; LLVM IR from ethz-adrl/control-toolbox :: ct_models/src/HyA (transform6d)

; 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.ikfast::IkSolutionList" = type { %"class.ikfast::IkSolutionListBase", %"class.std::__cxx11::list" }
%"class.ikfast::IkSolutionListBase" = type { ptr }
%"class.std::__cxx11::list" = type { %"class.std::__cxx11::_List_base" }
%"class.std::__cxx11::_List_base" = type { %"struct.std::__cxx11::_List_base<ikfast::IkSolution<double>, std::allocator<ikfast::IkSolution<double>>>::_List_impl" }
%"struct.std::__cxx11::_List_base<ikfast::IkSolution<double>, std::allocator<ikfast::IkSolution<double>>>::_List_impl" = type { %"struct.std::__detail::_List_node_header" }
%"struct.std::__detail::_List_node_header" = type { %"struct.std::__detail::_List_node_base", i64 }
%"struct.std::__detail::_List_node_base" = type { ptr, ptr }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::allocator.0" = type { i8 }

@.str.2 = external hidden unnamed_addr constant [262 x i8], align 1
@stderr = external global ptr, align 8
@.str.3 = external hidden unnamed_addr constant [27 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [24 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [18 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.7 = external hidden unnamed_addr constant [2 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

; 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 dso_local noundef i32 @_Z20GetNumFreeParametersv() #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_Z12GetNumJointsv() #1

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_Z9ComputeIkPKdS0_S0_RN6ikfast18IkSolutionListBaseIdEE(ptr noundef, ptr noundef, ptr noundef, ptr noundef nonnull align 8 dereferenceable(8)) #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 %"class.ikfast::IkSolutionList", align 8
  %7 = alloca %"class.std::vector", align 8
  %8 = alloca %"class.std::allocator.0", align 1
  %9 = alloca ptr, align 8
  %10 = alloca i32, align 4
  %11 = alloca [9 x double], align 16
  %12 = alloca [3 x double], align 16
  %13 = alloca i64, align 8
  %14 = alloca i8, align 1
  %15 = alloca i32, align 4
  %16 = alloca %"class.std::vector", align 8
  %17 = alloca %"class.std::allocator.0", align 1
  %18 = alloca i64, align 8
  %19 = alloca ptr, align 8
  %20 = alloca %"class.std::vector", align 8
  %21 = alloca %"class.std::allocator.0", align 1
  %22 = alloca i64, 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
  %23 = load i32, ptr %4, align 4, !tbaa !5
  %24 = call noundef i32 @_Z20GetNumFreeParametersv()
  %25 = add nsw i32 12, %24
  %26 = add nsw i32 %25, 1
  %27 = icmp ne i32 %23, %26
  br i1 %27, label %28, label %31

28:                                               ; preds = %2
  %29 = call noundef i32 @_Z20GetNumFreeParametersv()
  %30 = call i32 (ptr, ...) @printf(ptr noundef @.str.2, i32 noundef %29)
  store i32 1, ptr %3, align 4
  br label %247

31:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 32, ptr %6) #8
  call void @_ZN6ikfast14IkSolutionListIdEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr %7) #8
  %32 = call noundef i32 @_Z20GetNumFreeParametersv()
  %33 = sext i32 %32 to i64
  call void @llvm.lifetime.start.p0(i64 1, ptr %8) #8
  call void @_ZNSaIdEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %8) #8
  invoke void @_ZNSt6vectorIdSaIdEEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %33, ptr noundef nonnull align 1 dereferenceable(1) %8)
          to label %34 unwind label %100

34:                                               ; preds = %31
  call void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %8) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %8) #8
  call void @llvm.lifetime.start.p0(i64 72, ptr %11) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr %12) #8
  %35 = load ptr, ptr %5, align 8, !tbaa !9
  %36 = getelementptr inbounds ptr, ptr %35, i64 1
  %37 = load ptr, ptr %36, align 8, !tbaa !9
  %38 = call double @atof(ptr noundef %37) #9
  %39 = getelementptr inbounds [9 x double], ptr %11, i64 0, i64 0
  store double %38, ptr %39, align 16, !tbaa !11
  %40 = load ptr, ptr %5, align 8, !tbaa !9
  %41 = getelementptr inbounds ptr, ptr %40, i64 2
  %42 = load ptr, ptr %41, align 8, !tbaa !9
  %43 = call double @atof(ptr noundef %42) #9
  %44 = getelementptr inbounds [9 x double], ptr %11, i64 0, i64 1
  store double %43, ptr %44, align 8, !tbaa !11
  %45 = load ptr, ptr %5, align 8, !tbaa !9
  %46 = getelementptr inbounds ptr, ptr %45, i64 3
  %47 = load ptr, ptr %46, align 8, !tbaa !9
  %48 = call double @atof(ptr noundef %47) #9
  %49 = getelementptr inbounds [9 x double], ptr %11, i64 0, i64 2
  store double %48, ptr %49, align 16, !tbaa !11
  %50 = load ptr, ptr %5, align 8, !tbaa !9
  %51 = getelementptr inbounds ptr, ptr %50, i64 4
  %52 = load ptr, ptr %51, align 8, !tbaa !9
  %53 = call double @atof(ptr noundef %52) #9
  %54 = getelementptr inbounds [3 x double], ptr %12, i64 0, i64 0
  store double %53, ptr %54, align 16, !tbaa !11
  %55 = load ptr, ptr %5, align 8, !tbaa !9
  %56 = getelementptr inbounds ptr, ptr %55, i64 5
  %57 = load ptr, ptr %56, align 8, !tbaa !9
  %58 = call double @atof(ptr noundef %57) #9
  %59 = getelementptr inbounds [9 x double], ptr %11, i64 0, i64 3
  store double %58, ptr %59, align 8, !tbaa !11
  %60 = load ptr, ptr %5, align 8, !tbaa !9
  %61 = getelementptr inbounds ptr, ptr %60, i64 6
  %62 = load ptr, ptr %61, align 8, !tbaa !9
  %63 = call double @atof(ptr noundef %62) #9
  %64 = getelementptr inbounds [9 x double], ptr %11, i64 0, i64 4
  store double %63, ptr %64, align 16, !tbaa !11
  %65 = load ptr, ptr %5, align 8, !tbaa !9
  %66 = getelementptr inbounds ptr, ptr %65, i64 7
  %67 = load ptr, ptr %66, align 8, !tbaa !9
  %68 = call double @atof(ptr noundef %67) #9
  %69 = getelementptr inbounds [9 x double], ptr %11, i64 0, i64 5
  store double %68, ptr %69, align 8, !tbaa !11
  %70 = load ptr, ptr %5, align 8, !tbaa !9
  %71 = getelementptr inbounds ptr, ptr %70, i64 8
  %72 = load ptr, ptr %71, align 8, !tbaa !9
  %73 = call double @atof(ptr noundef %72) #9
  %74 = getelementptr inbounds [3 x double], ptr %12, i64 0, i64 1
  store double %73, ptr %74, align 8, !tbaa !11
  %75 = load ptr, ptr %5, align 8, !tbaa !9
  %76 = getelementptr inbounds ptr, ptr %75, i64 9
  %77 = load ptr, ptr %76, align 8, !tbaa !9
  %78 = call double @atof(ptr noundef %77) #9
  %79 = getelementptr inbounds [9 x double], ptr %11, i64 0, i64 6
  store double %78, ptr %79, align 16, !tbaa !11
  %80 = load ptr, ptr %5, align 8, !tbaa !9
  %81 = getelementptr inbounds ptr, ptr %80, i64 10
  %82 = load ptr, ptr %81, align 8, !tbaa !9
  %83 = call double @atof(ptr noundef %82) #9
  %84 = getelementptr inbounds [9 x double], ptr %11, i64 0, i64 7
  store double %83, ptr %84, align 8, !tbaa !11
  %85 = load ptr, ptr %5, align 8, !tbaa !9
  %86 = getelementptr inbounds ptr, ptr %85, i64 11
  %87 = load ptr, ptr %86, align 8, !tbaa !9
  %88 = call double @atof(ptr noundef %87) #9
  %89 = getelementptr inbounds [9 x double], ptr %11, i64 0, i64 8
  store double %88, ptr %89, align 16, !tbaa !11
  %90 = load ptr, ptr %5, align 8, !tbaa !9
  %91 = getelementptr inbounds ptr, ptr %90, i64 12
  %92 = load ptr, ptr %91, align 8, !tbaa !9
  %93 = call double @atof(ptr noundef %92) #9
  %94 = getelementptr inbounds [3 x double], ptr %12, i64 0, i64 2
  store double %93, ptr %94, align 16, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #8
  store i64 0, ptr %13, align 8, !tbaa !13
  br label %95

95:                                               ; preds = %113, %34
  %96 = load i64, ptr %13, align 8, !tbaa !13
  %97 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %7) #8
  %98 = icmp ult i64 %96, %97
  br i1 %98, label %104, label %99

99:                                               ; preds = %95
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #8
  br label %116

100:                                              ; preds = %31
  %101 = landingpad { ptr, i32 }
          cleanup
  %102 = extractvalue { ptr, i32 } %101, 0
  store ptr %102, ptr %9, align 8
  %103 = extractvalue { ptr, i32 } %101, 1
  store i32 %103, ptr %10, align 4
  call void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %8) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %8) #8
  br label %246

104:                                              ; preds = %95
  %105 = load ptr, ptr %5, align 8, !tbaa !9
  %106 = load i64, ptr %13, align 8, !tbaa !13
  %107 = add i64 13, %106
  %108 = getelementptr inbounds ptr, ptr %105, i64 %107
  %109 = load ptr, ptr %108, align 8, !tbaa !9
  %110 = call double @atof(ptr noundef %109) #9
  %111 = load i64, ptr %13, align 8, !tbaa !13
  %112 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %111) #8
  store double %110, ptr %112, align 8, !tbaa !11
  br label %113

113:                                              ; preds = %104
  %114 = load i64, ptr %13, align 8, !tbaa !13
  %115 = add i64 %114, 1
  store i64 %115, ptr %13, align 8, !tbaa !13
  br label %95, !llvm.loop !15

116:                                              ; preds = %99
  call void @llvm.lifetime.start.p0(i64 1, ptr %14) #8
  %117 = getelementptr inbounds [3 x double], ptr %12, i64 0, i64 0
  %118 = getelementptr inbounds [9 x double], ptr %11, i64 0, i64 0
  %119 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %7) #8
  %120 = icmp ugt i64 %119, 0
  br i1 %120, label %121, label %123

121:                                              ; preds = %116
  %122 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef 0) #8
  br label %124

123:                                              ; preds = %116
  br label %124

124:                                              ; preds = %123, %121
  %125 = phi ptr [ %122, %121 ], [ null, %123 ]
  %126 = invoke noundef zeroext i1 @_Z9ComputeIkPKdS0_S0_RN6ikfast18IkSolutionListBaseIdEE(ptr noundef %117, ptr noundef %118, ptr noundef %125, ptr noundef nonnull align 8 dereferenceable(8) %6)
          to label %127 unwind label %134

127:                                              ; preds = %124
  %128 = zext i1 %126 to i8
  store i8 %128, ptr %14, align 1, !tbaa !17
  %129 = load i8, ptr %14, align 1, !tbaa !17, !range !19, !noundef !20
  %130 = trunc i8 %129 to i1
  br i1 %130, label %138, label %131

131:                                              ; preds = %127
  %132 = load ptr, ptr @stderr, align 8, !tbaa !9
  %133 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %132, ptr noundef @.str.3) #8
  store i32 -1, ptr %3, align 4
  store i32 1, ptr %15, align 4
  br label %244

134:                                              ; preds = %140, %138, %124
  %135 = landingpad { ptr, i32 }
          cleanup
  %136 = extractvalue { ptr, i32 } %135, 0
  store ptr %136, ptr %9, align 8
  %137 = extractvalue { ptr, i32 } %135, 1
  store i32 %137, ptr %10, align 4
  br label %245

138:                                              ; preds = %127
  %139 = invoke noundef i64 @_ZNK6ikfast14IkSolutionListIdE15GetNumSolutionsEv(ptr noundef nonnull align 8 dereferenceable(32) %6)
          to label %140 unwind label %134

140:                                              ; preds = %138
  %141 = trunc i64 %139 to i32
  %142 = invoke i32 (ptr, ...) @printf(ptr noundef @.str.4, i32 noundef %141)
          to label %143 unwind label %134

143:                                              ; preds = %140
  call void @llvm.lifetime.start.p0(i64 24, ptr %16) #8
  %144 = call noundef i32 @_Z12GetNumJointsv()
  %145 = sext i32 %144 to i64
  call void @llvm.lifetime.start.p0(i64 1, ptr %17) #8
  call void @_ZNSaIdEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %17) #8
  invoke void @_ZNSt6vectorIdSaIdEEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %16, i64 noundef %145, ptr noundef nonnull align 1 dereferenceable(1) %17)
          to label %146 unwind label %153

146:                                              ; preds = %143
  call void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %17) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %17) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #8
  store i64 0, ptr %18, align 8, !tbaa !13
  br label %147

147:                                              ; preds = %235, %146
  %148 = load i64, ptr %18, align 8, !tbaa !13
  %149 = invoke noundef i64 @_ZNK6ikfast14IkSolutionListIdE15GetNumSolutionsEv(ptr noundef nonnull align 8 dereferenceable(32) %6)
          to label %150 unwind label %157

150:                                              ; preds = %147
  %151 = icmp ult i64 %148, %149
  br i1 %151, label %161, label %152

152:                                              ; preds = %150
  store i32 5, ptr %15, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #8
  br label %242

153:                                              ; preds = %143
  %154 = landingpad { ptr, i32 }
          cleanup
  %155 = extractvalue { ptr, i32 } %154, 0
  store ptr %155, ptr %9, align 8
  %156 = extractvalue { ptr, i32 } %154, 1
  store i32 %156, ptr %10, align 4
  call void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %17) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %17) #8
  br label %243

157:                                              ; preds = %147
  %158 = landingpad { ptr, i32 }
          cleanup
  %159 = extractvalue { ptr, i32 } %158, 0
  store ptr %159, ptr %9, align 8
  %160 = extractvalue { ptr, i32 } %158, 1
  store i32 %160, ptr %10, align 4
  br label %241

161:                                              ; preds = %150
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #8
  %162 = load i64, ptr %18, align 8, !tbaa !13
  %163 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK6ikfast14IkSolutionListIdE11GetSolutionEm(ptr noundef nonnull align 8 dereferenceable(32) %6, i64 noundef %162)
          to label %164 unwind label %203

164:                                              ; preds = %161
  store ptr %163, ptr %19, align 8, !tbaa !9
  %165 = load i64, ptr %18, align 8, !tbaa !13
  %166 = trunc i64 %165 to i32
  %167 = load ptr, ptr %19, align 8, !tbaa !9
  %168 = load ptr, ptr %167, align 8, !tbaa !21
  %169 = getelementptr inbounds ptr, ptr %168, i64 4
  %170 = load ptr, ptr %169, align 8
  %171 = invoke noundef nonnull align 8 dereferenceable(24) ptr %170(ptr noundef nonnull align 8 dereferenceable(8) %167)
          to label %172 unwind label %203

172:                                              ; preds = %164
  %173 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %171) #8
  %174 = trunc i64 %173 to i32
  %175 = invoke i32 (ptr, ...) @printf(ptr noundef @.str.5, i32 noundef %166, i32 noundef %174)
          to label %176 unwind label %203

176:                                              ; preds = %172
  call void @llvm.lifetime.start.p0(i64 24, ptr %20) #8
  %177 = load ptr, ptr %19, align 8, !tbaa !9
  %178 = load ptr, ptr %177, align 8, !tbaa !21
  %179 = getelementptr inbounds ptr, ptr %178, i64 4
  %180 = load ptr, ptr %179, align 8
  %181 = invoke noundef nonnull align 8 dereferenceable(24) ptr %180(ptr noundef nonnull align 8 dereferenceable(8) %177)
          to label %182 unwind label %207

182:                                              ; preds = %176
  %183 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %181) #8
  call void @llvm.lifetime.start.p0(i64 1, ptr %21) #8
  call void @_ZNSaIdEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %21) #8
  invoke void @_ZNSt6vectorIdSaIdEEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef %183, ptr noundef nonnull align 1 dereferenceable(1) %21)
          to label %184 unwind label %211

184:                                              ; preds = %182
  call void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %21) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %21) #8
  %185 = load ptr, ptr %19, align 8, !tbaa !9
  %186 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %16, i64 noundef 0) #8
  %187 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %20) #8
  %188 = icmp ugt i64 %187, 0
  br i1 %188, label %189, label %191

189:                                              ; preds = %184
  %190 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef 0) #8
  br label %192

191:                                              ; preds = %184
  br label %192

192:                                              ; preds = %191, %189
  %193 = phi ptr [ %190, %189 ], [ null, %191 ]
  %194 = load ptr, ptr %185, align 8, !tbaa !21
  %195 = getelementptr inbounds ptr, ptr %194, i64 2
  %196 = load ptr, ptr %195, align 8
  invoke void %196(ptr noundef nonnull align 8 dereferenceable(8) %185, ptr noundef %186, ptr noundef %193)
          to label %197 unwind label %215

197:                                              ; preds = %192
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #8
  store i64 0, ptr %22, align 8, !tbaa !13
  br label %198

198:                                              ; preds = %225, %197
  %199 = load i64, ptr %22, align 8, !tbaa !13
  %200 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %16) #8
  %201 = icmp ult i64 %199, %200
  br i1 %201, label %219, label %202

202:                                              ; preds = %198
  store i32 8, ptr %15, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #8
  br label %232

203:                                              ; preds = %172, %164, %161
  %204 = landingpad { ptr, i32 }
          cleanup
  %205 = extractvalue { ptr, i32 } %204, 0
  store ptr %205, ptr %9, align 8
  %206 = extractvalue { ptr, i32 } %204, 1
  store i32 %206, ptr %10, align 4
  br label %240

207:                                              ; preds = %176
  %208 = landingpad { ptr, i32 }
          cleanup
  %209 = extractvalue { ptr, i32 } %208, 0
  store ptr %209, ptr %9, align 8
  %210 = extractvalue { ptr, i32 } %208, 1
  store i32 %210, ptr %10, align 4
  br label %239

211:                                              ; preds = %182
  %212 = landingpad { ptr, i32 }
          cleanup
  %213 = extractvalue { ptr, i32 } %212, 0
  store ptr %213, ptr %9, align 8
  %214 = extractvalue { ptr, i32 } %212, 1
  store i32 %214, ptr %10, align 4
  call void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %21) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %21) #8
  br label %239

215:                                              ; preds = %232, %192
  %216 = landingpad { ptr, i32 }
          cleanup
  %217 = extractvalue { ptr, i32 } %216, 0
  store ptr %217, ptr %9, align 8
  %218 = extractvalue { ptr, i32 } %216, 1
  store i32 %218, ptr %10, align 4
  br label %238

219:                                              ; preds = %198
  %220 = load i64, ptr %22, align 8, !tbaa !13
  %221 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %16, i64 noundef %220) #8
  %222 = load double, ptr %221, align 8, !tbaa !11
  %223 = invoke i32 (ptr, ...) @printf(ptr noundef @.str.6, double noundef %222)
          to label %224 unwind label %228

224:                                              ; preds = %219
  br label %225

225:                                              ; preds = %224
  %226 = load i64, ptr %22, align 8, !tbaa !13
  %227 = add i64 %226, 1
  store i64 %227, ptr %22, align 8, !tbaa !13
  br label %198, !llvm.loop !23

228:                                              ; preds = %219
  %229 = landingpad { ptr, i32 }
          cleanup
  %230 = extractvalue { ptr, i32 } %229, 0
  store ptr %230, ptr %9, align 8
  %231 = extractvalue { ptr, i32 } %229, 1
  store i32 %231, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #8
  br label %238

232:                                              ; preds = %202
  %233 = invoke i32 (ptr, ...) @printf(ptr noundef @.str.7)
          to label %234 unwind label %215

234:                                              ; preds = %232
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #8
  br label %235

235:                                              ; preds = %234
  %236 = load i64, ptr %18, align 8, !tbaa !13
  %237 = add i64 %236, 1
  store i64 %237, ptr %18, align 8, !tbaa !13
  br label %147, !llvm.loop !24

238:                                              ; preds = %228, %215
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #8
  br label %239

239:                                              ; preds = %238, %211, %207
  call void @llvm.lifetime.end.p0(i64 24, ptr %20) #8
  br label %240

240:                                              ; preds = %239, %203
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #8
  br label %241

241:                                              ; preds = %240, %157
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #8
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %16) #8
  br label %243

242:                                              ; preds = %152
  store i32 0, ptr %3, align 4
  store i32 1, ptr %15, align 4
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %16) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %16) #8
  br label %244

243:                                              ; preds = %241, %153
  call void @llvm.lifetime.end.p0(i64 24, ptr %16) #8
  br label %245

244:                                              ; preds = %242, %131
  call void @llvm.lifetime.end.p0(i64 1, ptr %14) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %12) #8
  call void @llvm.lifetime.end.p0(i64 72, ptr %11) #8
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %7) #8
  call void @_ZN6ikfast14IkSolutionListIdED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %6) #8
  br label %247

245:                                              ; preds = %243, %134
  call void @llvm.lifetime.end.p0(i64 1, ptr %14) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %12) #8
  call void @llvm.lifetime.end.p0(i64 72, ptr %11) #8
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #8
  br label %246

246:                                              ; preds = %245, %100
  call void @llvm.lifetime.end.p0(i64 24, ptr %7) #8
  call void @_ZN6ikfast14IkSolutionListIdED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %6) #8
  br label %249

247:                                              ; preds = %244, %28
  %248 = load i32, ptr %3, align 4
  ret i32 %248

249:                                              ; preds = %246
  %250 = load ptr, ptr %9, align 8
  %251 = load i32, ptr %10, align 4
  %252 = insertvalue { ptr, i32 } poison, ptr %250, 0
  %253 = insertvalue { ptr, i32 } %252, i32 %251, 1
  resume { ptr, i32 } %253
}

declare i32 @printf(ptr noundef, ...) #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN6ikfast14IkSolutionListIdEC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSaIdEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: inlinehint mustprogress nounwind willreturn memory(read) uwtable
declare double @atof(ptr noundef nonnull) #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: nounwind
declare i32 @fprintf(ptr noundef, ptr noundef, ...) #7

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK6ikfast14IkSolutionListIdE15GetNumSolutionsEv(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK6ikfast14IkSolutionListIdE11GetSolutionEm(ptr noundef nonnull align 8 dereferenceable(32), i64 noundef) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN6ikfast14IkSolutionListIdED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIdED2Ev(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 = { "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 = { 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 #6 = { inlinehint mustprogress nounwind willreturn memory(read) 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 = { 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 #8 = { nounwind }
attributes #9 = { nounwind willreturn memory(read) }

!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 = !{!"double", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"long", !7, i64 0}
!15 = distinct !{!15, !16}
!16 = !{!"llvm.loop.mustprogress"}
!17 = !{!18, !18, i64 0}
!18 = !{!"bool", !7, i64 0}
!19 = !{i8 0, i8 2}
!20 = !{}
!21 = !{!22, !22, i64 0}
!22 = !{!"vtable pointer", !8, i64 0}
!23 = distinct !{!23, !16}
!24 = distinct !{!24, !16}


; 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.ikfast::IkSolutionList" = type { %"class.ikfast::IkSolutionListBase", %"class.std::__cxx11::list" }
%"class.ikfast::IkSolutionListBase" = type { ptr }
%"class.std::__cxx11::list" = type { %"class.std::__cxx11::_List_base" }
%"class.std::__cxx11::_List_base" = type { %"struct.std::__cxx11::_List_base<ikfast::IkSolution<double>, std::allocator<ikfast::IkSolution<double>>>::_List_impl" }
%"struct.std::__cxx11::_List_base<ikfast::IkSolution<double>, std::allocator<ikfast::IkSolution<double>>>::_List_impl" = type { %"struct.std::__detail::_List_node_header" }
%"struct.std::__detail::_List_node_header" = type { %"struct.std::__detail::_List_node_base", i64 }
%"struct.std::__detail::_List_node_base" = type { ptr, ptr }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::allocator.0" = type { i8 }

@.str.2 = external hidden unnamed_addr constant [262 x i8], align 1
@stderr = external local_unnamed_addr global ptr, align 8
@.str.3 = external hidden unnamed_addr constant [27 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [24 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [18 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.7 = external hidden unnamed_addr constant [2 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

; 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 dso_local noundef i32 @_Z20GetNumFreeParametersv() local_unnamed_addr #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_Z12GetNumJointsv() local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_Z9ComputeIkPKdS0_S0_RN6ikfast18IkSolutionListBaseIdEE(ptr noundef, ptr noundef, ptr noundef, ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2

; Function Attrs: mustprogress norecurse uwtable
define dso_local noundef range(i32 -1, 2) i32 @main(i32 noundef %0, ptr nocapture noundef readonly %1) local_unnamed_addr #3 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.ikfast::IkSolutionList", align 8
  %4 = alloca %"class.std::vector", align 8
  %5 = alloca %"class.std::allocator.0", align 1
  %6 = alloca [9 x double], align 16
  %7 = alloca [3 x double], align 16
  %8 = alloca %"class.std::vector", align 8
  %9 = alloca %"class.std::allocator.0", align 1
  %10 = alloca %"class.std::vector", align 8
  %11 = alloca %"class.std::allocator.0", align 1
  %12 = tail call noundef i32 @_Z20GetNumFreeParametersv()
  %13 = add nsw i32 %12, 13
  %.not = icmp eq i32 %13, %0
  br i1 %.not, label %17, label %14

14:                                               ; preds = %2
  %15 = tail call noundef i32 @_Z20GetNumFreeParametersv()
  %16 = tail call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.2, i32 noundef %15)
  br label %150

17:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %3) #7
  call void @_ZN6ikfast14IkSolutionListIdEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %4) #7
  %18 = call noundef i32 @_Z20GetNumFreeParametersv()
  %19 = sext i32 %18 to i64
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %5) #7
  call void @_ZNSaIdEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #7
  invoke void @_ZNSt6vectorIdSaIdEEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %4, i64 noundef %19, ptr noundef nonnull align 1 dereferenceable(1) %5)
          to label %20 unwind label %69

20:                                               ; preds = %17
  call void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %5) #7
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %6) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %7) #7
  %21 = getelementptr inbounds i8, ptr %1, i64 8
  %22 = load ptr, ptr %21, align 8, !tbaa !5
  %23 = call double @atof(ptr noundef %22) #8
  store double %23, ptr %6, align 16, !tbaa !9
  %24 = getelementptr inbounds i8, ptr %1, i64 16
  %25 = load ptr, ptr %24, align 8, !tbaa !5
  %26 = call double @atof(ptr noundef %25) #8
  %27 = getelementptr inbounds i8, ptr %6, i64 8
  store double %26, ptr %27, align 8, !tbaa !9
  %28 = getelementptr inbounds i8, ptr %1, i64 24
  %29 = load ptr, ptr %28, align 8, !tbaa !5
  %30 = call double @atof(ptr noundef %29) #8
  %31 = getelementptr inbounds i8, ptr %6, i64 16
  store double %30, ptr %31, align 16, !tbaa !9
  %32 = getelementptr inbounds i8, ptr %1, i64 32
  %33 = load ptr, ptr %32, align 8, !tbaa !5
  %34 = call double @atof(ptr noundef %33) #8
  store double %34, ptr %7, align 16, !tbaa !9
  %35 = getelementptr inbounds i8, ptr %1, i64 40
  %36 = load ptr, ptr %35, align 8, !tbaa !5
  %37 = call double @atof(ptr noundef %36) #8
  %38 = getelementptr inbounds i8, ptr %6, i64 24
  store double %37, ptr %38, align 8, !tbaa !9
  %39 = getelementptr inbounds i8, ptr %1, i64 48
  %40 = load ptr, ptr %39, align 8, !tbaa !5
  %41 = call double @atof(ptr noundef %40) #8
  %42 = getelementptr inbounds i8, ptr %6, i64 32
  store double %41, ptr %42, align 16, !tbaa !9
  %43 = getelementptr inbounds i8, ptr %1, i64 56
  %44 = load ptr, ptr %43, align 8, !tbaa !5
  %45 = call double @atof(ptr noundef %44) #8
  %46 = getelementptr inbounds i8, ptr %6, i64 40
  store double %45, ptr %46, align 8, !tbaa !9
  %47 = getelementptr inbounds i8, ptr %1, i64 64
  %48 = load ptr, ptr %47, align 8, !tbaa !5
  %49 = call double @atof(ptr noundef %48) #8
  %50 = getelementptr inbounds i8, ptr %7, i64 8
  store double %49, ptr %50, align 8, !tbaa !9
  %51 = getelementptr inbounds i8, ptr %1, i64 72
  %52 = load ptr, ptr %51, align 8, !tbaa !5
  %53 = call double @atof(ptr noundef %52) #8
  %54 = getelementptr inbounds i8, ptr %6, i64 48
  store double %53, ptr %54, align 16, !tbaa !9
  %55 = getelementptr inbounds i8, ptr %1, i64 80
  %56 = load ptr, ptr %55, align 8, !tbaa !5
  %57 = call double @atof(ptr noundef %56) #8
  %58 = getelementptr inbounds i8, ptr %6, i64 56
  store double %57, ptr %58, align 8, !tbaa !9
  %59 = getelementptr inbounds i8, ptr %1, i64 88
  %60 = load ptr, ptr %59, align 8, !tbaa !5
  %61 = call double @atof(ptr noundef %60) #8
  %62 = getelementptr inbounds i8, ptr %6, i64 64
  store double %61, ptr %62, align 16, !tbaa !9
  %63 = getelementptr inbounds i8, ptr %1, i64 96
  %64 = load ptr, ptr %63, align 8, !tbaa !5
  %65 = call double @atof(ptr noundef %64) #8
  %66 = getelementptr inbounds i8, ptr %7, i64 16
  store double %65, ptr %66, align 16, !tbaa !9
  %invariant.gep = getelementptr i8, ptr %1, i64 104
  %67 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %4) #7
  %.not56 = icmp eq i64 %67, 0
  br i1 %.not56, label %._crit_edge, label %.lr.ph

._crit_edge:                                      ; preds = %.lr.ph, %20
  %68 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %4) #7
  %.not41 = icmp eq i64 %68, 0
  br i1 %.not41, label %79, label %77

69:                                               ; preds = %17
  %70 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %5) #7
  br label %149

.lr.ph:                                           ; preds = %20, %.lr.ph
  %.03548 = phi i64 [ %74, %.lr.ph ], [ 0, %20 ]
  %gep = getelementptr ptr, ptr %invariant.gep, i64 %.03548
  %71 = load ptr, ptr %gep, align 8, !tbaa !5
  %72 = call double @atof(ptr noundef %71) #8
  %73 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %4, i64 noundef %.03548) #7
  store double %72, ptr %73, align 8, !tbaa !9
  %74 = add nuw i64 %.03548, 1
  %75 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %4) #7
  %76 = icmp ult i64 %74, %75
  br i1 %76, label %.lr.ph, label %._crit_edge, !llvm.loop !11

77:                                               ; preds = %._crit_edge
  %78 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %4, i64 noundef 0) #7
  br label %79

79:                                               ; preds = %._crit_edge, %77
  %80 = phi ptr [ %78, %77 ], [ null, %._crit_edge ]
  %81 = invoke noundef zeroext i1 @_Z9ComputeIkPKdS0_S0_RN6ikfast18IkSolutionListBaseIdEE(ptr noundef nonnull %7, ptr noundef nonnull %6, ptr noundef %80, ptr noundef nonnull align 8 dereferenceable(8) %3)
          to label %82 unwind label %86

82:                                               ; preds = %79
  br i1 %81, label %88, label %83

83:                                               ; preds = %82
  %84 = load ptr, ptr @stderr, align 8, !tbaa !5
  %85 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %84, ptr noundef nonnull @.str.3) #9
  br label %147

86:                                               ; preds = %79
  %87 = landingpad { ptr, i32 }
          cleanup
  br label %148

88:                                               ; preds = %82
  %89 = call noundef i64 @_ZNK6ikfast14IkSolutionListIdE15GetNumSolutionsEv(ptr noundef nonnull align 8 dereferenceable(32) %3)
  %90 = trunc i64 %89 to i32
  %91 = call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.4, i32 noundef %90)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %8) #7
  %92 = call noundef i32 @_Z12GetNumJointsv()
  %93 = sext i32 %92 to i64
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %9) #7
  call void @_ZNSaIdEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #7
  invoke void @_ZNSt6vectorIdSaIdEEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %8, i64 noundef %93, ptr noundef nonnull align 1 dereferenceable(1) %9)
          to label %94 unwind label %96

94:                                               ; preds = %88
  call void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %9) #7
  %95 = call noundef i64 @_ZNK6ikfast14IkSolutionListIdE15GetNumSolutionsEv(ptr noundef nonnull align 8 dereferenceable(32) %3)
  %.not57 = icmp eq i64 %95, 0
  br i1 %.not57, label %._crit_edge55, label %.lr.ph54

._crit_edge55:                                    ; preds = %._crit_edge51, %94
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #7
  br label %147

96:                                               ; preds = %88
  %97 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %9) #7
  br label %146

.lr.ph54:                                         ; preds = %94, %._crit_edge51
  %.03252 = phi i64 [ %127, %._crit_edge51 ], [ 0, %94 ]
  %98 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK6ikfast14IkSolutionListIdE11GetSolutionEm(ptr noundef nonnull align 8 dereferenceable(32) %3, i64 noundef %.03252)
          to label %99 unwind label %130

99:                                               ; preds = %.lr.ph54
  %100 = load ptr, ptr %98, align 8, !tbaa !13
  %101 = getelementptr inbounds i8, ptr %100, i64 32
  %102 = load ptr, ptr %101, align 8
  %103 = invoke noundef nonnull align 8 dereferenceable(24) ptr %102(ptr noundef nonnull align 8 dereferenceable(8) %98)
          to label %104 unwind label %130

104:                                              ; preds = %99
  %105 = trunc i64 %.03252 to i32
  %106 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %103) #7
  %107 = trunc i64 %106 to i32
  %108 = call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.5, i32 noundef %105, i32 noundef %107)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %10) #7
  %109 = load ptr, ptr %98, align 8, !tbaa !13
  %110 = getelementptr inbounds i8, ptr %109, i64 32
  %111 = load ptr, ptr %110, align 8
  %112 = invoke noundef nonnull align 8 dereferenceable(24) ptr %111(ptr noundef nonnull align 8 dereferenceable(8) %98)
          to label %113 unwind label %132

113:                                              ; preds = %104
  %114 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %112) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %11) #7
  call void @_ZNSaIdEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %11) #7
  invoke void @_ZNSt6vectorIdSaIdEEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %10, i64 noundef %114, ptr noundef nonnull align 1 dereferenceable(1) %11)
          to label %115 unwind label %134

115:                                              ; preds = %113
  call void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %11) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %11) #7
  %116 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %8, i64 noundef 0) #7
  %117 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %10) #7
  %.not42 = icmp eq i64 %117, 0
  br i1 %.not42, label %120, label %118

118:                                              ; preds = %115
  %119 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %10, i64 noundef 0) #7
  br label %120

120:                                              ; preds = %115, %118
  %121 = phi ptr [ %119, %118 ], [ null, %115 ]
  %122 = load ptr, ptr %98, align 8, !tbaa !13
  %123 = getelementptr inbounds i8, ptr %122, i64 16
  %124 = load ptr, ptr %123, align 8
  invoke void %124(ptr noundef nonnull align 8 dereferenceable(8) %98, ptr noundef nonnull %116, ptr noundef %121)
          to label %.preheader unwind label %136

.preheader:                                       ; preds = %120
  %125 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %8) #7
  %.not58 = icmp eq i64 %125, 0
  br i1 %.not58, label %._crit_edge51, label %.lr.ph50

._crit_edge51:                                    ; preds = %.lr.ph50, %.preheader
  %126 = call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.7)
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #7
  %127 = add nuw i64 %.03252, 1
  %128 = call noundef i64 @_ZNK6ikfast14IkSolutionListIdE15GetNumSolutionsEv(ptr noundef nonnull align 8 dereferenceable(32) %3)
  %129 = icmp ult i64 %127, %128
  br i1 %129, label %.lr.ph54, label %._crit_edge55, !llvm.loop !15

130:                                              ; preds = %99, %.lr.ph54
  %131 = landingpad { ptr, i32 }
          cleanup
  br label %145

132:                                              ; preds = %104
  %133 = landingpad { ptr, i32 }
          cleanup
  br label %144

134:                                              ; preds = %113
  %135 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %11) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %11) #7
  br label %144

136:                                              ; preds = %120
  %137 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #7
  br label %144

.lr.ph50:                                         ; preds = %.preheader, %.lr.ph50
  %.049 = phi i64 [ %141, %.lr.ph50 ], [ 0, %.preheader ]
  %138 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %8, i64 noundef %.049) #7
  %139 = load double, ptr %138, align 8, !tbaa !9
  %140 = call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.6, double noundef %139)
  %141 = add nuw i64 %.049, 1
  %142 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %8) #7
  %143 = icmp ult i64 %141, %142
  br i1 %143, label %.lr.ph50, label %._crit_edge51, !llvm.loop !16

144:                                              ; preds = %136, %134, %132
  %.pn = phi { ptr, i32 } [ %137, %136 ], [ %135, %134 ], [ %133, %132 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #7
  br label %145

145:                                              ; preds = %144, %130
  %.pn.pn = phi { ptr, i32 } [ %.pn, %144 ], [ %131, %130 ]
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #7
  br label %146

146:                                              ; preds = %145, %96
  %.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn, %145 ], [ %97, %96 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #7
  br label %148

147:                                              ; preds = %._crit_edge55, %83
  %.031 = phi i32 [ 0, %._crit_edge55 ], [ -1, %83 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #7
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %6) #7
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %4) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #7
  call void @_ZN6ikfast14IkSolutionListIdED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %3) #7
  br label %150

148:                                              ; preds = %146, %86
  %.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn, %146 ], [ %87, %86 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #7
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %6) #7
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %4) #7
  br label %149

149:                                              ; preds = %148, %69
  %.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn.pn, %148 ], [ %70, %69 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #7
  call void @_ZN6ikfast14IkSolutionListIdED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %3) #7
  resume { ptr, i32 } %.pn.pn.pn.pn.pn

150:                                              ; preds = %147, %14
  %.1 = phi i32 [ 1, %14 ], [ %.031, %147 ]
  ret i32 %.1
}

; Function Attrs: nofree nounwind
declare noundef i32 @printf(ptr nocapture noundef readonly, ...) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN6ikfast14IkSolutionListIdEC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSaIdEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: inlinehint mustprogress nofree nounwind willreturn memory(read) uwtable
declare double @atof(ptr nocapture noundef nonnull) local_unnamed_addr #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: nofree nounwind
declare noundef i32 @fprintf(ptr nocapture noundef, ptr nocapture noundef readonly, ...) local_unnamed_addr #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK6ikfast14IkSolutionListIdE15GetNumSolutionsEv(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK6ikfast14IkSolutionListIdE11GetSolutionEm(ptr noundef nonnull align 8 dereferenceable(32), i64 noundef) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN6ikfast14IkSolutionListIdED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 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 = { 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 = { nofree 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 #5 = { 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 #6 = { inlinehint mustprogress nofree nounwind willreturn memory(read) 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 = { nounwind }
attributes #8 = { nounwind willreturn memory(read) }
attributes #9 = { cold 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 = !{!"double", !7, i64 0}
!11 = distinct !{!11, !12}
!12 = !{!"llvm.loop.mustprogress"}
!13 = !{!14, !14, i64 0}
!14 = !{!"vtable pointer", !8, i64 0}
!15 = distinct !{!15, !12}
!16 = distinct !{!16, !12}


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