type { %"struct.rl_tools::Tensor", %"struct.rl_tools::Tensor.109", %"struct.rl_tools::Tensor.110", %"struct.rl_tools::Tensor.111", %"struct.rl_tools::Tensor.112", %"struct.rl_tools::Tensor.109", %"struct.rl_tools::Tensor.111", %"struct.rl_tools::Tensor.112", %"struct.rl_tools::Tensor.110", %"struct.rl_tools::Tensor.113", %"struct.rl_tools::Tensor.115", %"struct.rl_tools::Tensor.115", %"struct.rl_tools::Tensor.115", %"struct.rl_tools::Tensor.115" }
%"struct.rl_tools::Tensor" = type { %"struct.rl_tools::tensor::TensorDynamic" }
%"struct.rl_tools::tensor::TensorDynamic" = type { ptr }
%"struct.rl_tools::Tensor.109" = type { %"struct.rl_tools::tensor::TensorDynamic" }
%"struct.rl_tools::Tensor.111" = type { %"struct.rl_tools::tensor::TensorDynamic" }
%"struct.rl_tools::Tensor.112" = type { %"struct.rl_tools::tensor::TensorDynamic" }
%"struct.rl_tools::Tensor.110" = type { %"struct.rl_tools::tensor::TensorDynamic" }
%"struct.rl_tools::Tensor.115" = type { %"struct.rl_tools::tensor::TensorDynamic.116" }
%"struct.rl_tools::tensor::TensorDynamic.116" = type { ptr }
%"struct.rl_tools::rl::algorithms::sac::ActorTrainingBuffers" = type { %"struct.rl_tools::Tensor.123", %"struct.rl_tools::Tensor.127", %"struct.rl_tools::Tensor.128", %"struct.rl_tools::Tensor.113", %"struct.rl_tools::Tensor.123", %"struct.rl_tools::Tensor.123", %"struct.rl_tools::Tensor.129", %"struct.rl_tools::Tensor.129", %"struct.rl_tools::Tensor.129", %"struct.rl_tools::Tensor.129", %"struct.rl_tools::Tensor.131", %"struct.rl_tools::Tensor.131", %"struct.rl_tools::Tensor.133" }
%"struct.rl_tools::Tensor.127" = type { %"struct.rl_tools::tensor::TensorDynamic.124" }
%"struct.rl_tools::Tensor.128" = type { %"struct.rl_tools::tensor::TensorDynamic.124" }
%"struct.rl_tools::Tensor.129" = type { %"struct.rl_tools::tensor::TensorDynamic.130" }
%"struct.rl_tools::tensor::TensorDynamic.130" = type { ptr }
%"struct.rl_tools::Tensor.131" = type { %"struct.rl_tools::tensor::TensorDynamic.132" }
%"struct.rl_tools::tensor::TensorDynamic.132" = type { ptr }
%"struct.rl_tools::Tensor.133" = type { %"struct.rl_tools::tensor::TensorDynamic.134" }
%"struct.rl_tools::tensor::TensorDynamic.134" = type { ptr }
%"struct.rl_tools::Matrix.60" = type { %"struct.rl_tools::matrix::MatrixDynamic.49" }
%"struct.rl_tools::nn_models::sequential::ModuleBuffer.135" = type { %"struct.rl_tools::Tensor.136", %"struct.rl_tools::Tensor.136", %"struct.rl_tools::nn_models::sequential::ContentBuffer.137" }
%"struct.rl_tools::Tensor.136" = type { %"struct.rl_tools::tensor::TensorDynamic.132" }
%"struct.rl_tools::nn_models::sequential::ContentBuffer.137" = type { %"struct.rl_tools::nn_models::mlp::NeuralNetworkBuffers.138", %"struct.rl_tools::nn_models::sequential::ContentBuffer.140" }
%"struct.rl_tools::nn_models::mlp::NeuralNetworkBuffers.138" = type <{ %"struct.rl_tools::Matrix.29", %"struct.rl_tools::Matrix.29", [8 x i8] }>
%"struct.rl_tools::nn_models::sequential::ContentBuffer.140" = type <{ %"struct.rl_tools::nn::layers::sample_and_squash::Buffer", [8 x i8] }>
%"struct.rl_tools::nn::layers::sample_and_squash::Buffer" = type { %"struct.rl_tools::Matrix.60" }
%"class.std::chrono::time_point" = type { %"class.std::chrono::duration" }
%"class.std::chrono::duration" = type { i64 }
%"class.std::filesystem::__cxx11::path" = type { %"class.std::__cxx11::basic_string", %"struct.std::filesystem::__cxx11::path::_List" }
%"struct.std::filesystem::__cxx11::path::_List" = type { %"class.std::unique_ptr" }
%"class.std::unique_ptr" = type { %"struct.std::__uniq_ptr_data" }
%"struct.std::__uniq_ptr_data" = type { %"class.std::__uniq_ptr_impl" }
%"class.std::__uniq_ptr_impl" = type { %"class.std::tuple" }
%"class.std::tuple" = type { %"struct.std::_Tuple_impl" }
%"struct.std::_Tuple_impl" = type { %"struct.std::_Head_base.143" }
%"struct.std::_Head_base.143" = type { ptr }
%"struct.rl_tools::Matrix.144" = type { %"struct.rl_tools::matrix::MatrixDynamic.145" }
%"struct.rl_tools::matrix::MatrixDynamic.145" = type { ptr }
%"struct.rl_tools::rl::environments::Multirotor" = type { %"struct.rl_tools::rl::environments::l2f::ParametersDisturbances" }
%"struct.rl_tools::rl::environments::l2f::ParametersDisturbances" = type { %"struct.rl_tools::rl::environments::l2f::ParametersBase", %"struct.rl_tools::rl::environments::l2f::ParametersDisturbances<float, unsigned long, rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>>::Disturbances" }
%"struct.rl_tools::rl::environments::l2f::ParametersBase" = type { %"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::Dynamics", %"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::Integration", %"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP", %"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::DomainRandomization" }
%"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::Dynamics" = type { [4 x [3 x float]], [4 x [3 x float]], [4 x [3 x float]], [3 x float], float, float, [3 x float], [3 x [3 x float]], [3 x [3 x float]], float, float, %"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::Dynamics::ActionLimit" }
%"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::Dynamics::ActionLimit" = type { float, float }
%"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::Integration" = type { float }
%"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP" = type { %"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP::Initialization", %"struct.rl_tools::rl::environments::l2f::parameters::reward_functions::Squared", %"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP::ObservationNoise", %"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP::ActionNoise", %"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP::Termination" }
%"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP::Initialization" = type { float, float, float, float, float, i8, float, float }
%"struct.rl_tools::rl::environments::l2f::parameters::reward_functions::Squared" = type { i8, float, float, float, float, float, float, float, float, float, float }
%"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP::ObservationNoise" = type { float, float, float, float, float }
%"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP::ActionNoise" = type { float }
%"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::MDP::Termination" = type { i8, float, float, float, float, float }
%"struct.rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>::DomainRandomization" = type { float, float, float, float, float, float, float, float, float }
%"struct.rl_tools::rl::environments::l2f::ParametersDisturbances<float, unsigned long, rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>>::Disturbances" = type { %"struct.rl_tools::rl::environments::l2f::ParametersDisturbances<float, unsigned long, rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>>::Disturbances::UnivariateGaussian", %"struct.rl_tools::rl::environments::l2f::ParametersDisturbances<float, unsigned long, rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>>::Disturbances::UnivariateGaussian" }
%"struct.rl_tools::rl::environments::l2f::ParametersDisturbances<float, unsigned long, rl_tools::rl::environments::l2f::ParametersBase<rl_tools::rl::environments::l2f::ParametersBaseSpecification<float, unsigned long, 4, rl_tools::rl::environments::l2f::parameters::reward_functions::Squared<float>, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY, rl_tools::rl::environments::l2f::parameters::dynamics::REGISTRY::crazyflie>>>::Disturbances::UnivariateGaussian" = type { float, float }
%"struct.rl_tools::rl::utils::evaluation::Result" = type { [100 x float], float, float, [100 x i64], float, float }
%"class.std::mersenne_twister_engine" = type { [624 x i64], i64 }
%"struct.rl_tools::nn_models::sequential::ModuleBuffer.146" = type { %"struct.rl_tools::Tensor.147", %"struct.rl_tools::Tensor.147", %"struct.rl_tools::nn_models::sequential::ContentBuffer.149" }
%"struct.rl_tools::Tensor.147" = type { %"struct.rl_tools::tensor::TensorDynamic.148" }
%"struct.rl_tools::tensor::TensorDynamic.148" = type { ptr }
%"struct.rl_tools::nn_models::sequential::ContentBuffer.149" = type { %"struct.rl_tools::nn_models::mlp::NeuralNetworkBuffers.150", %"struct.rl_tools::nn_models::sequential::ContentBuffer.154" }
%"struct.rl_tools::nn_models::mlp::NeuralNetworkBuffers.150" = type <{ %"struct.rl_tools::Matrix.151", %"struct.rl_tools::Matrix.151", [8 x i8] }>
%"struct.rl_tools::Matrix.151" = type { %"struct.rl_tools::matrix::MatrixDynamic.152" }
%"struct.rl_tools::matrix::MatrixDynamic.152" = type { ptr }
%"struct.rl_tools::nn_models::sequential::ContentBuffer.154" = type <{ %"struct.rl_tools::nn::layers::sample_and_squash::Buffer.155", [8 x i8] }>
%"struct.rl_tools::nn::layers::sample_and_squash::Buffer.155" = type { %"struct.rl_tools::Matrix.156" }
%"struct.rl_tools::Matrix.156" = type { %"struct.rl_tools::matrix::MatrixDynamic.157" }
%"struct.rl_tools::matrix::MatrixDynamic.157" = type { ptr }
%"class.std::basic_ofstream" = type { %"class.std::basic_ostream.base", %"class.std::basic_filebuf", %"class.std::basic_ios" }
%"class.std::basic_ostream.base" = type { ptr }
%"class.std::basic_filebuf" = type { %"class.std::basic_streambuf", %union.pthread_mutex_t, %"class.std::__basic_file", i32, %struct.__mbstate_t, %struct.__mbstate_t, %struct.__mbstate_t, ptr, i64, i8, i8, i8, i8, ptr, ptr, i8, ptr, ptr, i64, ptr, ptr }
%"class.std::basic_streambuf" = type { ptr, ptr, ptr, ptr, ptr, ptr, ptr, %"class.std::locale" }
%union.pthread_mutex_t = type { %struct.__pthread_mutex_s }
%struct.__pthread_mutex_s = type { i32, i32, i32, i32, i32, i16, i16, %struct.__pthread_internal_list }
%struct.__pthread_internal_list = type { ptr, ptr }
%"class.std::__basic_file" = type <{ ptr, i8, [7 x i8] }>
%struct.__mbstate_t = type { i32, %union.anon.159 }
%union.anon.159 = type { i32 }

@_Z9algorithmB5cxx11 = external dso_local global %"class.std::__cxx11::basic_string", align 8
@_Z11environmentB5cxx11 = external dso_local global %"class.std::__cxx11::basic_string", align 8
@.str.12 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [1 x i8], align 1
@.str.14 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.15 = external hidden unnamed_addr constant [2 x i8], align 1
@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.16 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [29 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [16 x i8], align 1

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #0

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_Z3zooiiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES4_S4_S4_(i32 noundef %0, i32 noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr nocapture noundef readnone %5) local_unnamed_addr #2 personality ptr @__gxx_personality_v0 {
  %7 = alloca %"struct.rl_tools::devices::CPU", align 8
  %8 = alloca %"struct.rl_tools::rl::loop::steps::save_trajectories::State", align 8
  %9 = alloca %"struct.rl_tools::rl::loop::steps::save_trajectories::State", align 8
  %10 = alloca %"class.std::__cxx11::basic_string", align 8
  %11 = alloca %"class.std::__cxx11::basic_string", align 8
  %12 = alloca %"class.std::basic_ofstream", align 8
  %13 = alloca %"class.std::filesystem::__cxx11::path", align 8
  %14 = alloca %"class.std::filesystem::__cxx11::path", align 8
  %15 = alloca %"class.std::__cxx11::basic_string", align 8
  %16 = alloca %"class.std::basic_ofstream", align 8
  %17 = alloca %"class.std::filesystem::__cxx11::path", align 8
  %18 = alloca %"class.std::filesystem::__cxx11::path", align 8
  call void @llvm.lifetime.start.p0(i64 112, ptr nonnull %7) #6
  call void @_ZN8rl_tools7devices3CPUI8DEV_SPECEC2Ev(ptr noundef nonnull align 8 dereferenceable(105) %7) #6
  call void @llvm.lifetime.start.p0(i64 20816, ptr nonnull %8) #6
  invoke void @_ZN8rl_tools2rl4loop5steps17save_trajectories5StateINS3_6ConfigINS2_10evaluation6ConfigINS2_10checkpoint6ConfigINS2_7extrack6ConfigINS2_6timing6ConfigINS0_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS0_12environments10MultirotorINSL_3l2f13SpecificationIfmNS0_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSQ_3sac7FACTORYISV_fmSK_E20LOOP_CORE_PARAMETERSENSH_22ConfigApproximatorsMLPELb1EEENSC_10ParametersImLm10000EEEEEEE26LOOP_CHECKPOINT_PARAMETERSEE26LOOP_EVALUATION_PARAMETERSNSL_7DummyUIEEE33LOOP_SAVE_TRAJECTORIES_PARAMETERSS1D_EENS6_5StateIS1E_NS8_5StateIS1B_NSA_5StateIS19_NSC_5StateIS18_NSH_5StateIS15_EEEEEEEEEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(20810) %8)
          to label %19 unwind label %30

19:                                               ; preds = %6
  %20 = sext i32 %1 to i64
  %21 = icmp ult i32 %0, %1
  br i1 %21, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %19
  %22 = sext i32 %0 to i64
  %23 = getelementptr inbounds i8, ptr %9, i64 8304
  %24 = getelementptr inbounds i8, ptr %9, i64 8232
  %25 = getelementptr inbounds i8, ptr %9, i64 8272
  %26 = getelementptr inbounds i8, ptr %9, i64 8336
  %27 = getelementptr inbounds i8, ptr %9, i64 8368
  %28 = getelementptr inbounds i8, ptr %9, i64 8520
  %29 = getelementptr inbounds i8, ptr %9, i64 8560
  br label %32

._crit_edge:                                      ; preds = %125, %19
  call void @_ZN8rl_tools2rl4loop5steps7extrack5StateINS3_6ConfigINS2_6timing6ConfigINS0_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS0_12environments10MultirotorINSF_3l2f13SpecificationIfmNS0_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSK_3sac7FACTORYISP_fmSE_E20LOOP_CORE_PARAMETERSENSB_22ConfigApproximatorsMLPELb1EEENS6_10ParametersImLm10000EEEEEEENS6_5StateIS12_NSB_5StateISZ_EEEEED2Ev(ptr noundef nonnull align 8 dereferenceable(20810) %8) #6
  call void @llvm.lifetime.end.p0(i64 20816, ptr nonnull %8) #6
  call void @_ZN8rl_tools7devices3CPUI8DEV_SPECED2Ev(ptr noundef nonnull align 8 dereferenceable(105) %7) #6
  call void @llvm.lifetime.end.p0(i64 112, ptr nonnull %7) #6
  ret i32 0

30:                                               ; preds = %6
  %31 = landingpad { ptr, i32 }
          cleanup
  br label %143

32:                                               ; preds = %.lr.ph, %125
  %.01347 = phi i64 [ %22, %.lr.ph ], [ %126, %125 ]
  call void @llvm.lifetime.start.p0(i64 20816, ptr nonnull %9) #6
  invoke void @_ZN8rl_tools2rl4loop5steps17save_trajectories5StateINS3_6ConfigINS2_10evaluation6ConfigINS2_10checkpoint6ConfigINS2_7extrack6ConfigINS2_6timing6ConfigINS0_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS0_12environments10MultirotorINSL_3l2f13SpecificationIfmNS0_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSQ_3sac7FACTORYISV_fmSK_E20LOOP_CORE_PARAMETERSENSH_22ConfigApproximatorsMLPELb1EEENSC_10ParametersImLm10000EEEEEEE26LOOP_CHECKPOINT_PARAMETERSEE26LOOP_EVALUATION_PARAMETERSNSL_7DummyUIEEE33LOOP_SAVE_TRAJECTORIES_PARAMETERSS1D_EENS6_5StateIS1E_NS8_5StateIS1B_NSA_5StateIS19_NSC_5StateIS18_NSH_5StateIS15_EEEEEEEEEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(20810) %9)
          to label %33 unwind label %40

33:                                               ; preds = %32
  %34 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEPKc(ptr noundef nonnull align 8 dereferenceable(32) %23, ptr noundef nonnull @.str.12)
          to label %35 unwind label %.loopexit.split-lp

35:                                               ; preds = %33
  %36 = invoke noundef zeroext i1 @_ZStneIcSt11char_traitsIcESaIcEEbRKNSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_(ptr noundef nonnull align 8 dereferenceable(32) %2, ptr noundef nonnull @.str.13)
          to label %37 unwind label %.loopexit.split-lp

37:                                               ; preds = %35
  br i1 %36, label %38, label %42

38:                                               ; preds = %37
  %39 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNSt10filesystem7__cxx114pathaSINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEERNSt9enable_ifIX13__is_path_srcIT_EES1_E4typeERKSA_(ptr noundef nonnull align 8 dereferenceable(40) %24, ptr noundef nonnull align 8 dereferenceable(32) %2)
          to label %42 unwind label %.loopexit.split-lp

40:                                               ; preds = %32
  %41 = landingpad { ptr, i32 }
          cleanup
  br label %142

.loopexit:                                        ; preds = %.preheader45
  %lpad.loopexit = landingpad { ptr, i32 }
          cleanup
  br label %141

.loopexit.split-lp:                               ; preds = %33, %35, %38, %42, %45, %47, %51, %55, %62, %63, %64, %65, %67, %69, %71, %73, %75, %77, %79, %81, %85
  %lpad.loopexit.split-lp = landingpad { ptr, i32 }
          cleanup
  br label %141

42:                                               ; preds = %38, %37
  %43 = invoke noundef zeroext i1 @_ZStneIcSt11char_traitsIcESaIcEEbRKNSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_(ptr noundef nonnull align 8 dereferenceable(32) %3, ptr noundef nonnull @.str.13)
          to label %44 unwind label %.loopexit.split-lp

44:                                               ; preds = %42
  br i1 %43, label %45, label %47

45:                                               ; preds = %44
  %46 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSERKS4_(ptr noundef nonnull align 8 dereferenceable(32) %25, ptr noundef nonnull align 8 dereferenceable(32) %3)
          to label %47 unwind label %.loopexit.split-lp

47:                                               ; preds = %45, %44
  %48 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEPKc(ptr noundef nonnull align 8 dereferenceable(32) %26, ptr noundef nonnull @.str.14)
          to label %49 unwind label %.loopexit.split-lp

49:                                               ; preds = %47
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %10) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %11) #6
  invoke void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EERKS8_PKS5_(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %11, ptr noundef nonnull align 8 dereferenceable(32) @_Z11environmentB5cxx11, ptr noundef nonnull @.str.15)
          to label %50 unwind label %57

50:                                               ; preds = %49
  invoke void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEOS8_RKS8_(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %10, ptr noundef nonnull align 8 dereferenceable(32) %11, ptr noundef nonnull align 8 dereferenceable(32) @_Z9algorithmB5cxx11)
          to label %51 unwind label %59

51:                                               ; preds = %50
  %52 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEOS4_(ptr noundef nonnull align 8 dereferenceable(32) %27, ptr noundef nonnull align 8 dereferenceable(32) %10) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %11) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %10) #6
  %53 = invoke noundef zeroext i1 @_ZStneIcSt11char_traitsIcESaIcEEbRKNSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_(ptr noundef nonnull align 8 dereferenceable(32) %4, ptr noundef nonnull @.str.13)
          to label %54 unwind label %.loopexit.split-lp

54:                                               ; preds = %51
  br i1 %53, label %55, label %62

55:                                               ; preds = %54
  %56 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSERKS4_(ptr noundef nonnull align 8 dereferenceable(32) %25, ptr noundef nonnull align 8 dereferenceable(32) %4)
          to label %62 unwind label %.loopexit.split-lp

57:                                               ; preds = %49
  %58 = landingpad { ptr, i32 }
          cleanup
  br label %61

59:                                               ; preds = %50
  %60 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #6
  br label %61

61:                                               ; preds = %59, %57
  %.pn = phi { ptr, i32 } [ %60, %59 ], [ %58, %57 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %11) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %10) #6
  br label %141

62:                                               ; preds = %55, %54
  call void @_ZN8rl_tools6mallocI8DEV_SPECEEvRNS_7devices6DeviceIT_EE(ptr noundef nonnull align 1 dereferenceable(1) %7)
  invoke void @_ZN8rl_tools4initI8DEV_SPECEEvRNS_7devices3CPUIT_EE(ptr noundef nonnull align 8 dereferenceable(105) %7)
          to label %63 unwind label %.loopexit.split-lp

63:                                               ; preds = %62
  invoke void @_ZN8rl_tools6mallocINS_7devices3CPUI8DEV_SPECEENS_2rl4loop5steps17save_trajectories6ConfigINS7_10evaluation6ConfigINS7_10checkpoint6ConfigINS7_7extrack6ConfigINS7_6timing6ConfigINS5_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS5_12environments10MultirotorINSP_3l2f13SpecificationIfmNS5_3zoo3l2f19ENVIRONMENT_FACTORYIS4_fmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSU_3sac7FACTORYIS4_fmSO_E20LOOP_CORE_PARAMETERSENSL_22ConfigApproximatorsMLPELb1EEENSG_10ParametersImLm10000EEEEEEE26LOOP_CHECKPOINT_PARAMETERSEE26LOOP_EVALUATION_PARAMETERSNSP_7DummyUIEEE33LOOP_SAVE_TRAJECTORIES_PARAMETERSS1D_EEEEvRT_RNS8_5StateIT0_NS1K_4NEXT5StateINS1K_4NEXTEEEEE(ptr noundef nonnull align 8 dereferenceable(105) %7, ptr noundef nonnull align 8 dereferenceable(20810) %9)
          to label %64 unwind label %.loopexit.split-lp

64:                                               ; preds = %63
  invoke void @_ZN8rl_tools4initINS_7devices3CPUI8DEV_SPECEENS_2rl4loop5steps17save_trajectories6ConfigINS7_10evaluation6ConfigINS7_10checkpoint6ConfigINS7_7extrack6ConfigINS7_6timing6ConfigINS5_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS5_12environments10MultirotorINSP_3l2f13SpecificationIfmNS5_3zoo3l2f19ENVIRONMENT_FACTORYIS4_fmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSU_3sac7FACTORYIS4_fmSO_E20LOOP_CORE_PARAMETERSENSL_22ConfigApproximatorsMLPELb1EEENSG_10ParametersImLm10000EEEEEEE26LOOP_CHECKPOINT_PARAMETERSEE26LOOP_EVALUATION_PARAMETERSNSP_7DummyUIEEE33LOOP_SAVE_TRAJECTORIES_PARAMETERSS1D_EEEEvRT_RNS8_5StateIT0_NS1K_4NEXT5StateINS1K_4NEXTEEEEENS1K_2TIE(ptr noundef nonnull align 8 dereferenceable(105) %7, ptr noundef nonnull align 8 dereferenceable(20810) %9, i64 noundef %.01347)
          to label %65 unwind label %.loopexit.split-lp

65:                                               ; preds = %64
  %66 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.16)
          to label %67 unwind label %.loopexit.split-lp

67:                                               ; preds = %65
  %68 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %66, i64 noundef 20000)
          to label %69 unwind label %.loopexit.split-lp

69:                                               ; preds = %67
  %70 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %68, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %71 unwind label %.loopexit.split-lp

71:                                               ; preds = %69
  %72 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.17)
          to label %73 unwind label %.loopexit.split-lp

73:                                               ; preds = %71
  %74 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %72, i64 noundef 2000)
          to label %75 unwind label %.loopexit.split-lp

75:                                               ; preds = %73
  %76 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %74, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %77 unwind label %.loopexit.split-lp

77:                                               ; preds = %75
  %78 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.18)
          to label %79 unwind label %.loopexit.split-lp

79:                                               ; preds = %77
  %80 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %78, i64 noundef 20000)
          to label %81 unwind label %.loopexit.split-lp

81:                                               ; preds = %79
  %82 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %80, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %.preheader45 unwind label %.loopexit.split-lp

.preheader45:                                     ; preds = %81, %84
  %83 = invoke noundef zeroext i1 @_ZN8rl_tools4stepINS_7devices3CPUI8DEV_SPECEENS_2rl4loop5steps17save_trajectories6ConfigINS7_10evaluation6ConfigINS7_10checkpoint6ConfigINS7_7extrack6ConfigINS7_6timing6ConfigINS5_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS5_12environments10MultirotorINSP_3l2f13SpecificationIfmNS5_3zoo3l2f19ENVIRONMENT_FACTORYIS4_fmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSU_3sac7FACTORYIS4_fmSO_E20LOOP_CORE_PARAMETERSENSL_22ConfigApproximatorsMLPELb1EEENSG_10ParametersImLm10000EEEEEEE26LOOP_CHECKPOINT_PARAMETERSEE26LOOP_EVALUATION_PARAMETERSNSP_7DummyUIEEE33LOOP_SAVE_TRAJECTORIES_PARAMETERSS1D_EEEEbRT_RNS8_5StateIT0_NS1K_4NEXT5StateINS1K_4NEXTEEEEE(ptr noundef nonnull align 8 dereferenceable(105) %7, ptr noundef nonnull align 8 dereferenceable(20810) %9)
          to label %84 unwind label %.loopexit

84:                                               ; preds = %.preheader45
  br i1 %83, label %85, label %.preheader45, !llvm.loop !5

85:                                               ; preds = %84
  %86 = invoke noundef zeroext i1 @_ZNSt10filesystem18create_directoriesERKNS_7__cxx114pathE(ptr noundef nonnull align 8 dereferenceable(40) %28)
          to label %87 unwind label %.loopexit.split-lp

87:                                               ; preds = %85
  call void @llvm.lifetime.start.p0(i64 512, ptr nonnull %12) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %13) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %14) #6
  invoke void @_ZNSt10filesystem7__cxx114pathC2IA12_cS1_EERKT_NS1_6formatE(ptr noundef nonnull align 8 dereferenceable(40) %14, ptr noundef nonnull align 1 dereferenceable(12) @.str.19, i8 noundef zeroext 2)
          to label %88 unwind label %94

88:                                               ; preds = %87
  invoke void @_ZNSt10filesystem7__cxx11dvERKNS0_4pathES3_(ptr dead_on_unwind nonnull writable sret(%"class.std::filesystem::__cxx11::path") align 8 %13, ptr noundef nonnull align 8 dereferenceable(40) %28, ptr noundef nonnull align 8 dereferenceable(40) %14)
          to label %89 unwind label %96

89:                                               ; preds = %88
  invoke void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1INSt10filesystem7__cxx114pathES6_EERKT_St13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248) %12, ptr noundef nonnull align 8 dereferenceable(40) %13, i32 noundef 16)
          to label %90 unwind label %98

90:                                               ; preds = %89
  call void @_ZNSt10filesystem7__cxx114pathD2Ev(ptr noundef nonnull align 8 dereferenceable(40) %13) #6
  call void @_ZNSt10filesystem7__cxx114pathD2Ev(ptr noundef nonnull align 8 dereferenceable(40) %14) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %14) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %13) #6
  %91 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %12, ptr noundef nonnull @.str.20)
          to label %.preheader unwind label %102

92:                                               ; preds = %109
  %93 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %12, ptr noundef nonnull @.str.22)
          to label %121 unwind label %102

94:                                               ; preds = %87
  %95 = landingpad { ptr, i32 }
          cleanup
  br label %101

96:                                               ; preds = %88
  %97 = landingpad { ptr, i32 }
          cleanup
  br label %100

98:                                               ; preds = %89
  %99 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt10filesystem7__cxx114pathD2Ev(ptr noundef nonnull align 8 dereferenceable(40) %13) #6
  br label %100

100:                                              ; preds = %98, %96
  %.pn28 = phi { ptr, i32 } [ %99, %98 ], [ %97, %96 ]
  call void @_ZNSt10filesystem7__cxx114pathD2Ev(ptr noundef nonnull align 8 dereferenceable(40) %14) #6
  br label %101

101:                                              ; preds = %100, %94
  %.pn28.pn = phi { ptr, i32 } [ %.pn28, %100 ], [ %95, %94 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %14) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %13) #6
  br label %140

102:                                              ; preds = %92, %90
  %103 = landingpad { ptr, i32 }
          cleanup
  br label %139

.preheader:                                       ; preds = %90, %119
  %.01246 = phi i64 [ %120, %119 ], [ 0, %90 ]
  %104 = invoke noundef nonnull align 8 dereferenceable(1216) ptr @_ZN8rl_tools3getINS_6matrix13SpecificationINS_2rl5utils10evaluation6ResultINS5_13SpecificationIfmNS3_12environments10MultirotorINS8_3l2f13SpecificationIfmNS3_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEELm100ELm500EEEEEmLm1ELm100ELb1ENS1_7layouts17RowMajorAlignmentImLm1EEELb0EEEEENS_5utils6typing11conditionalIXsrT_5CONSTERKNSW_1TERSX_E4typeERNS_6MatrixISW_EENSW_2TIES16_(ptr noundef nonnull align 8 dereferenceable(8) %29, i64 noundef 0, i64 noundef %.01246)
          to label %105 unwind label %112

105:                                              ; preds = %.preheader
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %15) #6
  %106 = mul nuw nsw i64 %.01246, 2000
  invoke void @_ZN8rl_tools4jsonINS_7devices3CPUI8DEV_SPECEENS_2rl5utils10evaluation13SpecificationIfmNS5_12environments10MultirotorINS9_3l2f13SpecificationIfmNS5_3zoo3l2f19ENVIRONMENT_FACTORYIS4_fmE29ENVIRONMENT_STATIC_PARAMETERSEEEEELm100ELm500EEEEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERT_RNS7_6ResultIT0_EENSR_7index_tE(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %15, ptr noundef nonnull align 8 dereferenceable(105) %7, ptr noundef nonnull align 8 dereferenceable(1216) %104, i64 noundef %106)
          to label %107 unwind label %114

107:                                              ; preds = %105
  %108 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %12, ptr noundef nonnull align 8 dereferenceable(32) %15)
          to label %109 unwind label %116

109:                                              ; preds = %107
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %15) #6
  %.not = icmp eq i64 %.01246, 99
  br i1 %.not, label %92, label %110

110:                                              ; preds = %109
  %111 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %12, ptr noundef nonnull @.str.21)
          to label %119 unwind label %112

112:                                              ; preds = %110, %.preheader
  %113 = landingpad { ptr, i32 }
          cleanup
  br label %139

114:                                              ; preds = %105
  %115 = landingpad { ptr, i32 }
          cleanup
  br label %118

116:                                              ; preds = %107
  %117 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #6
  br label %118

118:                                              ; preds = %116, %114
  %.pn36 = phi { ptr, i32 } [ %117, %116 ], [ %115, %114 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %15) #6
  br label %139

119:                                              ; preds = %110
  %120 = add nuw nsw i64 %.01246, 1
  br label %.preheader

121:                                              ; preds = %92
  call void @llvm.lifetime.start.p0(i64 512, ptr nonnull %16) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %17) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %18) #6
  invoke void @_ZNSt10filesystem7__cxx114pathC2IA16_cS1_EERKT_NS1_6formatE(ptr noundef nonnull align 8 dereferenceable(40) %18, ptr noundef nonnull align 1 dereferenceable(16) @.str.23, i8 noundef zeroext 2)
          to label %122 unwind label %128

122:                                              ; preds = %121
  invoke void @_ZNSt10filesystem7__cxx11dvERKNS0_4pathES3_(ptr dead_on_unwind nonnull writable sret(%"class.std::filesystem::__cxx11::path") align 8 %17, ptr noundef nonnull align 8 dereferenceable(40) %28, ptr noundef nonnull align 8 dereferenceable(40) %18)
          to label %123 unwind label %130

123:                                              ; preds = %122
  invoke void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1INSt10filesystem7__cxx114pathES6_EERKT_St13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248) %16, ptr noundef nonnull align 8 dereferenceable(40) %17, i32 noundef 16)
          to label %124 unwind label %132

124:                                              ; preds = %123
  call void @_ZNSt10filesystem7__cxx114pathD2Ev(ptr noundef nonnull align 8 dereferenceable(40) %17) #6
  call void @_ZNSt10filesystem7__cxx114pathD2Ev(ptr noundef nonnull align 8 dereferenceable(40) %18) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %18) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %17) #6
  invoke void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEE5closeEv(ptr noundef nonnull align 8 dereferenceable(248) %16)
          to label %125 unwind label %136

125:                                              ; preds = %124
  call void @_ZN8rl_tools4freeI8DEV_SPECEEvRNS_7devices6DeviceIT_EE(ptr noundef nonnull align 1 dereferenceable(1) %7)
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %16) #6
  call void @llvm.lifetime.end.p0(i64 512, ptr nonnull %16) #6
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %12) #6
  call void @llvm.lifetime.end.p0(i64 512, ptr nonnull %12) #6
  call void @_ZN8rl_tools2rl4loop5steps7extrack5StateINS3_6ConfigINS2_6timing6ConfigINS0_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS0_12environments10MultirotorINSF_3l2f13SpecificationIfmNS0_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSK_3sac7FACTORYISP_fmSE_E20LOOP_CORE_PARAMETERSENSB_22ConfigApproximatorsMLPELb1EEENS6_10ParametersImLm10000EEEEEEENS6_5StateIS12_NSB_5StateISZ_EEEEED2Ev(ptr noundef nonnull align 8 dereferenceable(20810) %9) #6
  call void @llvm.lifetime.end.p0(i64 20816, ptr nonnull %9) #6
  %126 = add i64 %.01347, 1
  %127 = icmp ult i64 %126, %20
  br i1 %127, label %32, label %._crit_edge, !llvm.loop !7

128:                                              ; preds = %121
  %129 = landingpad { ptr, i32 }
          cleanup
  br label %135

130:                                              ; preds = %122
  %131 = landingpad { ptr, i32 }
          cleanup
  br label %134

132:                                              ; preds = %123
  %133 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt10filesystem7__cxx114pathD2Ev(ptr noundef nonnull align 8 dereferenceable(40) %17) #6
  br label %134

134:                                              ; preds = %132, %130
  %.pn31 = phi { ptr, i32 } [ %133, %132 ], [ %131, %130 ]
  call void @_ZNSt10filesystem7__cxx114pathD2Ev(ptr noundef nonnull align 8 dereferenceable(40) %18) #6
  br label %135

135:                                              ; preds = %134, %128
  %.pn31.pn = phi { ptr, i32 } [ %.pn31, %134 ], [ %129, %128 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %18) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %17) #6
  br label %138

136:                                              ; preds = %124
  %137 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %16) #6
  br label %138

138:                                              ; preds = %136, %135
  %.pn34 = phi { ptr, i32 } [ %137, %136 ], [ %.pn31.pn, %135 ]
  call void @llvm.lifetime.end.p0(i64 512, ptr nonnull %16) #6
  br label %139

139:                                              ; preds = %112, %118, %138, %102
  %.pn38.pn = phi { ptr, i32 } [ %.pn34, %138 ], [ %103, %102 ], [ %113, %112 ], [ %.pn36, %118 ]
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %12) #6
  br label %140

140:                                              ; preds = %139, %101
  %.pn38.pn.pn = phi { ptr, i32 } [ %.pn38.pn, %139 ], [ %.pn28.pn, %101 ]
  call void @llvm.lifetime.end.p0(i64 512, ptr nonnull %12) #6
  br label %141

141:                                              ; preds = %.loopexit, %.loopexit.split-lp, %140, %61
  %.pn38.pn.pn.pn = phi { ptr, i32 } [ %.pn38.pn.pn, %140 ], [ %.pn, %61 ], [ %lpad.loopexit, %.loopexit ], [ %lpad.loopexit.split-lp, %.loopexit.split-lp ]
  call void @_ZN8rl_tools2rl4loop5steps7extrack5StateINS3_6ConfigINS2_6timing6ConfigINS0_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS0_12environments10MultirotorINSF_3l2f13SpecificationIfmNS0_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSK_3sac7FACTORYISP_fmSE_E20LOOP_CORE_PARAMETERSENSB_22ConfigApproximatorsMLPELb1EEENS6_10ParametersImLm10000EEEEEEENS6_5StateIS12_NSB_5StateISZ_EEEEED2Ev(ptr noundef nonnull align 8 dereferenceable(20810) %9) #6
  br label %142

142:                                              ; preds = %141, %40
  %.pn38.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn38.pn.pn.pn, %141 ], [ %41, %40 ]
  call void @llvm.lifetime.end.p0(i64 20816, ptr nonnull %9) #6
  call void @_ZN8rl_tools2rl4loop5steps7extrack5StateINS3_6ConfigINS2_6timing6ConfigINS0_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS0_12environments10MultirotorINSF_3l2f13SpecificationIfmNS0_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSK_3sac7FACTORYISP_fmSE_E20LOOP_CORE_PARAMETERSENSB_22ConfigApproximatorsMLPELb1EEENS6_10ParametersImLm10000EEEEEEENS6_5StateIS12_NSB_5StateISZ_EEEEED2Ev(ptr noundef nonnull align 8 dereferenceable(20810) %8) #6
  br label %143

143:                                              ; preds = %142, %30
  %.pn38.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn38.pn.pn.pn.pn, %142 ], [ %31, %30 ]
  call void @llvm.lifetime.end.p0(i64 20816, ptr nonnull %8) #6
  call void @_ZN8rl_tools7devices3CPUI8DEV_SPECED2Ev(ptr noundef nonnull align 8 dereferenceable(105) %7) #6
  call void @llvm.lifetime.end.p0(i64 112, ptr nonnull %7) #6
  resume { ptr, i32 } %.pn38.pn.pn.pn.pn.pn
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN8rl_tools7devices3CPUI8DEV_SPECEC2Ev(ptr noundef nonnull align 8 dereferenceable(105)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN8rl_tools2rl4loop5steps17save_trajectories5StateINS3_6ConfigINS2_10evaluation6ConfigINS2_10checkpoint6ConfigINS2_7extrack6ConfigINS2_6timing6ConfigINS0_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS0_12environments10MultirotorINSL_3l2f13SpecificationIfmNS0_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSQ_3sac7FACTORYISV_fmSK_E20LOOP_CORE_PARAMETERSENSH_22ConfigApproximatorsMLPELb1EEENSC_10ParametersImLm10000EEEEEEE26LOOP_CHECKPOINT_PARAMETERSEE26LOOP_EVALUATION_PARAMETERSNSL_7DummyUIEEE33LOOP_SAVE_TRAJECTORIES_PARAMETERSS1D_EENS6_5StateIS1E_NS8_5StateIS1B_NSA_5StateIS19_NSC_5StateIS18_NSH_5StateIS15_EEEEEEEEEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(20810)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEPKc(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZStneIcSt11char_traitsIcESaIcEEbRKNSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZNSt10filesystem7__cxx114pathaSINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEERNSt9enable_ifIX13__is_path_srcIT_EES1_E4typeERKSA_(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSERKS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEOS8_RKS8_(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EERKS8_PKS5_(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress nounwind uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEOS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN8rl_tools6mallocI8DEV_SPECEEvRNS_7devices6DeviceIT_EE(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8rl_tools4initI8DEV_SPECEEvRNS_7devices3CPUIT_EE(ptr noundef nonnull align 8 dereferenceable(105)) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8rl_tools6mallocINS_7devices3CPUI8DEV_SPECEENS_2rl4loop5steps17save_trajectories6ConfigINS7_10evaluation6ConfigINS7_10checkpoint6ConfigINS7_7extrack6ConfigINS7_6timing6ConfigINS5_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS5_12environments10MultirotorINSP_3l2f13SpecificationIfmNS5_3zoo3l2f19ENVIRONMENT_FACTORYIS4_fmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSU_3sac7FACTORYIS4_fmSO_E20LOOP_CORE_PARAMETERSENSL_22ConfigApproximatorsMLPELb1EEENSG_10ParametersImLm10000EEEEEEE26LOOP_CHECKPOINT_PARAMETERSEE26LOOP_EVALUATION_PARAMETERSNSP_7DummyUIEEE33LOOP_SAVE_TRAJECTORIES_PARAMETERSS1D_EEEEvRT_RNS8_5StateIT0_NS1K_4NEXT5StateINS1K_4NEXTEEEEE(ptr noundef nonnull align 8 dereferenceable(105), ptr noundef nonnull align 8 dereferenceable(20810)) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8rl_tools4initINS_7devices3CPUI8DEV_SPECEENS_2rl4loop5steps17save_trajectories6ConfigINS7_10evaluation6ConfigINS7_10checkpoint6ConfigINS7_7extrack6ConfigINS7_6timing6ConfigINS5_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS5_12environments10MultirotorINSP_3l2f13SpecificationIfmNS5_3zoo3l2f19ENVIRONMENT_FACTORYIS4_fmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSU_3sac7FACTORYIS4_fmSO_E20LOOP_CORE_PARAMETERSENSL_22ConfigApproximatorsMLPELb1EEENSG_10ParametersImLm10000EEEEEEE26LOOP_CHECKPOINT_PARAMETERSEE26LOOP_EVALUATION_PARAMETERSNSP_7DummyUIEEE33LOOP_SAVE_TRAJECTORIES_PARAMETERSS1D_EEEEvRT_RNS8_5StateIT0_NS1K_4NEXT5StateINS1K_4NEXTEEEEENS1K_2TIE(ptr noundef nonnull align 8 dereferenceable(105), ptr noundef nonnull align 8 dereferenceable(20810), i64 noundef) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN8rl_tools4stepINS_7devices3CPUI8DEV_SPECEENS_2rl4loop5steps17save_trajectories6ConfigINS7_10evaluation6ConfigINS7_10checkpoint6ConfigINS7_7extrack6ConfigINS7_6timing6ConfigINS5_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS5_12environments10MultirotorINSP_3l2f13SpecificationIfmNS5_3zoo3l2f19ENVIRONMENT_FACTORYIS4_fmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSU_3sac7FACTORYIS4_fmSO_E20LOOP_CORE_PARAMETERSENSL_22ConfigApproximatorsMLPELb1EEENSG_10ParametersImLm10000EEEEEEE26LOOP_CHECKPOINT_PARAMETERSEE26LOOP_EVALUATION_PARAMETERSNSP_7DummyUIEEE33LOOP_SAVE_TRAJECTORIES_PARAMETERSS1D_EEEEbRT_RNS8_5StateIT0_NS1K_4NEXT5StateINS1K_4NEXTEEEEE(ptr noundef nonnull align 8 dereferenceable(105), ptr noundef nonnull align 8 dereferenceable(20810)) local_unnamed_addr #2

declare noundef zeroext i1 @_ZNSt10filesystem18create_directoriesERKNS_7__cxx114pathE(ptr noundef nonnull align 8 dereferenceable(40)) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt10filesystem7__cxx11dvERKNS0_4pathES3_(ptr dead_on_unwind noalias writable sret(%"class.std::filesystem::__cxx11::path") align 8, ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 8 dereferenceable(40)) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt10filesystem7__cxx114pathC2IA12_cS1_EERKT_NS1_6formatE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(12), i8 noundef zeroext) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1INSt10filesystem7__cxx114pathES6_EERKT_St13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248), ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10filesystem7__cxx114pathD2Ev(ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(1216) ptr @_ZN8rl_tools3getINS_6matrix13SpecificationINS_2rl5utils10evaluation6ResultINS5_13SpecificationIfmNS3_12environments10MultirotorINS8_3l2f13SpecificationIfmNS3_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEELm100ELm500EEEEEmLm1ELm100ELb1ENS1_7layouts17RowMajorAlignmentImLm1EEELb0EEEEENS_5utils6typing11conditionalIXsrT_5CONSTERKNSW_1TERSX_E4typeERNS_6MatrixISW_EENSW_2TIES16_(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef, i64 noundef) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8rl_tools4jsonINS_7devices3CPUI8DEV_SPECEENS_2rl5utils10evaluation13SpecificationIfmNS5_12environments10MultirotorINS9_3l2f13SpecificationIfmNS5_3zoo3l2f19ENVIRONMENT_FACTORYIS4_fmE29ENVIRONMENT_STATIC_PARAMETERSEEEEELm100ELm500EEEEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERT_RNS7_6ResultIT0_EENSR_7index_tE(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(105), ptr noundef nonnull align 8 dereferenceable(1216), i64 noundef) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt10filesystem7__cxx114pathC2IA16_cS1_EERKT_NS1_6formatE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(16), i8 noundef zeroext) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEE5closeEv(ptr noundef nonnull align 8 dereferenceable(248)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN8rl_tools4freeI8DEV_SPECEEvRNS_7devices6DeviceIT_EE(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN8rl_tools2rl4loop5steps7extrack5StateINS3_6ConfigINS2_6timing6ConfigINS0_10algorithms3sac4loop4core6ConfigIfmSt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EENS0_12environments10MultirotorINSF_3l2f13SpecificationIfmNS0_3zoo3l2f19ENVIRONMENT_FACTORYINS_7devices3CPUI8DEV_SPECEEfmE29ENVIRONMENT_STATIC_PARAMETERSEEEEENSK_3sac7FACTORYISP_fmSE_E20LOOP_CORE_PARAMETERSENSB_22ConfigApproximatorsMLPELb1EEENS6_10ParametersImLm10000EEEEEEENS6_5StateIS12_NSB_5StateISZ_EEEEED2Ev(ptr noundef nonnull align 8 dereferenceable(8560)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN8rl_tools7devices3CPUI8DEV_SPECED2Ev(ptr noundef nonnull align 8 dereferenceable(105)) unnamed_addr #3 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nounwind }

!llvm.module.flags = !{!0, !1, !2, !3}
!llvm.ident = !{!4}

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = distinct !{!5, !6}
!6 = !{!"llvm.loop.mustprogress"}
!7 = distinct !{!7, !6}


; Effective O3 passes: EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,PostOrderFunctionAttrsPass,SROAPass,SimplifyCFGPass