; LLVM IR from HiroIshida/tinyfk :: urdf_parser/src/link.ll (ZN4urdf13parseInertialERNS_8InertialEP12TiXmlElement)

; 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::__cxx11::basic_stringstream" = type { %"class.std::basic_iostream.base", %"class.std::__cxx11::basic_stringbuf", %"class.std::basic_ios" }
%"class.std::basic_iostream.base" = type { %"class.std::basic_istream.base", %"class.std::basic_ostream.base" }
%"class.std::basic_istream.base" = type { ptr, i64 }
%"class.std::basic_ostream.base" = type { ptr }
%"class.std::__cxx11::basic_stringbuf" = type { %"class.std::basic_streambuf", i32, %"class.std::__cxx11::basic_string" }
%"class.std::basic_streambuf" = type { ptr, ptr, ptr, ptr, ptr, ptr, ptr, %"class.std::locale" }
%"class.std::locale" = type { ptr }
%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::basic_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::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<std::pair<std::__cxx11::basic_string<char>, double>, std::allocator<std::pair<std::__cxx11::basic_string<char>, double>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::pair<std::__cxx11::basic_string<char>, double>, std::allocator<std::pair<std::__cxx11::basic_string<char>, double>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::pair<std::__cxx11::basic_string<char>, double>, std::allocator<std::pair<std::__cxx11::basic_string<char>, double>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::pair<std::__cxx11::basic_string<char>, double>, std::allocator<std::pair<std::__cxx11::basic_string<char>, double>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::initializer_list" = type { ptr, i64 }
%"struct.std::pair" = type { %"class.std::__cxx11::basic_string", double }
%"struct.std::pair.3" = type { ptr, double }
%"class.std::allocator.0" = type { i8 }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }
%"class.urdf::Inertial" = type { %"class.urdf::Pose", double, double, double, double, double, double, double }
%"class.urdf::Pose" = type { %"class.urdf::Vector3", %"class.urdf::Rotation" }
%"class.urdf::Vector3" = type { double, double, double }
%"class.urdf::Rotation" = type { double, double, double, double }

@_ZTISt13runtime_error = external constant ptr
@.str.16 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.27 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.28 = external hidden unnamed_addr constant [35 x i8], align 1
@.str.29 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.30 = external hidden unnamed_addr constant [27 x i8], align 1
@.str.31 = external hidden unnamed_addr constant [23 x i8], align 1

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

declare noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef) #1

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(104), ptr noundef) #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: nounwind memory(none)
declare i32 @llvm.eh.typeid.for.p0(ptr) #3

declare ptr @__cxa_begin_catch(ptr)

declare void @__cxa_end_catch()

; Function Attrs: noinline noreturn nounwind uwtable
declare hidden void @__clang_call_terminate(ptr noundef) #4

; Function Attrs: inlinehint mustprogress uwtable
declare hidden noundef double @_ZN4urdfL11strToDoubleEPKc(ptr noundef) #5

; Function Attrs: mustprogress uwtable
declare void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEEC1Ev(ptr noundef nonnull align 8 dereferenceable(128)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #5

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128)) unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf13parseInertialERNS_8InertialEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(112) %0, ptr noundef %1) #2 personality ptr @__gxx_personality_v0 {
  %3 = alloca i1, align 1
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca i32, align 4
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca i32, align 4
  %11 = alloca ptr, align 8
  %12 = alloca %"class.std::__cxx11::basic_stringstream", align 8
  %13 = alloca ptr, align 8
  %14 = alloca %"class.std::vector", align 8
  %15 = alloca %"class.std::initializer_list", align 8
  %16 = alloca [6 x %"struct.std::pair"], align 8
  %17 = alloca ptr, align 8
  %18 = alloca %"struct.std::pair.3", align 8
  %19 = alloca double, align 8
  %20 = alloca %"struct.std::pair.3", align 8
  %21 = alloca double, align 8
  %22 = alloca %"struct.std::pair.3", align 8
  %23 = alloca double, align 8
  %24 = alloca %"struct.std::pair.3", align 8
  %25 = alloca double, align 8
  %26 = alloca %"struct.std::pair.3", align 8
  %27 = alloca double, align 8
  %28 = alloca %"struct.std::pair.3", align 8
  %29 = alloca double, align 8
  %30 = alloca i1, align 1
  %31 = alloca %"class.std::allocator.0", align 1
  %32 = alloca ptr, align 8
  %33 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %34 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %35 = alloca ptr, align 8
  %36 = alloca %"class.std::__cxx11::basic_stringstream", align 8
  %37 = alloca ptr, align 8
  %38 = alloca %"class.std::__cxx11::basic_stringstream", align 8
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  %39 = load ptr, ptr %4, align 8, !tbaa !5
  call void @_ZN4urdf8Inertial5clearEv(ptr noundef nonnull align 8 dereferenceable(112) %39)
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #8
  %40 = load ptr, ptr %5, align 8, !tbaa !5
  %41 = call noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %40, ptr noundef @.str.16)
  store ptr %41, ptr %6, align 8, !tbaa !5
  %42 = load ptr, ptr %6, align 8, !tbaa !5
  %43 = icmp ne ptr %42, null
  br i1 %43, label %44, label %51

44:                                               ; preds = %2
  %45 = load ptr, ptr %4, align 8, !tbaa !5
  %46 = getelementptr inbounds %"class.urdf::Inertial", ptr %45, i32 0, i32 0
  %47 = load ptr, ptr %6, align 8, !tbaa !5
  %48 = call noundef zeroext i1 @_ZN4urdf9parsePoseERNS_4PoseEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(56) %46, ptr noundef %47)
  br i1 %48, label %50, label %49

49:                                               ; preds = %44
  store i1 false, ptr %3, align 1
  store i32 1, ptr %7, align 4
  br label %355

50:                                               ; preds = %44
  br label %51

51:                                               ; preds = %50, %2
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #8
  %52 = load ptr, ptr %5, align 8, !tbaa !5
  %53 = call noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %52, ptr noundef @.str.17)
  store ptr %53, ptr %8, align 8, !tbaa !5
  %54 = load ptr, ptr %8, align 8, !tbaa !5
  %55 = icmp ne ptr %54, null
  br i1 %55, label %57, label %56

56:                                               ; preds = %51
  store i1 false, ptr %3, align 1
  store i32 1, ptr %7, align 4
  br label %353

57:                                               ; preds = %51
  %58 = load ptr, ptr %8, align 8, !tbaa !5
  %59 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216) %58, ptr noundef @.str.18)
  %60 = icmp ne ptr %59, null
  br i1 %60, label %62, label %61

61:                                               ; preds = %57
  store i1 false, ptr %3, align 1
  store i32 1, ptr %7, align 4
  br label %353

62:                                               ; preds = %57
  %63 = load ptr, ptr %8, align 8, !tbaa !5
  %64 = invoke noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216) %63, ptr noundef @.str.18)
          to label %65 unwind label %70

65:                                               ; preds = %62
  %66 = invoke noundef double @_ZN4urdfL11strToDoubleEPKc(ptr noundef %64)
          to label %67 unwind label %70

67:                                               ; preds = %65
  %68 = load ptr, ptr %4, align 8, !tbaa !5
  %69 = getelementptr inbounds %"class.urdf::Inertial", ptr %68, i32 0, i32 1
  store double %66, ptr %69, align 8, !tbaa !9
  br label %102

70:                                               ; preds = %65, %62
  %71 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTISt13runtime_error
  %72 = extractvalue { ptr, i32 } %71, 0
  store ptr %72, ptr %9, align 8
  %73 = extractvalue { ptr, i32 } %71, 1
  store i32 %73, ptr %10, align 4
  br label %74

74:                                               ; preds = %70
  %75 = load i32, ptr %10, align 4
  %76 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTISt13runtime_error) #8
  %77 = icmp eq i32 %75, %76
  br i1 %77, label %78, label %354

78:                                               ; preds = %74
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #8
  %79 = load ptr, ptr %9, align 8
  %80 = call ptr @__cxa_begin_catch(ptr %79) #8
  store ptr %80, ptr %11, align 8
  call void @llvm.lifetime.start.p0(i64 392, ptr %12) #8
  invoke void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEEC1Ev(ptr noundef nonnull align 8 dereferenceable(128) %12)
          to label %81 unwind label %92

81:                                               ; preds = %78
  %82 = getelementptr inbounds i8, ptr %12, i64 16
  %83 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %82, ptr noundef @.str.19)
          to label %84 unwind label %96

84:                                               ; preds = %81
  %85 = load ptr, ptr %8, align 8, !tbaa !5
  %86 = invoke noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216) %85, ptr noundef @.str.18)
          to label %87 unwind label %96

87:                                               ; preds = %84
  %88 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %83, ptr noundef %86)
          to label %89 unwind label %96

89:                                               ; preds = %87
  %90 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %88, ptr noundef @.str.20)
          to label %91 unwind label %96

91:                                               ; preds = %89
  store i1 false, ptr %3, align 1
  store i32 1, ptr %7, align 4
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %12) #8
  call void @llvm.lifetime.end.p0(i64 392, ptr %12) #8
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #8
  br label %353

92:                                               ; preds = %78
  %93 = landingpad { ptr, i32 }
          cleanup
  %94 = extractvalue { ptr, i32 } %93, 0
  store ptr %94, ptr %9, align 8
  %95 = extractvalue { ptr, i32 } %93, 1
  store i32 %95, ptr %10, align 4
  br label %100

96:                                               ; preds = %89, %87, %84, %81
  %97 = landingpad { ptr, i32 }
          cleanup
  %98 = extractvalue { ptr, i32 } %97, 0
  store ptr %98, ptr %9, align 8
  %99 = extractvalue { ptr, i32 } %97, 1
  store i32 %99, ptr %10, align 4
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %12) #8
  br label %100

100:                                              ; preds = %96, %92
  call void @llvm.lifetime.end.p0(i64 392, ptr %12) #8
  invoke void @__cxa_end_catch()
          to label %101 unwind label %362

101:                                              ; preds = %100
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #8
  br label %354

102:                                              ; preds = %67
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #8
  %103 = load ptr, ptr %5, align 8, !tbaa !5
  %104 = call noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %103, ptr noundef @.str.21)
  store ptr %104, ptr %13, align 8, !tbaa !5
  %105 = load ptr, ptr %13, align 8, !tbaa !5
  %106 = icmp ne ptr %105, null
  br i1 %106, label %108, label %107

107:                                              ; preds = %102
  store i1 false, ptr %3, align 1
  store i32 1, ptr %7, align 4
  br label %352

108:                                              ; preds = %102
  call void @llvm.lifetime.start.p0(i64 24, ptr %14) #8
  call void @llvm.lifetime.start.p0(i64 240, ptr %16) #8
  store i1 true, ptr %30, align 1
  store ptr %16, ptr %17, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %18) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #8
  store double 0.000000e+00, ptr %19, align 8, !tbaa !15
  %109 = invoke { ptr, double } @_ZSt9make_pairIRA4_KcdESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS4_INS5_IT0_E4typeEE6__typeEEOS6_OSB_(ptr noundef nonnull align 1 dereferenceable(4) @.str.22, ptr noundef nonnull align 8 dereferenceable(8) %19)
          to label %110 unwind label %179

110:                                              ; preds = %108
  %111 = getelementptr inbounds { ptr, double }, ptr %18, i32 0, i32 0
  %112 = extractvalue { ptr, double } %109, 0
  store ptr %112, ptr %111, align 8
  %113 = getelementptr inbounds { ptr, double }, ptr %18, i32 0, i32 1
  %114 = extractvalue { ptr, double } %109, 1
  store double %114, ptr %113, align 8
  invoke void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEC2IPKcdTnNSt9enable_ifIXaaclsr6_PCCFPIT_T0_EE22_MoveConstructiblePairISB_SC_EEclsr6_PCCFPISB_SC_EE30_ImplicitlyMoveConvertiblePairISB_SC_EEEbE4typeELb1EEEOS_ISB_SC_E(ptr noundef nonnull align 8 dereferenceable(40) %16, ptr noundef nonnull align 8 dereferenceable(16) %18)
          to label %115 unwind label %179

115:                                              ; preds = %110
  %116 = getelementptr inbounds %"struct.std::pair", ptr %16, i64 1
  store ptr %116, ptr %17, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %20) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #8
  store double 0.000000e+00, ptr %21, align 8, !tbaa !15
  %117 = invoke { ptr, double } @_ZSt9make_pairIRA4_KcdESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS4_INS5_IT0_E4typeEE6__typeEEOS6_OSB_(ptr noundef nonnull align 1 dereferenceable(4) @.str.23, ptr noundef nonnull align 8 dereferenceable(8) %21)
          to label %118 unwind label %183

118:                                              ; preds = %115
  %119 = getelementptr inbounds { ptr, double }, ptr %20, i32 0, i32 0
  %120 = extractvalue { ptr, double } %117, 0
  store ptr %120, ptr %119, align 8
  %121 = getelementptr inbounds { ptr, double }, ptr %20, i32 0, i32 1
  %122 = extractvalue { ptr, double } %117, 1
  store double %122, ptr %121, align 8
  invoke void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEC2IPKcdTnNSt9enable_ifIXaaclsr6_PCCFPIT_T0_EE22_MoveConstructiblePairISB_SC_EEclsr6_PCCFPISB_SC_EE30_ImplicitlyMoveConvertiblePairISB_SC_EEEbE4typeELb1EEEOS_ISB_SC_E(ptr noundef nonnull align 8 dereferenceable(40) %116, ptr noundef nonnull align 8 dereferenceable(16) %20)
          to label %123 unwind label %183

123:                                              ; preds = %118
  %124 = getelementptr inbounds %"struct.std::pair", ptr %16, i64 2
  store ptr %124, ptr %17, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %22) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #8
  store double 0.000000e+00, ptr %23, align 8, !tbaa !15
  %125 = invoke { ptr, double } @_ZSt9make_pairIRA4_KcdESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS4_INS5_IT0_E4typeEE6__typeEEOS6_OSB_(ptr noundef nonnull align 1 dereferenceable(4) @.str.24, ptr noundef nonnull align 8 dereferenceable(8) %23)
          to label %126 unwind label %187

126:                                              ; preds = %123
  %127 = getelementptr inbounds { ptr, double }, ptr %22, i32 0, i32 0
  %128 = extractvalue { ptr, double } %125, 0
  store ptr %128, ptr %127, align 8
  %129 = getelementptr inbounds { ptr, double }, ptr %22, i32 0, i32 1
  %130 = extractvalue { ptr, double } %125, 1
  store double %130, ptr %129, align 8
  invoke void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEC2IPKcdTnNSt9enable_ifIXaaclsr6_PCCFPIT_T0_EE22_MoveConstructiblePairISB_SC_EEclsr6_PCCFPISB_SC_EE30_ImplicitlyMoveConvertiblePairISB_SC_EEEbE4typeELb1EEEOS_ISB_SC_E(ptr noundef nonnull align 8 dereferenceable(40) %124, ptr noundef nonnull align 8 dereferenceable(16) %22)
          to label %131 unwind label %187

131:                                              ; preds = %126
  %132 = getelementptr inbounds %"struct.std::pair", ptr %16, i64 3
  store ptr %132, ptr %17, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %24) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #8
  store double 0.000000e+00, ptr %25, align 8, !tbaa !15
  %133 = invoke { ptr, double } @_ZSt9make_pairIRA4_KcdESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS4_INS5_IT0_E4typeEE6__typeEEOS6_OSB_(ptr noundef nonnull align 1 dereferenceable(4) @.str.25, ptr noundef nonnull align 8 dereferenceable(8) %25)
          to label %134 unwind label %191

134:                                              ; preds = %131
  %135 = getelementptr inbounds { ptr, double }, ptr %24, i32 0, i32 0
  %136 = extractvalue { ptr, double } %133, 0
  store ptr %136, ptr %135, align 8
  %137 = getelementptr inbounds { ptr, double }, ptr %24, i32 0, i32 1
  %138 = extractvalue { ptr, double } %133, 1
  store double %138, ptr %137, align 8
  invoke void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEC2IPKcdTnNSt9enable_ifIXaaclsr6_PCCFPIT_T0_EE22_MoveConstructiblePairISB_SC_EEclsr6_PCCFPISB_SC_EE30_ImplicitlyMoveConvertiblePairISB_SC_EEEbE4typeELb1EEEOS_ISB_SC_E(ptr noundef nonnull align 8 dereferenceable(40) %132, ptr noundef nonnull align 8 dereferenceable(16) %24)
          to label %139 unwind label %191

139:                                              ; preds = %134
  %140 = getelementptr inbounds %"struct.std::pair", ptr %16, i64 4
  store ptr %140, ptr %17, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %26) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #8
  store double 0.000000e+00, ptr %27, align 8, !tbaa !15
  %141 = invoke { ptr, double } @_ZSt9make_pairIRA4_KcdESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS4_INS5_IT0_E4typeEE6__typeEEOS6_OSB_(ptr noundef nonnull align 1 dereferenceable(4) @.str.26, ptr noundef nonnull align 8 dereferenceable(8) %27)
          to label %142 unwind label %195

142:                                              ; preds = %139
  %143 = getelementptr inbounds { ptr, double }, ptr %26, i32 0, i32 0
  %144 = extractvalue { ptr, double } %141, 0
  store ptr %144, ptr %143, align 8
  %145 = getelementptr inbounds { ptr, double }, ptr %26, i32 0, i32 1
  %146 = extractvalue { ptr, double } %141, 1
  store double %146, ptr %145, align 8
  invoke void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEC2IPKcdTnNSt9enable_ifIXaaclsr6_PCCFPIT_T0_EE22_MoveConstructiblePairISB_SC_EEclsr6_PCCFPISB_SC_EE30_ImplicitlyMoveConvertiblePairISB_SC_EEEbE4typeELb1EEEOS_ISB_SC_E(ptr noundef nonnull align 8 dereferenceable(40) %140, ptr noundef nonnull align 8 dereferenceable(16) %26)
          to label %147 unwind label %195

147:                                              ; preds = %142
  %148 = getelementptr inbounds %"struct.std::pair", ptr %16, i64 5
  store ptr %148, ptr %17, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %28) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #8
  store double 0.000000e+00, ptr %29, align 8, !tbaa !15
  %149 = invoke { ptr, double } @_ZSt9make_pairIRA4_KcdESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS4_INS5_IT0_E4typeEE6__typeEEOS6_OSB_(ptr noundef nonnull align 1 dereferenceable(4) @.str.27, ptr noundef nonnull align 8 dereferenceable(8) %29)
          to label %150 unwind label %199

150:                                              ; preds = %147
  %151 = getelementptr inbounds { ptr, double }, ptr %28, i32 0, i32 0
  %152 = extractvalue { ptr, double } %149, 0
  store ptr %152, ptr %151, align 8
  %153 = getelementptr inbounds { ptr, double }, ptr %28, i32 0, i32 1
  %154 = extractvalue { ptr, double } %149, 1
  store double %154, ptr %153, align 8
  invoke void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEC2IPKcdTnNSt9enable_ifIXaaclsr6_PCCFPIT_T0_EE22_MoveConstructiblePairISB_SC_EEclsr6_PCCFPISB_SC_EE30_ImplicitlyMoveConvertiblePairISB_SC_EEEbE4typeELb1EEEOS_ISB_SC_E(ptr noundef nonnull align 8 dereferenceable(40) %148, ptr noundef nonnull align 8 dereferenceable(16) %28)
          to label %155 unwind label %199

155:                                              ; preds = %150
  store i1 false, ptr %30, align 1
  %156 = getelementptr inbounds %"class.std::initializer_list", ptr %15, i32 0, i32 0
  store ptr %16, ptr %156, align 8, !tbaa !16
  %157 = getelementptr inbounds %"class.std::initializer_list", ptr %15, i32 0, i32 1
  store i64 6, ptr %157, align 8, !tbaa !19
  call void @llvm.lifetime.start.p0(i64 1, ptr %31) #8
  call void @_ZNSaISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %31) #8
  %158 = getelementptr inbounds { ptr, i64 }, ptr %15, i32 0, i32 0
  %159 = load ptr, ptr %158, align 8
  %160 = getelementptr inbounds { ptr, i64 }, ptr %15, i32 0, i32 1
  %161 = load i64, ptr %160, align 8
  invoke void @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EEC2ESt16initializer_listIS7_ERKS8_(ptr noundef nonnull align 8 dereferenceable(24) %14, ptr %159, i64 %161, ptr noundef nonnull align 1 dereferenceable(1) %31)
          to label %162 unwind label %203

162:                                              ; preds = %155
  call void @_ZNSt15__new_allocatorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %31) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %31) #8
  %163 = getelementptr inbounds [6 x %"struct.std::pair"], ptr %16, i32 0, i32 0
  %164 = getelementptr inbounds %"struct.std::pair", ptr %163, i64 6
  br label %165

165:                                              ; preds = %165, %162
  %166 = phi ptr [ %164, %162 ], [ %167, %165 ]
  %167 = getelementptr inbounds %"struct.std::pair", ptr %166, i64 -1
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %167) #8
  %168 = icmp eq ptr %167, %163
  br i1 %168, label %169, label %165

169:                                              ; preds = %165
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %28) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %18) #8
  call void @llvm.lifetime.end.p0(i64 240, ptr %16) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #8
  store ptr %14, ptr %32, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #8
  %170 = load ptr, ptr %32, align 8, !tbaa !5
  %171 = call ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %170) #8
  %172 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %33, i32 0, i32 0
  store ptr %171, ptr %172, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #8
  %173 = load ptr, ptr %32, align 8, !tbaa !5
  %174 = call ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %173) #8
  %175 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %34, i32 0, i32 0
  store ptr %174, ptr %175, align 8
  br label %176

176:                                              ; preds = %314, %169
  %177 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESt6vectorIS8_SaIS8_EEEEbRKNS_17__normal_iteratorIT_T0_EESI_(ptr noundef nonnull align 8 dereferenceable(8) %33, ptr noundef nonnull align 8 dereferenceable(8) %34) #8
  br i1 %177, label %230, label %178

178:                                              ; preds = %176
  store i32 2, ptr %7, align 4
  br label %317

179:                                              ; preds = %110, %108
  %180 = landingpad { ptr, i32 }
          cleanup
  %181 = extractvalue { ptr, i32 } %180, 0
  store ptr %181, ptr %9, align 8
  %182 = extractvalue { ptr, i32 } %180, 1
  store i32 %182, ptr %10, align 4
  br label %219

183:                                              ; preds = %118, %115
  %184 = landingpad { ptr, i32 }
          cleanup
  %185 = extractvalue { ptr, i32 } %184, 0
  store ptr %185, ptr %9, align 8
  %186 = extractvalue { ptr, i32 } %184, 1
  store i32 %186, ptr %10, align 4
  br label %218

187:                                              ; preds = %126, %123
  %188 = landingpad { ptr, i32 }
          cleanup
  %189 = extractvalue { ptr, i32 } %188, 0
  store ptr %189, ptr %9, align 8
  %190 = extractvalue { ptr, i32 } %188, 1
  store i32 %190, ptr %10, align 4
  br label %217

191:                                              ; preds = %134, %131
  %192 = landingpad { ptr, i32 }
          cleanup
  %193 = extractvalue { ptr, i32 } %192, 0
  store ptr %193, ptr %9, align 8
  %194 = extractvalue { ptr, i32 } %192, 1
  store i32 %194, ptr %10, align 4
  br label %216

195:                                              ; preds = %142, %139
  %196 = landingpad { ptr, i32 }
          cleanup
  %197 = extractvalue { ptr, i32 } %196, 0
  store ptr %197, ptr %9, align 8
  %198 = extractvalue { ptr, i32 } %196, 1
  store i32 %198, ptr %10, align 4
  br label %215

199:                                              ; preds = %150, %147
  %200 = landingpad { ptr, i32 }
          cleanup
  %201 = extractvalue { ptr, i32 } %200, 0
  store ptr %201, ptr %9, align 8
  %202 = extractvalue { ptr, i32 } %200, 1
  store i32 %202, ptr %10, align 4
  br label %214

203:                                              ; preds = %155
  %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
  call void @_ZNSt15__new_allocatorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %31) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %31) #8
  %207 = getelementptr inbounds [6 x %"struct.std::pair"], ptr %16, i32 0, i32 0
  %208 = getelementptr inbounds %"struct.std::pair", ptr %207, i64 6
  br label %209

209:                                              ; preds = %209, %203
  %210 = phi ptr [ %208, %203 ], [ %211, %209 ]
  %211 = getelementptr inbounds %"struct.std::pair", ptr %210, i64 -1
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %211) #8
  %212 = icmp eq ptr %211, %207
  br i1 %212, label %213, label %209

213:                                              ; preds = %209
  br label %214

214:                                              ; preds = %213, %199
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %28) #8
  br label %215

215:                                              ; preds = %214, %195
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #8
  br label %216

216:                                              ; preds = %215, %191
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #8
  br label %217

217:                                              ; preds = %216, %187
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #8
  br label %218

218:                                              ; preds = %217, %183
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %20) #8
  br label %219

219:                                              ; preds = %218, %179
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %18) #8
  %220 = load i1, ptr %30, align 1
  br i1 %220, label %221, label %229

221:                                              ; preds = %219
  %222 = load ptr, ptr %17, align 8
  %223 = icmp eq ptr %16, %222
  br i1 %223, label %228, label %224

224:                                              ; preds = %224, %221
  %225 = phi ptr [ %222, %221 ], [ %226, %224 ]
  %226 = getelementptr inbounds %"struct.std::pair", ptr %225, i64 -1
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %226) #8
  %227 = icmp eq ptr %226, %16
  br i1 %227, label %228, label %224

228:                                              ; preds = %224, %221
  br label %229

229:                                              ; preds = %228, %219
  call void @llvm.lifetime.end.p0(i64 240, ptr %16) #8
  br label %351

230:                                              ; preds = %176
  call void @llvm.lifetime.start.p0(i64 8, ptr %35) #8
  %231 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESt6vectorIS8_SaIS8_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %33) #8
  store ptr %231, ptr %35, align 8, !tbaa !5
  %232 = load ptr, ptr %13, align 8, !tbaa !5
  %233 = load ptr, ptr %35, align 8, !tbaa !5
  %234 = getelementptr inbounds %"struct.std::pair", ptr %233, i32 0, i32 0
  %235 = invoke noundef ptr @_ZNK12TiXmlElement9AttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(216) %232, ptr noundef nonnull align 8 dereferenceable(32) %234)
          to label %236 unwind label %249

236:                                              ; preds = %230
  %237 = icmp ne ptr %235, null
  br i1 %237, label %262, label %238

238:                                              ; preds = %236
  call void @llvm.lifetime.start.p0(i64 392, ptr %36) #8
  invoke void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEEC1Ev(ptr noundef nonnull align 8 dereferenceable(128) %36)
          to label %239 unwind label %253

239:                                              ; preds = %238
  %240 = getelementptr inbounds i8, ptr %36, i64 16
  %241 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %240, ptr noundef @.str.28)
          to label %242 unwind label %257

242:                                              ; preds = %239
  %243 = load ptr, ptr %35, align 8, !tbaa !5
  %244 = getelementptr inbounds %"struct.std::pair", ptr %243, i32 0, i32 0
  %245 = 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) %241, ptr noundef nonnull align 8 dereferenceable(32) %244)
          to label %246 unwind label %257

246:                                              ; preds = %242
  %247 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %245, ptr noundef @.str.29)
          to label %248 unwind label %257

248:                                              ; preds = %246
  store i1 false, ptr %3, align 1
  store i32 1, ptr %7, align 4
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %36) #8
  call void @llvm.lifetime.end.p0(i64 392, ptr %36) #8
  br label %311

249:                                              ; preds = %230
  %250 = landingpad { ptr, i32 }
          cleanup
  %251 = extractvalue { ptr, i32 } %250, 0
  store ptr %251, ptr %9, align 8
  %252 = extractvalue { ptr, i32 } %250, 1
  store i32 %252, ptr %10, align 4
  br label %316

253:                                              ; preds = %238
  %254 = landingpad { ptr, i32 }
          cleanup
  %255 = extractvalue { ptr, i32 } %254, 0
  store ptr %255, ptr %9, align 8
  %256 = extractvalue { ptr, i32 } %254, 1
  store i32 %256, ptr %10, align 4
  br label %261

257:                                              ; preds = %246, %242, %239
  %258 = landingpad { ptr, i32 }
          cleanup
  %259 = extractvalue { ptr, i32 } %258, 0
  store ptr %259, ptr %9, align 8
  %260 = extractvalue { ptr, i32 } %258, 1
  store i32 %260, ptr %10, align 4
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %36) #8
  br label %261

261:                                              ; preds = %257, %253
  call void @llvm.lifetime.end.p0(i64 392, ptr %36) #8
  br label %316

262:                                              ; preds = %236
  %263 = load ptr, ptr %13, align 8, !tbaa !5
  %264 = load ptr, ptr %35, align 8, !tbaa !5
  %265 = getelementptr inbounds %"struct.std::pair", ptr %264, i32 0, i32 0
  %266 = call noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32) %265) #8
  %267 = invoke noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216) %263, ptr noundef %266)
          to label %268 unwind label %273

268:                                              ; preds = %262
  %269 = invoke noundef double @_ZN4urdfL11strToDoubleEPKc(ptr noundef %267)
          to label %270 unwind label %273

270:                                              ; preds = %268
  %271 = load ptr, ptr %35, align 8, !tbaa !5
  %272 = getelementptr inbounds %"struct.std::pair", ptr %271, i32 0, i32 1
  store double %269, ptr %272, align 8, !tbaa !20
  br label %310

273:                                              ; preds = %268, %262
  %274 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTISt13runtime_error
  %275 = extractvalue { ptr, i32 } %274, 0
  store ptr %275, ptr %9, align 8
  %276 = extractvalue { ptr, i32 } %274, 1
  store i32 %276, ptr %10, align 4
  br label %277

277:                                              ; preds = %273
  %278 = load i32, ptr %10, align 4
  %279 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTISt13runtime_error) #8
  %280 = icmp eq i32 %278, %279
  br i1 %280, label %281, label %316

281:                                              ; preds = %277
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #8
  %282 = load ptr, ptr %9, align 8
  %283 = call ptr @__cxa_begin_catch(ptr %282) #8
  store ptr %283, ptr %37, align 8
  call void @llvm.lifetime.start.p0(i64 392, ptr %38) #8
  invoke void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEEC1Ev(ptr noundef nonnull align 8 dereferenceable(128) %38)
          to label %284 unwind label %294

284:                                              ; preds = %281
  %285 = getelementptr inbounds i8, ptr %38, i64 16
  %286 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %285, ptr noundef @.str.30)
          to label %287 unwind label %298

287:                                              ; preds = %284
  %288 = load ptr, ptr %35, align 8, !tbaa !5
  %289 = getelementptr inbounds %"struct.std::pair", ptr %288, i32 0, i32 0
  %290 = 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) %286, ptr noundef nonnull align 8 dereferenceable(32) %289)
          to label %291 unwind label %298

291:                                              ; preds = %287
  %292 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %290, ptr noundef @.str.31)
          to label %293 unwind label %298

293:                                              ; preds = %291
  store i1 false, ptr %3, align 1
  store i32 1, ptr %7, align 4
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %38) #8
  call void @llvm.lifetime.end.p0(i64 392, ptr %38) #8
  invoke void @__cxa_end_catch()
          to label %303 unwind label %304

294:                                              ; preds = %281
  %295 = landingpad { ptr, i32 }
          cleanup
  %296 = extractvalue { ptr, i32 } %295, 0
  store ptr %296, ptr %9, align 8
  %297 = extractvalue { ptr, i32 } %295, 1
  store i32 %297, ptr %10, align 4
  br label %302

298:                                              ; preds = %291, %287, %284
  %299 = landingpad { ptr, i32 }
          cleanup
  %300 = extractvalue { ptr, i32 } %299, 0
  store ptr %300, ptr %9, align 8
  %301 = extractvalue { ptr, i32 } %299, 1
  store i32 %301, ptr %10, align 4
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %38) #8
  br label %302

302:                                              ; preds = %298, %294
  call void @llvm.lifetime.end.p0(i64 392, ptr %38) #8
  invoke void @__cxa_end_catch()
          to label %308 unwind label %362

303:                                              ; preds = %293
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #8
  br label %311

304:                                              ; preds = %293
  %305 = landingpad { ptr, i32 }
          cleanup
  %306 = extractvalue { ptr, i32 } %305, 0
  store ptr %306, ptr %9, align 8
  %307 = extractvalue { ptr, i32 } %305, 1
  store i32 %307, ptr %10, align 4
  br label %309

308:                                              ; preds = %302
  br label %309

309:                                              ; preds = %308, %304
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #8
  br label %316

310:                                              ; preds = %270
  store i32 0, ptr %7, align 4
  br label %311

311:                                              ; preds = %310, %303, %248
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #8
  %312 = load i32, ptr %7, align 4
  switch i32 %312, label %317 [
    i32 0, label %313
  ]

313:                                              ; preds = %311
  br label %314

314:                                              ; preds = %313
  %315 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESt6vectorIS8_SaIS8_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %33) #8
  br label %176

316:                                              ; preds = %309, %277, %261, %249
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #8
  call void @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %14) #8
  br label %351

317:                                              ; preds = %311, %178
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #8
  %318 = load i32, ptr %7, align 4
  switch i32 %318, label %350 [
    i32 2, label %319
  ]

319:                                              ; preds = %317
  %320 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %14, i64 noundef 0) #8
  %321 = getelementptr inbounds %"struct.std::pair", ptr %320, i32 0, i32 1
  %322 = load double, ptr %321, align 8, !tbaa !20
  %323 = load ptr, ptr %4, align 8, !tbaa !5
  %324 = getelementptr inbounds %"class.urdf::Inertial", ptr %323, i32 0, i32 2
  store double %322, ptr %324, align 8, !tbaa !24
  %325 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %14, i64 noundef 1) #8
  %326 = getelementptr inbounds %"struct.std::pair", ptr %325, i32 0, i32 1
  %327 = load double, ptr %326, align 8, !tbaa !20
  %328 = load ptr, ptr %4, align 8, !tbaa !5
  %329 = getelementptr inbounds %"class.urdf::Inertial", ptr %328, i32 0, i32 3
  store double %327, ptr %329, align 8, !tbaa !25
  %330 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %14, i64 noundef 2) #8
  %331 = getelementptr inbounds %"struct.std::pair", ptr %330, i32 0, i32 1
  %332 = load double, ptr %331, align 8, !tbaa !20
  %333 = load ptr, ptr %4, align 8, !tbaa !5
  %334 = getelementptr inbounds %"class.urdf::Inertial", ptr %333, i32 0, i32 4
  store double %332, ptr %334, align 8, !tbaa !26
  %335 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %14, i64 noundef 3) #8
  %336 = getelementptr inbounds %"struct.std::pair", ptr %335, i32 0, i32 1
  %337 = load double, ptr %336, align 8, !tbaa !20
  %338 = load ptr, ptr %4, align 8, !tbaa !5
  %339 = getelementptr inbounds %"class.urdf::Inertial", ptr %338, i32 0, i32 5
  store double %337, ptr %339, align 8, !tbaa !27
  %340 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %14, i64 noundef 4) #8
  %341 = getelementptr inbounds %"struct.std::pair", ptr %340, i32 0, i32 1
  %342 = load double, ptr %341, align 8, !tbaa !20
  %343 = load ptr, ptr %4, align 8, !tbaa !5
  %344 = getelementptr inbounds %"class.urdf::Inertial", ptr %343, i32 0, i32 6
  store double %342, ptr %344, align 8, !tbaa !28
  %345 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %14, i64 noundef 5) #8
  %346 = getelementptr inbounds %"struct.std::pair", ptr %345, i32 0, i32 1
  %347 = load double, ptr %346, align 8, !tbaa !20
  %348 = load ptr, ptr %4, align 8, !tbaa !5
  %349 = getelementptr inbounds %"class.urdf::Inertial", ptr %348, i32 0, i32 7
  store double %347, ptr %349, align 8, !tbaa !29
  store i1 true, ptr %3, align 1
  store i32 1, ptr %7, align 4
  br label %350

350:                                              ; preds = %319, %317
  call void @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %14) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %14) #8
  br label %352

351:                                              ; preds = %316, %229
  call void @llvm.lifetime.end.p0(i64 24, ptr %14) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #8
  br label %354

352:                                              ; preds = %350, %107
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #8
  br label %353

353:                                              ; preds = %352, %91, %61, %56
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #8
  br label %355

354:                                              ; preds = %351, %101, %74
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #8
  br label %357

355:                                              ; preds = %353, %49
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #8
  %356 = load i1, ptr %3, align 1
  ret i1 %356

357:                                              ; preds = %354
  %358 = load ptr, ptr %9, align 8
  %359 = load i32, ptr %10, align 4
  %360 = insertvalue { ptr, i32 } poison, ptr %358, 0
  %361 = insertvalue { ptr, i32 } %360, i32 %359, 1
  resume { ptr, i32 } %361

362:                                              ; preds = %302, %100
  %363 = landingpad { ptr, i32 }
          catch ptr null
  %364 = extractvalue { ptr, i32 } %363, 0
  call void @__clang_call_terminate(ptr %364) #9
  unreachable
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf8Inertial5clearEv(ptr noundef nonnull align 8 dereferenceable(112)) #2 align 2

declare noundef zeroext i1 @_ZN4urdf9parsePoseERNS_4PoseEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef) #1

; Function Attrs: mustprogress uwtable
declare dso_local { ptr, double } @_ZSt9make_pairIRA4_KcdESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS4_INS5_IT0_E4typeEE6__typeEEOS6_OSB_(ptr noundef nonnull align 1 dereferenceable(4), ptr noundef nonnull align 8 dereferenceable(8)) #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEC2IPKcdTnNSt9enable_ifIXaaclsr6_PCCFPIT_T0_EE22_MoveConstructiblePairISB_SC_EEclsr6_PCCFPISB_SC_EE30_ImplicitlyMoveConvertiblePairISB_SC_EEEbE4typeELb1EEEOS_ISB_SC_E(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSaISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EEC2ESt16initializer_listIS7_ERKS8_(ptr noundef nonnull align 8 dereferenceable(24), ptr, i64, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdED2Ev(ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESt6vectorIS8_SaIS8_EEEEbRKNS_17__normal_iteratorIT_T0_EESI_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #7

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESt6vectorIS8_SaIS8_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #6 align 2

declare noundef ptr @_ZNK12TiXmlElement9AttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef nonnull align 8 dereferenceable(32)) #1

; 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)) #5

; Function Attrs: mustprogress nounwind uwtable
declare noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32)) #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESt6vectorIS8_SaIS8_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #6 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "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 = { nounwind memory(none) }
attributes #4 = { noinline noreturn nounwind uwtable "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 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 = { 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 #7 = { 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 #8 = { nounwind }
attributes #9 = { noreturn 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, !13, i64 56}
!10 = !{!"_ZTSN4urdf8InertialE", !11, i64 0, !13, i64 56, !13, i64 64, !13, i64 72, !13, i64 80, !13, i64 88, !13, i64 96, !13, i64 104}
!11 = !{!"_ZTSN4urdf4PoseE", !12, i64 0, !14, i64 24}
!12 = !{!"_ZTSN4urdf7Vector3E", !13, i64 0, !13, i64 8, !13, i64 16}
!13 = !{!"double", !7, i64 0}
!14 = !{!"_ZTSN4urdf8RotationE", !13, i64 0, !13, i64 8, !13, i64 16, !13, i64 24}
!15 = !{!13, !13, i64 0}
!16 = !{!17, !6, i64 0}
!17 = !{!"_ZTSSt16initializer_listISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEE", !6, i64 0, !18, i64 8}
!18 = !{!"long", !7, i64 0}
!19 = !{!17, !18, i64 8}
!20 = !{!21, !13, i64 32}
!21 = !{!"_ZTSSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdE", !22, i64 0, !13, i64 32}
!22 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !23, i64 0, !18, i64 8, !7, i64 16}
!23 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !6, i64 0}
!24 = !{!10, !13, i64 64}
!25 = !{!10, !13, i64 72}
!26 = !{!10, !13, i64 80}
!27 = !{!10, !13, i64 88}
!28 = !{!10, !13, i64 96}
!29 = !{!10, !13, i64 104}


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

%"class.std::__cxx11::basic_stringstream" = type { %"class.std::basic_iostream.base", %"class.std::__cxx11::basic_stringbuf", %"class.std::basic_ios" }
%"class.std::basic_iostream.base" = type { %"class.std::basic_istream.base", %"class.std::basic_ostream.base" }
%"class.std::basic_istream.base" = type { ptr, i64 }
%"class.std::basic_ostream.base" = type { ptr }
%"class.std::__cxx11::basic_stringbuf" = type { %"class.std::basic_streambuf", i32, %"class.std::__cxx11::basic_string" }
%"class.std::basic_streambuf" = type { ptr, ptr, ptr, ptr, ptr, ptr, ptr, %"class.std::locale" }
%"class.std::locale" = type { ptr }
%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::basic_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::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<std::pair<std::__cxx11::basic_string<char>, double>, std::allocator<std::pair<std::__cxx11::basic_string<char>, double>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::pair<std::__cxx11::basic_string<char>, double>, std::allocator<std::pair<std::__cxx11::basic_string<char>, double>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::pair<std::__cxx11::basic_string<char>, double>, std::allocator<std::pair<std::__cxx11::basic_string<char>, double>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::pair<std::__cxx11::basic_string<char>, double>, std::allocator<std::pair<std::__cxx11::basic_string<char>, double>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"struct.std::pair" = type { %"class.std::__cxx11::basic_string", double }
%"struct.std::pair.3" = type { ptr, double }
%"class.std::allocator.0" = type { i8 }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }

@_ZTISt13runtime_error = external constant ptr
@.str.16 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.27 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.28 = external hidden unnamed_addr constant [35 x i8], align 1
@.str.29 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.30 = external hidden unnamed_addr constant [27 x i8], align 1
@.str.31 = external hidden unnamed_addr constant [23 x i8], align 1

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

declare noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(104), ptr noundef) local_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: nofree nosync nounwind memory(none)
declare i32 @llvm.eh.typeid.for.p0(ptr) #3

declare ptr @__cxa_begin_catch(ptr) local_unnamed_addr

declare void @__cxa_end_catch() local_unnamed_addr

; Function Attrs: noinline noreturn nounwind uwtable
declare hidden void @__clang_call_terminate(ptr noundef) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress uwtable
declare hidden noundef double @_ZN4urdfL11strToDoubleEPKc(ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEEC1Ev(ptr noundef nonnull align 8 dereferenceable(128)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128)) unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf13parseInertialERNS_8InertialEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(112) %0, ptr noundef %1) local_unnamed_addr #2 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.std::__cxx11::basic_stringstream", align 8
  %4 = alloca %"class.std::vector", align 8
  %5 = alloca [6 x %"struct.std::pair"], align 8
  %6 = alloca %"struct.std::pair.3", align 8
  %7 = alloca double, align 8
  %8 = alloca %"struct.std::pair.3", align 8
  %9 = alloca double, align 8
  %10 = alloca %"struct.std::pair.3", align 8
  %11 = alloca double, align 8
  %12 = alloca %"struct.std::pair.3", align 8
  %13 = alloca double, align 8
  %14 = alloca %"struct.std::pair.3", align 8
  %15 = alloca double, align 8
  %16 = alloca %"struct.std::pair.3", align 8
  %17 = alloca double, align 8
  %18 = alloca %"class.std::allocator.0", align 1
  %19 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %20 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %21 = alloca %"class.std::__cxx11::basic_stringstream", align 8
  %22 = alloca %"class.std::__cxx11::basic_stringstream", align 8
  tail call void @_ZN4urdf8Inertial5clearEv(ptr noundef nonnull align 8 dereferenceable(112) %0)
  %23 = tail call noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %1, ptr noundef nonnull @.str.16)
  %.not79 = icmp eq ptr %23, null
  br i1 %.not79, label %26, label %24

24:                                               ; preds = %2
  %25 = tail call noundef zeroext i1 @_ZN4urdf9parsePoseERNS_4PoseEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(56) %0, ptr noundef nonnull %23)
  br i1 %25, label %26, label %222

26:                                               ; preds = %24, %2
  %27 = tail call noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %1, ptr noundef nonnull @.str.17)
  %.not80 = icmp eq ptr %27, null
  br i1 %.not80, label %222, label %28

28:                                               ; preds = %26
  %29 = tail call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216) %27, ptr noundef nonnull @.str.18)
  %.not81 = icmp eq ptr %29, null
  br i1 %.not81, label %222, label %30

30:                                               ; preds = %28
  %31 = invoke noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216) %27, ptr noundef nonnull @.str.18)
          to label %32 unwind label %37

32:                                               ; preds = %30
  %33 = invoke noundef double @_ZN4urdfL11strToDoubleEPKc(ptr noundef %31)
          to label %34 unwind label %37

34:                                               ; preds = %32
  %35 = getelementptr inbounds i8, ptr %0, i64 56
  store double %33, ptr %35, align 8, !tbaa !5
  %36 = tail call noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %1, ptr noundef nonnull @.str.21)
  %.not83 = icmp eq ptr %36, null
  br i1 %.not83, label %222, label %61

37:                                               ; preds = %32, %30
  %38 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTISt13runtime_error
  %39 = extractvalue { ptr, i32 } %38, 0
  %40 = extractvalue { ptr, i32 } %38, 1
  %41 = tail call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTISt13runtime_error) #8
  %42 = icmp eq i32 %40, %41
  br i1 %42, label %43, label %219

43:                                               ; preds = %37
  %44 = tail call ptr @__cxa_begin_catch(ptr %39) #8
  call void @llvm.lifetime.start.p0(i64 392, ptr nonnull %3) #8
  invoke void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEEC1Ev(ptr noundef nonnull align 8 dereferenceable(128) %3)
          to label %45 unwind label %55

45:                                               ; preds = %43
  %46 = getelementptr inbounds i8, ptr %3, i64 16
  %47 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %46, ptr noundef nonnull @.str.19)
          to label %48 unwind label %57

48:                                               ; preds = %45
  %49 = invoke noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216) %27, ptr noundef nonnull @.str.18)
          to label %50 unwind label %57

50:                                               ; preds = %48
  %51 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %47, ptr noundef %49)
          to label %52 unwind label %57

52:                                               ; preds = %50
  %53 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %51, ptr noundef nonnull @.str.20)
          to label %54 unwind label %57

54:                                               ; preds = %52
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %3) #8
  call void @llvm.lifetime.end.p0(i64 392, ptr nonnull %3) #8
  call void @__cxa_end_catch()
  br label %222

55:                                               ; preds = %43
  %56 = landingpad { ptr, i32 }
          cleanup
  br label %59

57:                                               ; preds = %52, %50, %48, %45
  %58 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %3) #8
  br label %59

59:                                               ; preds = %57, %55
  %.pn = phi { ptr, i32 } [ %58, %57 ], [ %56, %55 ]
  call void @llvm.lifetime.end.p0(i64 392, ptr nonnull %3) #8
  invoke void @__cxa_end_catch()
          to label %60 unwind label %223

60:                                               ; preds = %59
  %.042 = extractvalue { ptr, i32 } %.pn, 0
  %.060 = extractvalue { ptr, i32 } %.pn, 1
  br label %219

61:                                               ; preds = %34
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %4) #8
  call void @llvm.lifetime.start.p0(i64 240, ptr nonnull %5) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #8
  store double 0.000000e+00, ptr %7, align 8, !tbaa !13
  %62 = invoke { ptr, double } @_ZSt9make_pairIRA4_KcdESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS4_INS5_IT0_E4typeEE6__typeEEOS6_OSB_(ptr noundef nonnull align 1 dereferenceable(4) @.str.22, ptr noundef nonnull align 8 dereferenceable(8) %7)
          to label %63 unwind label %.thread

63:                                               ; preds = %61
  %64 = extractvalue { ptr, double } %62, 0
  store ptr %64, ptr %6, align 8
  %65 = getelementptr inbounds i8, ptr %6, i64 8
  %66 = extractvalue { ptr, double } %62, 1
  store double %66, ptr %65, align 8
  invoke void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEC2IPKcdTnNSt9enable_ifIXaaclsr6_PCCFPIT_T0_EE22_MoveConstructiblePairISB_SC_EEclsr6_PCCFPISB_SC_EE30_ImplicitlyMoveConvertiblePairISB_SC_EEEbE4typeELb1EEEOS_ISB_SC_E(ptr noundef nonnull align 8 dereferenceable(40) %5, ptr noundef nonnull align 8 dereferenceable(16) %6)
          to label %67 unwind label %.thread

67:                                               ; preds = %63
  %68 = getelementptr inbounds i8, ptr %5, i64 40
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #8
  store double 0.000000e+00, ptr %9, align 8, !tbaa !13
  %69 = invoke { ptr, double } @_ZSt9make_pairIRA4_KcdESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS4_INS5_IT0_E4typeEE6__typeEEOS6_OSB_(ptr noundef nonnull align 1 dereferenceable(4) @.str.23, ptr noundef nonnull align 8 dereferenceable(8) %9)
          to label %70 unwind label %113

70:                                               ; preds = %67
  %71 = extractvalue { ptr, double } %69, 0
  store ptr %71, ptr %8, align 8
  %72 = getelementptr inbounds i8, ptr %8, i64 8
  %73 = extractvalue { ptr, double } %69, 1
  store double %73, ptr %72, align 8
  invoke void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEC2IPKcdTnNSt9enable_ifIXaaclsr6_PCCFPIT_T0_EE22_MoveConstructiblePairISB_SC_EEclsr6_PCCFPISB_SC_EE30_ImplicitlyMoveConvertiblePairISB_SC_EEEbE4typeELb1EEEOS_ISB_SC_E(ptr noundef nonnull align 8 dereferenceable(40) %68, ptr noundef nonnull align 8 dereferenceable(16) %8)
          to label %74 unwind label %113

74:                                               ; preds = %70
  %75 = getelementptr inbounds i8, ptr %5, i64 80
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %10) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #8
  store double 0.000000e+00, ptr %11, align 8, !tbaa !13
  %76 = invoke { ptr, double } @_ZSt9make_pairIRA4_KcdESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS4_INS5_IT0_E4typeEE6__typeEEOS6_OSB_(ptr noundef nonnull align 1 dereferenceable(4) @.str.24, ptr noundef nonnull align 8 dereferenceable(8) %11)
          to label %77 unwind label %115

77:                                               ; preds = %74
  %78 = extractvalue { ptr, double } %76, 0
  store ptr %78, ptr %10, align 8
  %79 = getelementptr inbounds i8, ptr %10, i64 8
  %80 = extractvalue { ptr, double } %76, 1
  store double %80, ptr %79, align 8
  invoke void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEC2IPKcdTnNSt9enable_ifIXaaclsr6_PCCFPIT_T0_EE22_MoveConstructiblePairISB_SC_EEclsr6_PCCFPISB_SC_EE30_ImplicitlyMoveConvertiblePairISB_SC_EEEbE4typeELb1EEEOS_ISB_SC_E(ptr noundef nonnull align 8 dereferenceable(40) %75, ptr noundef nonnull align 8 dereferenceable(16) %10)
          to label %81 unwind label %115

81:                                               ; preds = %77
  %82 = getelementptr inbounds i8, ptr %5, i64 120
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #8
  store double 0.000000e+00, ptr %13, align 8, !tbaa !13
  %83 = invoke { ptr, double } @_ZSt9make_pairIRA4_KcdESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS4_INS5_IT0_E4typeEE6__typeEEOS6_OSB_(ptr noundef nonnull align 1 dereferenceable(4) @.str.25, ptr noundef nonnull align 8 dereferenceable(8) %13)
          to label %84 unwind label %117

84:                                               ; preds = %81
  %85 = extractvalue { ptr, double } %83, 0
  store ptr %85, ptr %12, align 8
  %86 = getelementptr inbounds i8, ptr %12, i64 8
  %87 = extractvalue { ptr, double } %83, 1
  store double %87, ptr %86, align 8
  invoke void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEC2IPKcdTnNSt9enable_ifIXaaclsr6_PCCFPIT_T0_EE22_MoveConstructiblePairISB_SC_EEclsr6_PCCFPISB_SC_EE30_ImplicitlyMoveConvertiblePairISB_SC_EEEbE4typeELb1EEEOS_ISB_SC_E(ptr noundef nonnull align 8 dereferenceable(40) %82, ptr noundef nonnull align 8 dereferenceable(16) %12)
          to label %88 unwind label %117

88:                                               ; preds = %84
  %89 = getelementptr inbounds i8, ptr %5, i64 160
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #8
  store double 0.000000e+00, ptr %15, align 8, !tbaa !13
  %90 = invoke { ptr, double } @_ZSt9make_pairIRA4_KcdESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS4_INS5_IT0_E4typeEE6__typeEEOS6_OSB_(ptr noundef nonnull align 1 dereferenceable(4) @.str.26, ptr noundef nonnull align 8 dereferenceable(8) %15)
          to label %91 unwind label %119

91:                                               ; preds = %88
  %92 = extractvalue { ptr, double } %90, 0
  store ptr %92, ptr %14, align 8
  %93 = getelementptr inbounds i8, ptr %14, i64 8
  %94 = extractvalue { ptr, double } %90, 1
  store double %94, ptr %93, align 8
  invoke void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEC2IPKcdTnNSt9enable_ifIXaaclsr6_PCCFPIT_T0_EE22_MoveConstructiblePairISB_SC_EEclsr6_PCCFPISB_SC_EE30_ImplicitlyMoveConvertiblePairISB_SC_EEEbE4typeELb1EEEOS_ISB_SC_E(ptr noundef nonnull align 8 dereferenceable(40) %89, ptr noundef nonnull align 8 dereferenceable(16) %14)
          to label %95 unwind label %119

95:                                               ; preds = %91
  %96 = getelementptr inbounds i8, ptr %5, i64 200
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #8
  store double 0.000000e+00, ptr %17, align 8, !tbaa !13
  %97 = invoke { ptr, double } @_ZSt9make_pairIRA4_KcdESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS4_INS5_IT0_E4typeEE6__typeEEOS6_OSB_(ptr noundef nonnull align 1 dereferenceable(4) @.str.27, ptr noundef nonnull align 8 dereferenceable(8) %17)
          to label %98 unwind label %121

98:                                               ; preds = %95
  %99 = extractvalue { ptr, double } %97, 0
  store ptr %99, ptr %16, align 8
  %100 = getelementptr inbounds i8, ptr %16, i64 8
  %101 = extractvalue { ptr, double } %97, 1
  store double %101, ptr %100, align 8
  invoke void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEC2IPKcdTnNSt9enable_ifIXaaclsr6_PCCFPIT_T0_EE22_MoveConstructiblePairISB_SC_EEclsr6_PCCFPISB_SC_EE30_ImplicitlyMoveConvertiblePairISB_SC_EEEbE4typeELb1EEEOS_ISB_SC_E(ptr noundef nonnull align 8 dereferenceable(40) %96, ptr noundef nonnull align 8 dereferenceable(16) %16)
          to label %102 unwind label %121

102:                                              ; preds = %98
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %18) #8
  call void @_ZNSaISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %18) #8
  invoke void @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EEC2ESt16initializer_listIS7_ERKS8_(ptr noundef nonnull align 8 dereferenceable(24) %4, ptr nonnull %5, i64 6, ptr noundef nonnull align 1 dereferenceable(1) %18)
          to label %103 unwind label %.loopexit109.loopexit

103:                                              ; preds = %102
  call void @_ZNSt15__new_allocatorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %18) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %18) #8
  %104 = getelementptr inbounds i8, ptr %5, i64 200
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %104) #8
  %105 = getelementptr inbounds i8, ptr %5, i64 160
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %105) #8
  %106 = getelementptr inbounds i8, ptr %5, i64 120
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %106) #8
  %107 = getelementptr inbounds i8, ptr %5, i64 80
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %107) #8
  %108 = getelementptr inbounds i8, ptr %5, i64 40
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %108) #8
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %5) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #8
  call void @llvm.lifetime.end.p0(i64 240, ptr nonnull %5) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %19) #8
  %109 = call ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %4) #8
  store ptr %109, ptr %19, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %20) #8
  %110 = call ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %4) #8
  store ptr %110, ptr %20, align 8
  %111 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESt6vectorIS8_SaIS8_EEEEbRKNS_17__normal_iteratorIT_T0_EESI_(ptr noundef nonnull align 8 dereferenceable(8) %19, ptr noundef nonnull align 8 dereferenceable(8) %20) #8
  br i1 %111, label %.lr.ph, label %._crit_edge

.thread:                                          ; preds = %61, %63
  %112 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #8
  br label %.loopexit

113:                                              ; preds = %70, %67
  %114 = landingpad { ptr, i32 }
          cleanup
  br label %133

115:                                              ; preds = %77, %74
  %116 = landingpad { ptr, i32 }
          cleanup
  br label %132

117:                                              ; preds = %84, %81
  %118 = landingpad { ptr, i32 }
          cleanup
  br label %131

119:                                              ; preds = %91, %88
  %120 = landingpad { ptr, i32 }
          cleanup
  br label %130

121:                                              ; preds = %98, %95
  %122 = landingpad { ptr, i32 }
          cleanup
  br label %.loopexit109

.loopexit109.loopexit:                            ; preds = %102
  %123 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt15__new_allocatorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %18) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %18) #8
  %124 = getelementptr inbounds i8, ptr %5, i64 200
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %124) #8
  %125 = getelementptr inbounds i8, ptr %5, i64 160
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %125) #8
  %126 = getelementptr inbounds i8, ptr %5, i64 120
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %126) #8
  %127 = getelementptr inbounds i8, ptr %5, i64 80
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %127) #8
  %128 = getelementptr inbounds i8, ptr %5, i64 40
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %128) #8
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %5) #8
  br label %.loopexit109

.loopexit109:                                     ; preds = %.loopexit109.loopexit, %121
  %.pn84 = phi { ptr, i32 } [ %122, %121 ], [ %123, %.loopexit109.loopexit ]
  %129 = phi i1 [ false, %121 ], [ true, %.loopexit109.loopexit ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #8
  br label %130

130:                                              ; preds = %.loopexit109, %119
  %.pn84.pn = phi { ptr, i32 } [ %.pn84, %.loopexit109 ], [ %120, %119 ]
  %.055 = phi ptr [ %96, %.loopexit109 ], [ %89, %119 ]
  %.150 = phi i1 [ %129, %.loopexit109 ], [ false, %119 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #8
  br label %131

131:                                              ; preds = %130, %117
  %.pn84.pn.pn = phi { ptr, i32 } [ %.pn84.pn, %130 ], [ %118, %117 ]
  %.156 = phi ptr [ %.055, %130 ], [ %82, %117 ]
  %.251 = phi i1 [ %.150, %130 ], [ false, %117 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #8
  br label %132

132:                                              ; preds = %131, %115
  %.pn84.pn.pn.pn = phi { ptr, i32 } [ %.pn84.pn.pn, %131 ], [ %116, %115 ]
  %.257 = phi ptr [ %.156, %131 ], [ %75, %115 ]
  %.352 = phi i1 [ %.251, %131 ], [ false, %115 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #8
  br label %133

133:                                              ; preds = %113, %132
  %.pn84.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn84.pn.pn.pn, %132 ], [ %114, %113 ]
  %.358 = phi ptr [ %.257, %132 ], [ %68, %113 ]
  %.453 = phi i1 [ %.352, %132 ], [ false, %113 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #8
  %134 = icmp eq ptr %5, %.358
  %or.cond = select i1 %.453, i1 true, i1 %134
  br i1 %or.cond, label %.loopexit, label %.preheader

.preheader:                                       ; preds = %133, %.preheader
  %135 = phi ptr [ %136, %.preheader ], [ %.358, %133 ]
  %136 = getelementptr inbounds i8, ptr %135, i64 -40
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %136) #8
  %137 = icmp eq ptr %136, %5
  br i1 %137, label %.loopexit, label %.preheader

.loopexit:                                        ; preds = %.preheader, %.thread, %133
  %.pn107 = phi { ptr, i32 } [ %112, %.thread ], [ %.pn84.pn.pn.pn.pn, %133 ], [ %.pn84.pn.pn.pn.pn, %.preheader ]
  %.648105 = extractvalue { ptr, i32 } %.pn107, 0
  %.666106 = extractvalue { ptr, i32 } %.pn107, 1
  call void @llvm.lifetime.end.p0(i64 240, ptr nonnull %5) #8
  br label %218

.lr.ph:                                           ; preds = %103, %.critedge
  %138 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESt6vectorIS8_SaIS8_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %19) #8
  %139 = invoke noundef ptr @_ZNK12TiXmlElement9AttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(216) %36, ptr noundef nonnull align 8 dereferenceable(32) %138)
          to label %140 unwind label %150

140:                                              ; preds = %.lr.ph
  %.not = icmp eq ptr %139, null
  br i1 %.not, label %141, label %159

141:                                              ; preds = %140
  call void @llvm.lifetime.start.p0(i64 392, ptr nonnull %21) #8
  invoke void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEEC1Ev(ptr noundef nonnull align 8 dereferenceable(128) %21)
          to label %142 unwind label %154

142:                                              ; preds = %141
  %143 = getelementptr inbounds i8, ptr %21, i64 16
  %144 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %143, ptr noundef nonnull @.str.28)
          to label %145 unwind label %156

145:                                              ; preds = %142
  %146 = 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) %144, ptr noundef nonnull align 8 dereferenceable(32) %138)
          to label %147 unwind label %156

147:                                              ; preds = %145
  %148 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %146, ptr noundef nonnull @.str.29)
          to label %149 unwind label %156

149:                                              ; preds = %147
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %21) #8
  call void @llvm.lifetime.end.p0(i64 392, ptr nonnull %21) #8
  br label %192

150:                                              ; preds = %.lr.ph
  %151 = landingpad { ptr, i32 }
          cleanup
  %152 = extractvalue { ptr, i32 } %151, 0
  %153 = extractvalue { ptr, i32 } %151, 1
  br label %191

154:                                              ; preds = %141
  %155 = landingpad { ptr, i32 }
          cleanup
  br label %158

156:                                              ; preds = %147, %145, %142
  %157 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %21) #8
  br label %158

158:                                              ; preds = %156, %154
  %.pn91 = phi { ptr, i32 } [ %157, %156 ], [ %155, %154 ]
  %.7 = extractvalue { ptr, i32 } %.pn91, 0
  %.767 = extractvalue { ptr, i32 } %.pn91, 1
  call void @llvm.lifetime.end.p0(i64 392, ptr nonnull %21) #8
  br label %191

159:                                              ; preds = %140
  %160 = call noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32) %138) #8
  %161 = invoke noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216) %36, ptr noundef %160)
          to label %162 unwind label %167

162:                                              ; preds = %159
  %163 = invoke noundef double @_ZN4urdfL11strToDoubleEPKc(ptr noundef %161)
          to label %.critedge unwind label %167

.critedge:                                        ; preds = %162
  %164 = getelementptr inbounds i8, ptr %138, i64 32
  store double %163, ptr %164, align 8, !tbaa !14
  %165 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESt6vectorIS8_SaIS8_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %19) #8
  %166 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESt6vectorIS8_SaIS8_EEEEbRKNS_17__normal_iteratorIT_T0_EESI_(ptr noundef nonnull align 8 dereferenceable(8) %19, ptr noundef nonnull align 8 dereferenceable(8) %20) #8
  br i1 %166, label %.lr.ph, label %._crit_edge

167:                                              ; preds = %162, %159
  %168 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTISt13runtime_error
  %169 = extractvalue { ptr, i32 } %168, 0
  %170 = extractvalue { ptr, i32 } %168, 1
  %171 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTISt13runtime_error) #8
  %172 = icmp eq i32 %170, %171
  br i1 %172, label %173, label %191

173:                                              ; preds = %167
  %174 = call ptr @__cxa_begin_catch(ptr %169) #8
  call void @llvm.lifetime.start.p0(i64 392, ptr nonnull %22) #8
  invoke void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEEC1Ev(ptr noundef nonnull align 8 dereferenceable(128) %22)
          to label %175 unwind label %183

175:                                              ; preds = %173
  %176 = getelementptr inbounds i8, ptr %22, i64 16
  %177 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %176, ptr noundef nonnull @.str.30)
          to label %178 unwind label %185

178:                                              ; preds = %175
  %179 = 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) %177, ptr noundef nonnull align 8 dereferenceable(32) %138)
          to label %180 unwind label %185

180:                                              ; preds = %178
  %181 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %179, ptr noundef nonnull @.str.31)
          to label %182 unwind label %185

182:                                              ; preds = %180
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %22) #8
  call void @llvm.lifetime.end.p0(i64 392, ptr nonnull %22) #8
  invoke void @__cxa_end_catch()
          to label %192 unwind label %188

183:                                              ; preds = %173
  %184 = landingpad { ptr, i32 }
          cleanup
  br label %187

185:                                              ; preds = %180, %178, %175
  %186 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %22) #8
  br label %187

187:                                              ; preds = %185, %183
  %.pn93 = phi { ptr, i32 } [ %186, %185 ], [ %184, %183 ]
  call void @llvm.lifetime.end.p0(i64 392, ptr nonnull %22) #8
  invoke void @__cxa_end_catch()
          to label %190 unwind label %223

188:                                              ; preds = %182
  %189 = landingpad { ptr, i32 }
          cleanup
  br label %190

190:                                              ; preds = %187, %188
  %.pn95 = phi { ptr, i32 } [ %189, %188 ], [ %.pn93, %187 ]
  %.9 = extractvalue { ptr, i32 } %.pn95, 0
  %.969 = extractvalue { ptr, i32 } %.pn95, 1
  br label %191

191:                                              ; preds = %190, %167, %158, %150
  %.1070 = phi i32 [ %.969, %190 ], [ %170, %167 ], [ %.767, %158 ], [ %153, %150 ]
  %.10 = phi ptr [ %.9, %190 ], [ %169, %167 ], [ %.7, %158 ], [ %152, %150 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #8
  call void @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %4) #8
  br label %218

192:                                              ; preds = %149, %182
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #8
  br label %217

._crit_edge:                                      ; preds = %.critedge, %103
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #8
  %193 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %4, i64 noundef 0) #8
  %194 = getelementptr inbounds i8, ptr %193, i64 32
  %195 = load double, ptr %194, align 8, !tbaa !14
  %196 = getelementptr inbounds i8, ptr %0, i64 64
  store double %195, ptr %196, align 8, !tbaa !20
  %197 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %4, i64 noundef 1) #8
  %198 = getelementptr inbounds i8, ptr %197, i64 32
  %199 = load double, ptr %198, align 8, !tbaa !14
  %200 = getelementptr inbounds i8, ptr %0, i64 72
  store double %199, ptr %200, align 8, !tbaa !21
  %201 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %4, i64 noundef 2) #8
  %202 = getelementptr inbounds i8, ptr %201, i64 32
  %203 = load double, ptr %202, align 8, !tbaa !14
  %204 = getelementptr inbounds i8, ptr %0, i64 80
  store double %203, ptr %204, align 8, !tbaa !22
  %205 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %4, i64 noundef 3) #8
  %206 = getelementptr inbounds i8, ptr %205, i64 32
  %207 = load double, ptr %206, align 8, !tbaa !14
  %208 = getelementptr inbounds i8, ptr %0, i64 88
  store double %207, ptr %208, align 8, !tbaa !23
  %209 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %4, i64 noundef 4) #8
  %210 = getelementptr inbounds i8, ptr %209, i64 32
  %211 = load double, ptr %210, align 8, !tbaa !14
  %212 = getelementptr inbounds i8, ptr %0, i64 96
  store double %211, ptr %212, align 8, !tbaa !24
  %213 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %4, i64 noundef 5) #8
  %214 = getelementptr inbounds i8, ptr %213, i64 32
  %215 = load double, ptr %214, align 8, !tbaa !14
  %216 = getelementptr inbounds i8, ptr %0, i64 104
  store double %215, ptr %216, align 8, !tbaa !25
  br label %217

217:                                              ; preds = %192, %._crit_edge
  %.3 = phi i1 [ false, %192 ], [ true, %._crit_edge ]
  call void @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %4) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #8
  br label %222

218:                                              ; preds = %191, %.loopexit
  %.1171 = phi i32 [ %.1070, %191 ], [ %.666106, %.loopexit ]
  %.11 = phi ptr [ %.10, %191 ], [ %.648105, %.loopexit ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #8
  br label %219

219:                                              ; preds = %218, %60, %37
  %.1272 = phi i32 [ %.1171, %218 ], [ %.060, %60 ], [ %40, %37 ]
  %.12 = phi ptr [ %.11, %218 ], [ %.042, %60 ], [ %39, %37 ]
  %220 = insertvalue { ptr, i32 } poison, ptr %.12, 0
  %221 = insertvalue { ptr, i32 } %220, i32 %.1272, 1
  resume { ptr, i32 } %221

222:                                              ; preds = %54, %26, %28, %34, %217, %24
  %.6 = phi i1 [ false, %24 ], [ false, %54 ], [ false, %26 ], [ false, %28 ], [ %.3, %217 ], [ false, %34 ]
  ret i1 %.6

223:                                              ; preds = %187, %59
  %224 = landingpad { ptr, i32 }
          catch ptr null
  %225 = extractvalue { ptr, i32 } %224, 0
  call void @__clang_call_terminate(ptr %225) #9
  unreachable
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf8Inertial5clearEv(ptr noundef nonnull align 8 dereferenceable(112)) local_unnamed_addr #2 align 2

declare noundef zeroext i1 @_ZN4urdf9parsePoseERNS_4PoseEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local { ptr, double } @_ZSt9make_pairIRA4_KcdESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS4_INS5_IT0_E4typeEE6__typeEEOS6_OSB_(ptr noundef nonnull align 1 dereferenceable(4), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEC2IPKcdTnNSt9enable_ifIXaaclsr6_PCCFPIT_T0_EE22_MoveConstructiblePairISB_SC_EEclsr6_PCCFPISB_SC_EE30_ImplicitlyMoveConvertiblePairISB_SC_EEEbE4typeELb1EEEOS_ISB_SC_E(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSaISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EEC2ESt16initializer_listIS7_ERKS8_(ptr noundef nonnull align 8 dereferenceable(24), ptr, i64, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdED2Ev(ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESt6vectorIS8_SaIS8_EEEEbRKNS_17__normal_iteratorIT_T0_EESI_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #7

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESt6vectorIS8_SaIS8_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #6 align 2

declare noundef ptr @_ZNK12TiXmlElement9AttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #1

; 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 #5

; Function Attrs: mustprogress nounwind uwtable
declare noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESt6vectorIS8_SaIS8_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdESaIS7_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdEED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #6 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "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 = { nofree nosync nounwind memory(none) }
attributes #4 = { noinline noreturn nounwind uwtable "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 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 = { 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 #7 = { 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 #8 = { nounwind }
attributes #9 = { noreturn 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, !9, i64 56}
!6 = !{!"_ZTSN4urdf8InertialE", !7, i64 0, !9, i64 56, !9, i64 64, !9, i64 72, !9, i64 80, !9, i64 88, !9, i64 96, !9, i64 104}
!7 = !{!"_ZTSN4urdf4PoseE", !8, i64 0, !12, i64 24}
!8 = !{!"_ZTSN4urdf7Vector3E", !9, i64 0, !9, i64 8, !9, i64 16}
!9 = !{!"double", !10, i64 0}
!10 = !{!"omnipotent char", !11, i64 0}
!11 = !{!"Simple C++ TBAA"}
!12 = !{!"_ZTSN4urdf8RotationE", !9, i64 0, !9, i64 8, !9, i64 16, !9, i64 24}
!13 = !{!9, !9, i64 0}
!14 = !{!15, !9, i64 32}
!15 = !{!"_ZTSSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEdE", !16, i64 0, !9, i64 32}
!16 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !17, i64 0, !19, i64 8, !10, i64 16}
!17 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !18, i64 0}
!18 = !{!"any pointer", !10, i64 0}
!19 = !{!"long", !10, i64 0}
!20 = !{!6, !9, i64 64}
!21 = !{!6, !9, i64 72}
!22 = !{!6, !9, i64 80}
!23 = !{!6, !9, i64 88}
!24 = !{!6, !9, i64 96}
!25 = !{!6, !9, i64 104}


; Effective O3 passes: EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,InstSimplifyPass,JumpThreadingPass,LCSSAPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,SROAPass,SimplifyCFGPass,TailCallElimPass