; LLVM IR from rl-tools/rl-tools :: src/rl/environments/l2f (dr_sample)

; 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"

%"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 }
%"class.std::mersenne_twister_engine" = type { [624 x i64], i64 }
%"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] }>
%"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::chrono::duration" = type { i64 }
%"class.std::chrono::time_point" = type { %"class.std::chrono::duration" }
%"class.std::allocator" = type { i8 }
%"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::environments::l2f::StateRotorsHistory" = type { %"struct.rl_tools::rl::environments::l2f::StateRotors", i64, [16 x [4 x float]] }
%"struct.rl_tools::rl::environments::l2f::StateRotors" = type { %"struct.rl_tools::rl::environments::l2f::StateRandomForce", [4 x float] }
%"struct.rl_tools::rl::environments::l2f::StateRandomForce" = type { %"struct.rl_tools::rl::environments::l2f::StateBase", [3 x float], [3 x float] }
%"struct.rl_tools::rl::environments::l2f::StateBase" = type { [3 x float], [4 x float], [3 x float], [3 x float] }
%"struct.rl_tools::rl::environments::Multirotor" = type { %"struct.rl_tools::rl::environments::l2f::ParametersDisturbances" }

@_ZSt4cout = external global %"class.std::basic_ostream", align 8

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

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

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
declare dso_local void @_ZN8rl_tools6random14default_engineERKNS_7devices6random3CPUEm(ptr dead_on_unwind noalias writable sret(%"class.std::mersenne_twister_engine") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #2

; Function Attrs: mustprogress norecurse uwtable
define dso_local noundef i32 @main(i32 noundef %0, ptr noundef %1) #3 personality ptr @__gxx_personality_v0 {
  %3 = alloca i32, align 4
  %4 = alloca i32, align 4
  %5 = alloca ptr, align 8
  %6 = alloca %"struct.rl_tools::devices::CPU", align 8
  %7 = alloca i64, align 8
  %8 = alloca %"class.std::chrono::duration", align 8
  %9 = alloca %"class.std::chrono::time_point", align 8
  %10 = alloca ptr, align 8
  %11 = alloca i32, align 4
  %12 = alloca %"class.std::__cxx11::basic_string", align 8
  %13 = alloca %"class.std::allocator", align 1
  %14 = alloca %"class.std::mersenne_twister_engine", align 8
  %15 = alloca %"struct.rl_tools::rl::environments::l2f::ParametersDisturbances", align 4
  %16 = alloca %"struct.rl_tools::rl::environments::l2f::ParametersDisturbances", align 4
  %17 = alloca %"struct.rl_tools::rl::environments::l2f::StateRotorsHistory", align 8
  %18 = alloca %"struct.rl_tools::rl::environments::Multirotor", align 4
  %19 = alloca %"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", align 4
  %20 = alloca %"class.std::__cxx11::basic_string", align 8
  %21 = alloca %"class.std::__cxx11::basic_string", align 8
  store i32 0, ptr %3, align 4
  store i32 %0, ptr %4, align 4, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 112, ptr %6) #8
  call void @_ZN8rl_tools7devices3CPUINS0_3cpu13SpecificationINS0_4math3CPUENS0_6random3CPUENS0_7logging3CPUEEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(105) %6) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #8
  %22 = load i32, ptr %4, align 4, !tbaa !5
  %23 = icmp slt i32 %22, 2
  br i1 %23, label %24, label %37

24:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #8
  %25 = call i64 @_ZNSt6chrono3_V212system_clock3nowEv() #8
  %26 = getelementptr inbounds %"class.std::chrono::time_point", ptr %9, i32 0, i32 0
  %27 = getelementptr inbounds %"class.std::chrono::duration", ptr %26, i32 0, i32 0
  store i64 %25, ptr %27, align 8
  %28 = invoke i64 @_ZNKSt6chrono10time_pointINS_3_V212system_clockENS_8durationIlSt5ratioILl1ELl1000000000EEEEE16time_since_epochEv(ptr noundef nonnull align 8 dereferenceable(8) %9)
          to label %29 unwind label %33

29:                                               ; preds = %24
  %30 = getelementptr inbounds %"class.std::chrono::duration", ptr %8, i32 0, i32 0
  store i64 %28, ptr %30, align 8
  %31 = invoke noundef i64 @_ZNKSt6chrono8durationIlSt5ratioILl1ELl1000000000EEE5countEv(ptr noundef nonnull align 8 dereferenceable(8) %8)
          to label %32 unwind label %33

32:                                               ; preds = %29
  store i64 %31, ptr %7, align 8, !tbaa !11
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #8
  br label %54

33:                                               ; preds = %29, %24
  %34 = landingpad { ptr, i32 }
          cleanup
  %35 = extractvalue { ptr, i32 } %34, 0
  store ptr %35, ptr %10, align 8
  %36 = extractvalue { ptr, i32 } %34, 1
  store i32 %36, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #8
  br label %103

37:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 32, ptr %12) #8
  %38 = load ptr, ptr %5, align 8, !tbaa !9
  %39 = getelementptr inbounds ptr, ptr %38, i64 1
  %40 = load ptr, ptr %39, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 1, ptr %13) #8
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %13) #8
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %12, ptr noundef %40, ptr noundef nonnull align 1 dereferenceable(1) %13)
          to label %41 unwind label %45

41:                                               ; preds = %37
  %42 = invoke noundef i32 @_ZNSt7__cxx114stoiERKNS_12basic_stringIcSt11char_traitsIcESaIcEEEPmi(ptr noundef nonnull align 8 dereferenceable(32) %12, ptr noundef null, i32 noundef 10)
          to label %43 unwind label %49

43:                                               ; preds = %41
  %44 = sext i32 %42 to i64
  store i64 %44, ptr %7, align 8, !tbaa !11
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #8
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %13) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %13) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %12) #8
  br label %54

45:                                               ; preds = %37
  %46 = landingpad { ptr, i32 }
          cleanup
  %47 = extractvalue { ptr, i32 } %46, 0
  store ptr %47, ptr %10, align 8
  %48 = extractvalue { ptr, i32 } %46, 1
  store i32 %48, ptr %11, align 4
  br label %53

49:                                               ; preds = %41
  %50 = landingpad { ptr, i32 }
          cleanup
  %51 = extractvalue { ptr, i32 } %50, 0
  store ptr %51, ptr %10, align 8
  %52 = extractvalue { ptr, i32 } %50, 1
  store i32 %52, ptr %11, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #8
  br label %53

53:                                               ; preds = %49, %45
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %13) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %13) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %12) #8
  br label %103

54:                                               ; preds = %43, %32
  call void @llvm.lifetime.start.p0(i64 5000, ptr %14) #8
  %55 = getelementptr inbounds i8, ptr %6, i64 2
  %56 = load i64, ptr %7, align 8, !tbaa !11
  invoke void @_ZN8rl_tools6random14default_engineERKNS_7devices6random3CPUEm(ptr dead_on_unwind writable sret(%"class.std::mersenne_twister_engine") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) %55, i64 noundef %56)
          to label %57 unwind label %79

57:                                               ; preds = %54
  call void @llvm.lifetime.start.p0(i64 444, ptr %15) #8
  call void @_ZN8rl_tools2rl12environments3l2f22ParametersDisturbancesIfmNS2_14ParametersBaseINS2_27ParametersBaseSpecificationIfmLm4ENS2_10parameters16reward_functions7SquaredIfEENS6_8dynamics8REGISTRYELSB_0EEEEEEC2Ev(ptr noundef nonnull align 4 dereferenceable(444) %15) #8
  call void @llvm.lifetime.start.p0(i64 444, ptr %16) #8
  call void @_ZN8rl_tools2rl12environments3l2f22ParametersDisturbancesIfmNS2_14ParametersBaseINS2_27ParametersBaseSpecificationIfmLm4ENS2_10parameters16reward_functions7SquaredIfEENS6_8dynamics8REGISTRYELSB_0EEEEEEC2Ev(ptr noundef nonnull align 4 dereferenceable(444) %16) #8
  call void @llvm.lifetime.start.p0(i64 360, ptr %17) #8
  call void @llvm.lifetime.start.p0(i64 444, ptr %18) #8
  call void @_ZN8rl_tools2rl12environments10MultirotorINS1_3l2f13SpecificationIfmNS3_10parameters17DefaultParametersIfmNS5_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEEEC2Ev(ptr noundef nonnull align 4 dereferenceable(444) %18) #8
  invoke void @_ZN8rl_toolsL18initial_parametersINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f13SpecificationIfmNSF_10parameters17DefaultParametersIfmNSH_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEEEEvRT_RNSE_10MultirotorIT0_EERNSR_10ParametersE(ptr noundef nonnull align 8 dereferenceable(105) %6, ptr noundef nonnull align 4 dereferenceable(444) %18, ptr noundef nonnull align 4 dereferenceable(444) %15)
          to label %58 unwind label %83

58:                                               ; preds = %57
  invoke void @_ZN8rl_toolsL18initial_parametersINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f13SpecificationIfmNSF_10parameters17DefaultParametersIfmNSH_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEEEEvRT_RNSE_10MultirotorIT0_EERNSR_10ParametersE(ptr noundef nonnull align 8 dereferenceable(105) %6, ptr noundef nonnull align 4 dereferenceable(444) %18, ptr noundef nonnull align 4 dereferenceable(444) %16)
          to label %59 unwind label %83

59:                                               ; preds = %58
  call void @llvm.lifetime.start.p0(i64 36, ptr %19) #8
  %60 = getelementptr inbounds %"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", ptr %19, i32 0, i32 0
  store float 1.500000e+00, ptr %60, align 4, !tbaa !13
  %61 = getelementptr inbounds %"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", ptr %19, i32 0, i32 1
  store float 5.000000e+00, ptr %61, align 4, !tbaa !16
  %62 = getelementptr inbounds %"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", ptr %19, i32 0, i32 2
  store float 0x3F9BA5E360000000, ptr %62, align 4, !tbaa !17
  %63 = getelementptr inbounds %"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", ptr %19, i32 0, i32 3
  store float 5.000000e+00, ptr %63, align 4, !tbaa !18
  %64 = getelementptr inbounds %"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", ptr %19, i32 0, i32 4
  store float 1.000000e+00, ptr %64, align 4, !tbaa !19
  %65 = getelementptr inbounds %"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", ptr %19, i32 0, i32 5
  store float 0.000000e+00, ptr %65, align 4, !tbaa !20
  %66 = getelementptr inbounds %"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", ptr %19, i32 0, i32 6
  store float 0.000000e+00, ptr %66, align 4, !tbaa !21
  %67 = getelementptr inbounds %"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", ptr %19, i32 0, i32 7
  store float 0.000000e+00, ptr %67, align 4, !tbaa !22
  %68 = getelementptr inbounds %"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", ptr %19, i32 0, i32 8
  store float 0.000000e+00, ptr %68, align 4, !tbaa !23
  %69 = getelementptr inbounds %"struct.rl_tools::rl::environments::l2f::ParametersBase", ptr %16, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %69, ptr align 4 %19, i64 36, i1 false), !tbaa.struct !24
  call void @llvm.lifetime.end.p0(i64 36, ptr %19) #8
  invoke void @_ZN8rl_toolsL25sample_initial_parametersINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f13SpecificationIfmNSF_10parameters17DefaultParametersIfmNSH_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEESt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EEEEvRT_RNSE_10MultirotorIT0_EERNST_10ParametersERT1_b(ptr noundef nonnull align 8 dereferenceable(105) %6, ptr noundef nonnull align 4 dereferenceable(444) %18, ptr noundef nonnull align 4 dereferenceable(444) %16, ptr noundef nonnull align 8 dereferenceable(5000) %14, i1 noundef zeroext false)
          to label %70 unwind label %83

70:                                               ; preds = %59
  call void @llvm.lifetime.start.p0(i64 32, ptr %20) #8
  invoke void @_ZN8rl_tools4jsonINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f13SpecificationIfmNSF_10parameters17DefaultParametersIfmNSH_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEENSF_27ParametersBaseSpecificationIfmLm4ENSH_16reward_functions7SquaredIfEENSH_8dynamics8REGISTRYELSS_0EEEEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERT_RNSE_10MultirotorIT0_EERNSF_14ParametersBaseIT1_EE(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %20, ptr noundef nonnull align 8 dereferenceable(105) %6, ptr noundef nonnull align 4 dereferenceable(444) %18, ptr noundef nonnull align 4 dereferenceable(428) %15)
          to label %71 unwind label %87

71:                                               ; preds = %70
  call void @llvm.lifetime.start.p0(i64 32, ptr %21) #8
  invoke void @_ZN8rl_tools4jsonINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f13SpecificationIfmNSF_10parameters17DefaultParametersIfmNSH_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEENSF_27ParametersBaseSpecificationIfmLm4ENSH_16reward_functions7SquaredIfEENSH_8dynamics8REGISTRYELSS_0EEEEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERT_RNSE_10MultirotorIT0_EERNSF_14ParametersBaseIT1_EE(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %21, ptr noundef nonnull align 8 dereferenceable(105) %6, ptr noundef nonnull align 4 dereferenceable(444) %18, ptr noundef nonnull align 4 dereferenceable(428) %16)
          to label %72 unwind label %91

72:                                               ; preds = %71
  invoke void @_ZN8rl_tools18compare_parametersINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f22ParametersDisturbancesIfmNSF_14ParametersBaseINSF_27ParametersBaseSpecificationIfmLm4ENSF_10parameters16reward_functions7SquaredIfEENSJ_8dynamics8REGISTRYELSO_0EEEEEEEEEvRT_RKT0_SW_(ptr noundef nonnull align 8 dereferenceable(105) %6, ptr noundef nonnull align 4 dereferenceable(444) %15, ptr noundef nonnull align 4 dereferenceable(444) %16)
          to label %73 unwind label %95

73:                                               ; preds = %72
  %74 = 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) @_ZSt4cout, ptr noundef nonnull align 8 dereferenceable(32) %21)
          to label %75 unwind label %95

75:                                               ; preds = %73
  %76 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %74, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %77 unwind label %95

77:                                               ; preds = %75
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %21) #8
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 444, ptr %18) #8
  call void @llvm.lifetime.end.p0(i64 360, ptr %17) #8
  call void @llvm.lifetime.end.p0(i64 444, ptr %16) #8
  call void @llvm.lifetime.end.p0(i64 444, ptr %15) #8
  call void @llvm.lifetime.end.p0(i64 5000, ptr %14) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #8
  call void @_ZN8rl_tools7devices3CPUINS0_3cpu13SpecificationINS0_4math3CPUENS0_6random3CPUENS0_7logging3CPUEEEED2Ev(ptr noundef nonnull align 8 dereferenceable(105) %6) #8
  call void @llvm.lifetime.end.p0(i64 112, ptr %6) #8
  %78 = load i32, ptr %3, align 4
  ret i32 %78

79:                                               ; preds = %54
  %80 = landingpad { ptr, i32 }
          cleanup
  %81 = extractvalue { ptr, i32 } %80, 0
  store ptr %81, ptr %10, align 8
  %82 = extractvalue { ptr, i32 } %80, 1
  store i32 %82, ptr %11, align 4
  br label %102

83:                                               ; preds = %59, %58, %57
  %84 = landingpad { ptr, i32 }
          cleanup
  %85 = extractvalue { ptr, i32 } %84, 0
  store ptr %85, ptr %10, align 8
  %86 = extractvalue { ptr, i32 } %84, 1
  store i32 %86, ptr %11, align 4
  br label %101

87:                                               ; preds = %70
  %88 = landingpad { ptr, i32 }
          cleanup
  %89 = extractvalue { ptr, i32 } %88, 0
  store ptr %89, ptr %10, align 8
  %90 = extractvalue { ptr, i32 } %88, 1
  store i32 %90, ptr %11, align 4
  br label %100

91:                                               ; preds = %71
  %92 = landingpad { ptr, i32 }
          cleanup
  %93 = extractvalue { ptr, i32 } %92, 0
  store ptr %93, ptr %10, align 8
  %94 = extractvalue { ptr, i32 } %92, 1
  store i32 %94, ptr %11, align 4
  br label %99

95:                                               ; preds = %75, %73, %72
  %96 = landingpad { ptr, i32 }
          cleanup
  %97 = extractvalue { ptr, i32 } %96, 0
  store ptr %97, ptr %10, align 8
  %98 = extractvalue { ptr, i32 } %96, 1
  store i32 %98, ptr %11, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #8
  br label %99

99:                                               ; preds = %95, %91
  call void @llvm.lifetime.end.p0(i64 32, ptr %21) #8
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20) #8
  br label %100

100:                                              ; preds = %99, %87
  call void @llvm.lifetime.end.p0(i64 32, ptr %20) #8
  br label %101

101:                                              ; preds = %100, %83
  call void @llvm.lifetime.end.p0(i64 444, ptr %18) #8
  call void @llvm.lifetime.end.p0(i64 360, ptr %17) #8
  call void @llvm.lifetime.end.p0(i64 444, ptr %16) #8
  call void @llvm.lifetime.end.p0(i64 444, ptr %15) #8
  br label %102

102:                                              ; preds = %101, %79
  call void @llvm.lifetime.end.p0(i64 5000, ptr %14) #8
  br label %103

103:                                              ; preds = %102, %53, %33
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #8
  call void @_ZN8rl_tools7devices3CPUINS0_3cpu13SpecificationINS0_4math3CPUENS0_6random3CPUENS0_7logging3CPUEEEED2Ev(ptr noundef nonnull align 8 dereferenceable(105) %6) #8
  call void @llvm.lifetime.end.p0(i64 112, ptr %6) #8
  br label %104

104:                                              ; preds = %103
  %105 = load ptr, ptr %10, align 8
  %106 = load i32, ptr %11, align 4
  %107 = insertvalue { ptr, i32 } poison, ptr %105, 0
  %108 = insertvalue { ptr, i32 } %107, i32 %106, 1
  resume { ptr, i32 } %108
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN8rl_tools7devices3CPUINS0_3cpu13SpecificationINS0_4math3CPUENS0_6random3CPUENS0_7logging3CPUEEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(105)) unnamed_addr #4 align 2

; Function Attrs: nounwind
declare i64 @_ZNSt6chrono3_V212system_clock3nowEv() #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local i64 @_ZNKSt6chrono10time_pointINS_3_V212system_clockENS_8durationIlSt5ratioILl1ELl1000000000EEEEE16time_since_epochEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6chrono8durationIlSt5ratioILl1ELl1000000000EEE5countEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNSt7__cxx114stoiERKNS_12basic_stringIcSt11char_traitsIcESaIcEEEPmi(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, i32 noundef) #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN8rl_tools2rl12environments3l2f22ParametersDisturbancesIfmNS2_14ParametersBaseINS2_27ParametersBaseSpecificationIfmLm4ENS2_10parameters16reward_functions7SquaredIfEENS6_8dynamics8REGISTRYELSB_0EEEEEEC2Ev(ptr noundef nonnull align 4 dereferenceable(444)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN8rl_tools2rl12environments10MultirotorINS1_3l2f13SpecificationIfmNS3_10parameters17DefaultParametersIfmNS5_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEEEC2Ev(ptr noundef nonnull align 4 dereferenceable(444)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare hidden void @_ZN8rl_toolsL18initial_parametersINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f13SpecificationIfmNSF_10parameters17DefaultParametersIfmNSH_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEEEEvRT_RNSE_10MultirotorIT0_EERNSR_10ParametersE(ptr noundef nonnull align 8 dereferenceable(105), ptr noundef nonnull align 4 dereferenceable(444), ptr noundef nonnull align 4 dereferenceable(444)) #1

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #7

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN8rl_toolsL25sample_initial_parametersINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f13SpecificationIfmNSF_10parameters17DefaultParametersIfmNSH_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEESt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EEEEvRT_RNSE_10MultirotorIT0_EERNST_10ParametersERT1_b(ptr noundef nonnull align 8 dereferenceable(105), ptr noundef nonnull align 4 dereferenceable(444), ptr noundef nonnull align 4 dereferenceable(444), ptr noundef nonnull align 8 dereferenceable(5000), i1 noundef zeroext) #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8rl_tools4jsonINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f13SpecificationIfmNSF_10parameters17DefaultParametersIfmNSH_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEENSF_27ParametersBaseSpecificationIfmLm4ENSH_16reward_functions7SquaredIfEENSH_8dynamics8REGISTRYELSS_0EEEEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERT_RNSE_10MultirotorIT0_EERNSF_14ParametersBaseIT1_EE(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 4 dereferenceable(444), ptr noundef nonnull align 4 dereferenceable(428)) #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8rl_tools18compare_parametersINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f22ParametersDisturbancesIfmNSF_14ParametersBaseINSF_27ParametersBaseSpecificationIfmLm4ENSF_10parameters16reward_functions7SquaredIfEENSJ_8dynamics8REGISTRYELSO_0EEEEEEEEEvRT_RKT0_SW_(ptr noundef nonnull align 8 dereferenceable(105), ptr noundef nonnull align 4 dereferenceable(444), ptr noundef nonnull align 4 dereferenceable(444)) #2

; 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)) #6

; 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)) #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN8rl_tools7devices3CPUINS0_3cpu13SpecificationINS0_4math3CPUENS0_6random3CPUENS0_7logging3CPUEEEED2Ev(ptr noundef nonnull align 8 dereferenceable(105)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 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 = { mustprogress norecurse 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 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 #5 = { nounwind "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 = { 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 #7 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #8 = { 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 = !{!14, !15, i64 0}
!14 = !{!"_ZTSN8rl_tools2rl12environments3l2f14ParametersBaseINS2_27ParametersBaseSpecificationIfmLm4ENS2_10parameters16reward_functions7SquaredIfEENS5_8dynamics8REGISTRYELSA_0EEEE19DomainRandomizationE", !15, i64 0, !15, i64 4, !15, i64 8, !15, i64 12, !15, i64 16, !15, i64 20, !15, i64 24, !15, i64 28, !15, i64 32}
!15 = !{!"float", !7, i64 0}
!16 = !{!14, !15, i64 4}
!17 = !{!14, !15, i64 8}
!18 = !{!14, !15, i64 12}
!19 = !{!14, !15, i64 16}
!20 = !{!14, !15, i64 20}
!21 = !{!14, !15, i64 24}
!22 = !{!14, !15, i64 28}
!23 = !{!14, !15, i64 32}
!24 = !{i64 0, i64 4, !25, i64 4, i64 4, !25, i64 8, i64 4, !25, i64 12, i64 4, !25, i64 16, i64 4, !25, i64 20, i64 4, !25, i64 24, i64 4, !25, i64 28, i64 4, !25, i64 32, i64 4, !25}
!25 = !{!15, !15, i64 0}


; 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::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 }
%"class.std::mersenne_twister_engine" = type { [624 x i64], i64 }
%"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] }>
%"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::chrono::duration" = type { i64 }
%"class.std::chrono::time_point" = type { %"class.std::chrono::duration" }
%"class.std::allocator" = type { i8 }
%"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::environments::Multirotor" = type { %"struct.rl_tools::rl::environments::l2f::ParametersDisturbances" }

@_ZSt4cout = external global %"class.std::basic_ostream", align 8

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

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

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
declare dso_local void @_ZN8rl_tools6random14default_engineERKNS_7devices6random3CPUEm(ptr dead_on_unwind noalias writable sret(%"class.std::mersenne_twister_engine") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #2

; Function Attrs: mustprogress norecurse uwtable
define dso_local noundef i32 @main(i32 noundef %0, ptr nocapture noundef readonly %1) local_unnamed_addr #3 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"struct.rl_tools::devices::CPU", align 8
  %4 = alloca %"class.std::chrono::duration", align 8
  %5 = alloca %"class.std::chrono::time_point", align 8
  %6 = alloca %"class.std::__cxx11::basic_string", align 8
  %7 = alloca %"class.std::allocator", align 1
  %8 = alloca %"class.std::mersenne_twister_engine", align 8
  %9 = alloca %"struct.rl_tools::rl::environments::l2f::ParametersDisturbances", align 4
  %10 = alloca %"struct.rl_tools::rl::environments::l2f::ParametersDisturbances", align 4
  %11 = alloca %"struct.rl_tools::rl::environments::Multirotor", align 4
  %12 = alloca %"class.std::__cxx11::basic_string", align 8
  %13 = alloca %"class.std::__cxx11::basic_string", align 8
  call void @llvm.lifetime.start.p0(i64 112, ptr nonnull %3) #8
  call void @_ZN8rl_tools7devices3CPUINS0_3cpu13SpecificationINS0_4math3CPUENS0_6random3CPUENS0_7logging3CPUEEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(105) %3) #8
  %14 = icmp slt i32 %0, 2
  br i1 %14, label %15, label %19

15:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #8
  %16 = call i64 @_ZNSt6chrono3_V212system_clock3nowEv() #8
  store i64 %16, ptr %5, align 8
  %17 = call i64 @_ZNKSt6chrono10time_pointINS_3_V212system_clockENS_8durationIlSt5ratioILl1ELl1000000000EEEEE16time_since_epochEv(ptr noundef nonnull align 8 dereferenceable(8) %5)
  store i64 %17, ptr %4, align 8
  %18 = call noundef i64 @_ZNKSt6chrono8durationIlSt5ratioILl1ELl1000000000EEE5countEv(ptr noundef nonnull align 8 dereferenceable(8) %4)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #8
  br label %31

19:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %6) #8
  %20 = getelementptr inbounds i8, ptr %1, i64 8
  %21 = load ptr, ptr %20, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %7) #8
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #8
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %6, ptr noundef %21, ptr noundef nonnull align 1 dereferenceable(1) %7)
          to label %22 unwind label %26

22:                                               ; preds = %19
  %23 = invoke noundef i32 @_ZNSt7__cxx114stoiERKNS_12basic_stringIcSt11char_traitsIcESaIcEEEPmi(ptr noundef nonnull align 8 dereferenceable(32) %6, ptr noundef null, i32 noundef 10)
          to label %24 unwind label %28

24:                                               ; preds = %22
  %25 = sext i32 %23 to i64
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #8
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %7) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #8
  br label %31

26:                                               ; preds = %19
  %27 = landingpad { ptr, i32 }
          cleanup
  br label %30

28:                                               ; preds = %22
  %29 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #8
  br label %30

30:                                               ; preds = %28, %26
  %.pn = phi { ptr, i32 } [ %29, %28 ], [ %27, %26 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %7) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #8
  br label %57

31:                                               ; preds = %24, %15
  %.0 = phi i64 [ %18, %15 ], [ %25, %24 ]
  call void @llvm.lifetime.start.p0(i64 5000, ptr nonnull %8) #8
  %32 = getelementptr inbounds i8, ptr %3, i64 2
  invoke void @_ZN8rl_tools6random14default_engineERKNS_7devices6random3CPUEm(ptr dead_on_unwind nonnull writable sret(%"class.std::mersenne_twister_engine") align 8 %8, ptr noundef nonnull align 1 dereferenceable(1) %32, i64 noundef %.0)
          to label %33 unwind label %43

33:                                               ; preds = %31
  call void @llvm.lifetime.start.p0(i64 444, ptr nonnull %9) #8
  call void @_ZN8rl_tools2rl12environments3l2f22ParametersDisturbancesIfmNS2_14ParametersBaseINS2_27ParametersBaseSpecificationIfmLm4ENS2_10parameters16reward_functions7SquaredIfEENS6_8dynamics8REGISTRYELSB_0EEEEEEC2Ev(ptr noundef nonnull align 4 dereferenceable(444) %9) #8
  call void @llvm.lifetime.start.p0(i64 444, ptr nonnull %10) #8
  call void @_ZN8rl_tools2rl12environments3l2f22ParametersDisturbancesIfmNS2_14ParametersBaseINS2_27ParametersBaseSpecificationIfmLm4ENS2_10parameters16reward_functions7SquaredIfEENS6_8dynamics8REGISTRYELSB_0EEEEEEC2Ev(ptr noundef nonnull align 4 dereferenceable(444) %10) #8
  call void @llvm.lifetime.start.p0(i64 444, ptr nonnull %11) #8
  call void @_ZN8rl_tools2rl12environments10MultirotorINS1_3l2f13SpecificationIfmNS3_10parameters17DefaultParametersIfmNS5_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEEEC2Ev(ptr noundef nonnull align 4 dereferenceable(444) %11) #8
  call void @_ZN8rl_toolsL18initial_parametersINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f13SpecificationIfmNSF_10parameters17DefaultParametersIfmNSH_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEEEEvRT_RNSE_10MultirotorIT0_EERNSR_10ParametersE(ptr noundef nonnull align 8 dereferenceable(105) %3, ptr noundef nonnull align 4 dereferenceable(444) %11, ptr noundef nonnull align 4 dereferenceable(444) %9)
  call void @_ZN8rl_toolsL18initial_parametersINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f13SpecificationIfmNSF_10parameters17DefaultParametersIfmNSH_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEEEEvRT_RNSE_10MultirotorIT0_EERNSR_10ParametersE(ptr noundef nonnull align 8 dereferenceable(105) %3, ptr noundef nonnull align 4 dereferenceable(444) %11, ptr noundef nonnull align 4 dereferenceable(444) %10)
  %34 = getelementptr inbounds i8, ptr %10, i64 392
  store <4 x float> <float 1.500000e+00, float 5.000000e+00, float 0x3F9BA5E360000000, float 5.000000e+00>, ptr %34, align 4, !tbaa !9
  %.sroa.7.0..sroa_idx = getelementptr inbounds i8, ptr %10, i64 408
  store float 1.000000e+00, ptr %.sroa.7.0..sroa_idx, align 4, !tbaa !9
  %.sroa.8.0..sroa_idx = getelementptr inbounds i8, ptr %10, i64 412
  call void @llvm.memset.p0.i64(ptr noundef nonnull align 4 dereferenceable(16) %.sroa.8.0..sroa_idx, i8 0, i64 16, i1 false)
  invoke void @_ZN8rl_toolsL25sample_initial_parametersINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f13SpecificationIfmNSF_10parameters17DefaultParametersIfmNSH_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEESt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EEEEvRT_RNSE_10MultirotorIT0_EERNST_10ParametersERT1_b(ptr noundef nonnull align 8 dereferenceable(105) %3, ptr noundef nonnull align 4 dereferenceable(444) %11, ptr noundef nonnull align 4 dereferenceable(444) %10, ptr noundef nonnull align 8 dereferenceable(5000) %8, i1 noundef zeroext false)
          to label %35 unwind label %45

35:                                               ; preds = %33
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %12) #8
  invoke void @_ZN8rl_tools4jsonINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f13SpecificationIfmNSF_10parameters17DefaultParametersIfmNSH_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEENSF_27ParametersBaseSpecificationIfmLm4ENSH_16reward_functions7SquaredIfEENSH_8dynamics8REGISTRYELSS_0EEEEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERT_RNSE_10MultirotorIT0_EERNSF_14ParametersBaseIT1_EE(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %12, ptr noundef nonnull align 8 dereferenceable(105) %3, ptr noundef nonnull align 4 dereferenceable(444) %11, ptr noundef nonnull align 4 dereferenceable(428) %9)
          to label %36 unwind label %47

36:                                               ; preds = %35
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %13) #8
  invoke void @_ZN8rl_tools4jsonINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f13SpecificationIfmNSF_10parameters17DefaultParametersIfmNSH_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEENSF_27ParametersBaseSpecificationIfmLm4ENSH_16reward_functions7SquaredIfEENSH_8dynamics8REGISTRYELSS_0EEEEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERT_RNSE_10MultirotorIT0_EERNSF_14ParametersBaseIT1_EE(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %13, ptr noundef nonnull align 8 dereferenceable(105) %3, ptr noundef nonnull align 4 dereferenceable(444) %11, ptr noundef nonnull align 4 dereferenceable(428) %10)
          to label %37 unwind label %49

37:                                               ; preds = %36
  invoke void @_ZN8rl_tools18compare_parametersINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f22ParametersDisturbancesIfmNSF_14ParametersBaseINSF_27ParametersBaseSpecificationIfmLm4ENSF_10parameters16reward_functions7SquaredIfEENSJ_8dynamics8REGISTRYELSO_0EEEEEEEEEvRT_RKT0_SW_(ptr noundef nonnull align 8 dereferenceable(105) %3, ptr noundef nonnull align 4 dereferenceable(444) %9, ptr noundef nonnull align 4 dereferenceable(444) %10)
          to label %38 unwind label %51

38:                                               ; preds = %37
  %39 = 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) @_ZSt4cout, ptr noundef nonnull align 8 dereferenceable(32) %13)
          to label %40 unwind label %51

40:                                               ; preds = %38
  %41 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %39, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %42 unwind label %51

42:                                               ; preds = %40
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %13) #8
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %12) #8
  call void @llvm.lifetime.end.p0(i64 444, ptr nonnull %11) #8
  call void @llvm.lifetime.end.p0(i64 444, ptr nonnull %10) #8
  call void @llvm.lifetime.end.p0(i64 444, ptr nonnull %9) #8
  call void @llvm.lifetime.end.p0(i64 5000, ptr nonnull %8) #8
  call void @_ZN8rl_tools7devices3CPUINS0_3cpu13SpecificationINS0_4math3CPUENS0_6random3CPUENS0_7logging3CPUEEEED2Ev(ptr noundef nonnull align 8 dereferenceable(105) %3) #8
  call void @llvm.lifetime.end.p0(i64 112, ptr nonnull %3) #8
  ret i32 0

43:                                               ; preds = %31
  %44 = landingpad { ptr, i32 }
          cleanup
  br label %56

45:                                               ; preds = %33
  %46 = landingpad { ptr, i32 }
          cleanup
  br label %55

47:                                               ; preds = %35
  %48 = landingpad { ptr, i32 }
          cleanup
  br label %54

49:                                               ; preds = %36
  %50 = landingpad { ptr, i32 }
          cleanup
  br label %53

51:                                               ; preds = %40, %38, %37
  %52 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #8
  br label %53

53:                                               ; preds = %51, %49
  %.pn13 = phi { ptr, i32 } [ %52, %51 ], [ %50, %49 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %13) #8
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #8
  br label %54

54:                                               ; preds = %53, %47
  %.pn13.pn = phi { ptr, i32 } [ %.pn13, %53 ], [ %48, %47 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %12) #8
  br label %55

55:                                               ; preds = %54, %45
  %.pn13.pn.pn = phi { ptr, i32 } [ %.pn13.pn, %54 ], [ %46, %45 ]
  call void @llvm.lifetime.end.p0(i64 444, ptr nonnull %11) #8
  call void @llvm.lifetime.end.p0(i64 444, ptr nonnull %10) #8
  call void @llvm.lifetime.end.p0(i64 444, ptr nonnull %9) #8
  br label %56

56:                                               ; preds = %55, %43
  %.pn13.pn.pn.pn = phi { ptr, i32 } [ %.pn13.pn.pn, %55 ], [ %44, %43 ]
  call void @llvm.lifetime.end.p0(i64 5000, ptr nonnull %8) #8
  br label %57

57:                                               ; preds = %56, %30
  %.pn13.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn13.pn.pn.pn, %56 ], [ %.pn, %30 ]
  call void @_ZN8rl_tools7devices3CPUINS0_3cpu13SpecificationINS0_4math3CPUENS0_6random3CPUENS0_7logging3CPUEEEED2Ev(ptr noundef nonnull align 8 dereferenceable(105) %3) #8
  call void @llvm.lifetime.end.p0(i64 112, ptr nonnull %3) #8
  resume { ptr, i32 } %.pn13.pn.pn.pn.pn
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN8rl_tools7devices3CPUINS0_3cpu13SpecificationINS0_4math3CPUENS0_6random3CPUENS0_7logging3CPUEEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(105)) unnamed_addr #4 align 2

; Function Attrs: nounwind
declare i64 @_ZNSt6chrono3_V212system_clock3nowEv() local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local i64 @_ZNKSt6chrono10time_pointINS_3_V212system_clockENS_8durationIlSt5ratioILl1ELl1000000000EEEEE16time_since_epochEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6chrono8durationIlSt5ratioILl1ELl1000000000EEE5countEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNSt7__cxx114stoiERKNS_12basic_stringIcSt11char_traitsIcESaIcEEEPmi(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, i32 noundef) local_unnamed_addr #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN8rl_tools2rl12environments3l2f22ParametersDisturbancesIfmNS2_14ParametersBaseINS2_27ParametersBaseSpecificationIfmLm4ENS2_10parameters16reward_functions7SquaredIfEENS6_8dynamics8REGISTRYELSB_0EEEEEEC2Ev(ptr noundef nonnull align 4 dereferenceable(444)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN8rl_tools2rl12environments10MultirotorINS1_3l2f13SpecificationIfmNS3_10parameters17DefaultParametersIfmNS5_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEEEC2Ev(ptr noundef nonnull align 4 dereferenceable(444)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare hidden void @_ZN8rl_toolsL18initial_parametersINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f13SpecificationIfmNSF_10parameters17DefaultParametersIfmNSH_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEEEEvRT_RNSE_10MultirotorIT0_EERNSR_10ParametersE(ptr noundef nonnull align 8 dereferenceable(105), ptr noundef nonnull align 4 dereferenceable(444), ptr noundef nonnull align 4 dereferenceable(444)) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN8rl_toolsL25sample_initial_parametersINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f13SpecificationIfmNSF_10parameters17DefaultParametersIfmNSH_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEESt23mersenne_twister_engineImLm32ELm624ELm397ELm31ELm2567483615ELm11ELm4294967295ELm7ELm2636928640ELm15ELm4022730752ELm18ELm1812433253EEEEvRT_RNSE_10MultirotorIT0_EERNST_10ParametersERT1_b(ptr noundef nonnull align 8 dereferenceable(105), ptr noundef nonnull align 4 dereferenceable(444), ptr noundef nonnull align 4 dereferenceable(444), ptr noundef nonnull align 8 dereferenceable(5000), i1 noundef zeroext) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8rl_tools4jsonINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f13SpecificationIfmNSF_10parameters17DefaultParametersIfmNSH_14DEFAULT_CONFIGEE29ENVIRONMENT_STATIC_PARAMETERSEEENSF_27ParametersBaseSpecificationIfmLm4ENSH_16reward_functions7SquaredIfEENSH_8dynamics8REGISTRYELSS_0EEEEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERT_RNSE_10MultirotorIT0_EERNSF_14ParametersBaseIT1_EE(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 4 dereferenceable(444), ptr noundef nonnull align 4 dereferenceable(428)) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8rl_tools18compare_parametersINS_7devices3CPUINS1_3cpu13SpecificationINS1_4math3CPUENS1_6random3CPUENS1_7logging3CPUEEEEENS_2rl12environments3l2f22ParametersDisturbancesIfmNSF_14ParametersBaseINSF_27ParametersBaseSpecificationIfmLm4ENSF_10parameters16reward_functions7SquaredIfEENSJ_8dynamics8REGISTRYELSO_0EEEEEEEEEvRT_RKT0_SW_(ptr noundef nonnull align 8 dereferenceable(105), ptr noundef nonnull align 4 dereferenceable(444), ptr noundef nonnull align 4 dereferenceable(444)) local_unnamed_addr #2

; 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 #6

; 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)) #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN8rl_tools7devices3CPUINS0_3cpu13SpecificationINS0_4math3CPUENS0_6random3CPUENS0_7logging3CPUEEEED2Ev(ptr noundef nonnull align 8 dereferenceable(105)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #7

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 = { mustprogress norecurse 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 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 #5 = { nounwind "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 = { 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 #7 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #8 = { 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 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"float", !7, i64 0}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,MemCpyOptPass,PostOrderFunctionAttrsPass,SLPVectorizerPass,SROAPass,SimplifyCFGPass