; LLVM IR from Derek-TH-Wang/quadruped_ctrl :: src/GaitCtrller.ll (ZN11GaitCtrllerC2EdPd)

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

%"class.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [4 x float] }
%"struct.Eigen::CommaInitializer" = type { ptr, i64, i64, i64 }
%class.GaitCtrller = type { i32, i32, i8, %"class.std::vector", [8 x i8], %"class.Eigen::Matrix", %class.Quadruped, %class.FloatingBaseModel, %"class.std::unique_ptr", %"class.std::unique_ptr.153", %"class.std::unique_ptr.161", %struct.LegData, %struct.LegCommand, %struct.ControlFSMData, [8 x i8], %struct.VectorNavData, %"class.std::unique_ptr.169", [8 x i8], %struct.StateEstimate, %"class.std::unique_ptr.187", %"class.std::unique_ptr.195", %"class.std::unique_ptr.203", [8 x i8] }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%class.Quadruped = type { i32, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, [4 x i8], %class.SpatialInertia, %class.SpatialInertia, %class.SpatialInertia, %class.SpatialInertia, %class.SpatialInertia, %class.SpatialInertia, %class.SpatialInertia, %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", [8 x i8] }
%class.SpatialInertia = type { %"class.Eigen::Matrix.3" }
%"class.Eigen::Matrix.3" = type { %"class.Eigen::PlainObjectBase.4" }
%"class.Eigen::PlainObjectBase.4" = type { %"class.Eigen::DenseStorage.11" }
%"class.Eigen::DenseStorage.11" = type { %"struct.Eigen::internal::plain_array.12" }
%"struct.Eigen::internal::plain_array.12" = type { [36 x float] }
%"class.Eigen::Matrix.13" = type { %"class.Eigen::PlainObjectBase.14" }
%"class.Eigen::PlainObjectBase.14" = type { %"class.Eigen::DenseStorage.21" }
%"class.Eigen::DenseStorage.21" = type { %"struct.Eigen::internal::plain_array.22" }
%"struct.Eigen::internal::plain_array.22" = type { [3 x float] }
%class.FloatingBaseModel = type { i64, %"class.Eigen::Matrix.13", %"class.std::vector.23", %"class.std::vector.28", %"class.std::vector.28", %"class.std::vector.28", %"class.std::vector.33", %"class.std::vector.38", %"class.std::vector.43", %"class.std::vector.43", %"class.std::vector.48", %"class.std::vector.48", %"class.std::vector.54", i64, %"class.std::vector.59", %"class.std::vector.64", %"class.std::vector.59", %"class.std::vector.64", %"class.std::vector.64", %"class.std::vector.69", [8 x i8], %struct.FBModelState, %struct.FBModelStateDerivative, %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.48", %"class.std::vector.43", %"class.std::vector.43", %"class.std::vector.43", %"class.std::vector.43", %"class.std::vector.43", %"class.Eigen::Matrix.95", %"class.Eigen::Matrix.95", %"class.Eigen::Matrix.80", %"class.Eigen::Matrix.80", %"class.std::vector.104", %"class.std::vector.89", %"class.std::vector.110", %"class.std::vector.116", i8, i8, i8, i8, i8, i8, i8, %"class.Eigen::Matrix.95", %"class.Eigen::Matrix.95", %"class.Eigen::ColPivHouseholderQR" }
%"class.std::vector.23" = type { %"struct.std::_Vector_base.24" }
%"struct.std::_Vector_base.24" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.28" = type { %"struct.std::_Vector_base.29" }
%"struct.std::_Vector_base.29" = type { %"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl" }
%"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl" = type { %"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl_data" }
%"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.33" = type { %"struct.std::_Vector_base.34" }
%"struct.std::_Vector_base.34" = type { %"struct.std::_Vector_base<spatial::JointType, std::allocator<spatial::JointType>>::_Vector_impl" }
%"struct.std::_Vector_base<spatial::JointType, std::allocator<spatial::JointType>>::_Vector_impl" = type { %"struct.std::_Vector_base<spatial::JointType, std::allocator<spatial::JointType>>::_Vector_impl_data" }
%"struct.std::_Vector_base<spatial::JointType, std::allocator<spatial::JointType>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.38" = type { %"struct.std::_Vector_base.39" }
%"struct.std::_Vector_base.39" = type { %"struct.std::_Vector_base<ori::CoordinateAxis, std::allocator<ori::CoordinateAxis>>::_Vector_impl" }
%"struct.std::_Vector_base<ori::CoordinateAxis, std::allocator<ori::CoordinateAxis>>::_Vector_impl" = type { %"struct.std::_Vector_base<ori::CoordinateAxis, std::allocator<ori::CoordinateAxis>>::_Vector_impl_data" }
%"struct.std::_Vector_base<ori::CoordinateAxis, std::allocator<ori::CoordinateAxis>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.54" = type { %"struct.std::_Vector_base.55" }
%"struct.std::_Vector_base.55" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.59" = type { %"struct.std::_Vector_base.60" }
%"struct.std::_Vector_base.60" = type { %"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.64" = type { %"struct.std::_Vector_base.65" }
%"struct.std::_Vector_base.65" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, std::allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, std::allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, std::allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, std::allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.69" = type { %"struct.std::_Bvector_base" }
%"struct.std::_Bvector_base" = type { %"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl" }
%"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl" = type { %"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl_data" }
%"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl_data" = type { %"struct.std::_Bit_iterator", %"struct.std::_Bit_iterator", ptr }
%"struct.std::_Bit_iterator" = type { %"struct.std::_Bit_iterator_base.base", [4 x i8] }
%"struct.std::_Bit_iterator_base.base" = type <{ ptr, i32 }>
%struct.FBModelState = type { %"class.Eigen::Matrix", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.70", %"class.Eigen::Matrix.80", %"class.Eigen::Matrix.80", [8 x i8] }
%"class.Eigen::Matrix.70" = type { %"class.Eigen::PlainObjectBase.71" }
%"class.Eigen::PlainObjectBase.71" = type { %"class.Eigen::DenseStorage.78" }
%"class.Eigen::DenseStorage.78" = type { %"struct.Eigen::internal::plain_array.79" }
%"struct.Eigen::internal::plain_array.79" = type { [6 x float] }
%struct.FBModelStateDerivative = type { %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.70", %"class.Eigen::Matrix.80" }
%"class.std::vector.48" = type { %"struct.std::_Vector_base.49" }
%"struct.std::_Vector_base.49" = type { %"struct.std::_Vector_base<SpatialInertia<float>, Eigen::aligned_allocator<SpatialInertia<float>>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialInertia<float>, Eigen::aligned_allocator<SpatialInertia<float>>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialInertia<float>, Eigen::aligned_allocator<SpatialInertia<float>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialInertia<float>, Eigen::aligned_allocator<SpatialInertia<float>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.43" = type { %"struct.std::_Vector_base.44" }
%"struct.std::_Vector_base.44" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 6, 6>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 6>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 6, 6>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 6>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 6, 6>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 6>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 6, 6>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 6>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::Matrix.80" = type { %"class.Eigen::PlainObjectBase.81" }
%"class.Eigen::PlainObjectBase.81" = type { %"class.Eigen::DenseStorage.88" }
%"class.Eigen::DenseStorage.88" = type { ptr, i64 }
%"class.std::vector.104" = type { %"struct.std::_Vector_base.105" }
%"struct.std::_Vector_base.105" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 6, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, -1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 6, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, -1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 6, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, -1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 6, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, -1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.89" = type { %"struct.std::_Vector_base.90" }
%"struct.std::_Vector_base.90" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 6, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 6, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 6, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 6, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.110" = type { %"struct.std::_Vector_base.111" }
%"struct.std::_Vector_base.111" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 3, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, -1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 3, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, -1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 3, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, -1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 3, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, -1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.116" = type { %"struct.std::_Vector_base.117" }
%"struct.std::_Vector_base.117" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::Matrix.95" = type { %"class.Eigen::PlainObjectBase.96" }
%"class.Eigen::PlainObjectBase.96" = type { %"class.Eigen::DenseStorage.103" }
%"class.Eigen::DenseStorage.103" = type { ptr, i64, i64 }
%"class.Eigen::ColPivHouseholderQR" = type { %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.70", %"class.Eigen::PermutationMatrix", %"class.Eigen::Matrix.131", %"class.Eigen::Matrix.141", %"class.Eigen::Matrix.141", %"class.Eigen::Matrix.141", i8, i8, float, float, i64, i64, [8 x i8] }
%"class.Eigen::PermutationMatrix" = type { %"class.Eigen::Matrix.121" }
%"class.Eigen::Matrix.121" = type { %"class.Eigen::PlainObjectBase.122" }
%"class.Eigen::PlainObjectBase.122" = type { %"class.Eigen::DenseStorage.129" }
%"class.Eigen::DenseStorage.129" = type { %"struct.Eigen::internal::plain_array.130" }
%"struct.Eigen::internal::plain_array.130" = type { [6 x i32] }
%"class.Eigen::Matrix.131" = type { %"class.Eigen::PlainObjectBase.132" }
%"class.Eigen::PlainObjectBase.132" = type { %"class.Eigen::DenseStorage.139" }
%"class.Eigen::DenseStorage.139" = type { %"struct.Eigen::internal::plain_array.140" }
%"struct.Eigen::internal::plain_array.140" = type { [6 x i64] }
%"class.Eigen::Matrix.141" = type { %"class.Eigen::PlainObjectBase.142" }
%"class.Eigen::PlainObjectBase.142" = type { %"class.Eigen::DenseStorage.149" }
%"class.Eigen::DenseStorage.149" = type { %"struct.Eigen::internal::plain_array.150" }
%"struct.Eigen::internal::plain_array.150" = type { [6 x float] }
%"class.std::unique_ptr" = type { %"struct.std::__uniq_ptr_data" }
%"struct.std::__uniq_ptr_data" = type { %"class.std::__uniq_ptr_impl" }
%"class.std::__uniq_ptr_impl" = type { %"class.std::tuple" }
%"class.std::tuple" = type { %"struct.std::_Tuple_impl" }
%"struct.std::_Tuple_impl" = type { %"struct.std::_Head_base.152" }
%"struct.std::_Head_base.152" = type { ptr }
%"class.std::unique_ptr.153" = type { %"struct.std::__uniq_ptr_data.154" }
%"struct.std::__uniq_ptr_data.154" = type { %"class.std::__uniq_ptr_impl.155" }
%"class.std::__uniq_ptr_impl.155" = type { %"class.std::tuple.156" }
%"class.std::tuple.156" = type { %"struct.std::_Tuple_impl.157" }
%"struct.std::_Tuple_impl.157" = type { %"struct.std::_Head_base.160" }
%"struct.std::_Head_base.160" = type { ptr }
%"class.std::unique_ptr.161" = type { %"struct.std::__uniq_ptr_data.162" }
%"struct.std::__uniq_ptr_data.162" = type { %"class.std::__uniq_ptr_impl.163" }
%"class.std::__uniq_ptr_impl.163" = type { %"class.std::tuple.164" }
%"class.std::tuple.164" = type { %"struct.std::_Tuple_impl.165" }
%"struct.std::_Tuple_impl.165" = type { %"struct.std::_Head_base.168" }
%"struct.std::_Head_base.168" = type { ptr }
%struct.LegData = type { [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float] }
%struct.LegCommand = type { [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x i32] }
%struct.ControlFSMData = type { ptr, ptr, ptr, ptr }
%struct.VectorNavData = type { %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", [8 x i8], %"class.Eigen::Matrix", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", [8 x i8] }
%"class.std::unique_ptr.169" = type { %"struct.std::__uniq_ptr_data.170" }
%"struct.std::__uniq_ptr_data.170" = type { %"class.std::__uniq_ptr_impl.171" }
%"class.std::__uniq_ptr_impl.171" = type { %"class.std::tuple.172" }
%"class.std::tuple.172" = type { %"struct.std::_Tuple_impl.173" }
%"struct.std::_Tuple_impl.173" = type { %"struct.std::_Head_base.176" }
%"struct.std::_Head_base.176" = type { ptr }
%struct.StateEstimate = type { %"class.Eigen::Matrix", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", [8 x i8], %"class.Eigen::Matrix", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.177", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", [4 x i8] }
%"class.Eigen::Matrix.177" = type { %"class.Eigen::PlainObjectBase.178" }
%"class.Eigen::PlainObjectBase.178" = type { %"class.Eigen::DenseStorage.185" }
%"class.Eigen::DenseStorage.185" = type { %"struct.Eigen::internal::plain_array.186" }
%"struct.Eigen::internal::plain_array.186" = type { [9 x float] }
%"class.std::unique_ptr.187" = type { %"struct.std::__uniq_ptr_data.188" }
%"struct.std::__uniq_ptr_data.188" = type { %"class.std::__uniq_ptr_impl.189" }
%"class.std::__uniq_ptr_impl.189" = type { %"class.std::tuple.190" }
%"class.std::tuple.190" = type { %"struct.std::_Tuple_impl.191" }
%"struct.std::_Tuple_impl.191" = type { %"struct.std::_Head_base.194" }
%"struct.std::_Head_base.194" = type { ptr }
%"class.std::unique_ptr.195" = type { %"struct.std::__uniq_ptr_data.196" }
%"struct.std::__uniq_ptr_data.196" = type { %"class.std::__uniq_ptr_impl.197" }
%"class.std::__uniq_ptr_impl.197" = type { %"class.std::tuple.198" }
%"class.std::tuple.198" = type { %"struct.std::_Tuple_impl.199" }
%"struct.std::_Tuple_impl.199" = type { %"struct.std::_Head_base.202" }
%"struct.std::_Head_base.202" = type { ptr }
%"class.std::unique_ptr.203" = type { %"struct.std::__uniq_ptr_data.204" }
%"struct.std::__uniq_ptr_data.204" = type { %"class.std::__uniq_ptr_impl.205" }
%"class.std::__uniq_ptr_impl.205" = type { %"class.std::tuple.206" }
%"class.std::tuple.206" = type { %"struct.std::_Tuple_impl.207" }
%"struct.std::_Tuple_impl.207" = type { %"struct.std::_Head_base.210" }
%"struct.std::_Head_base.210" = type { ptr }
%class.LegController = type { [4 x %struct.LegControllerCommand], [4 x %struct.LegControllerData], ptr, i8, float, i8, i32, i32, [12 x float], [12 x float], i32 }
%struct.LegControllerCommand = type { %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.177", %"class.Eigen::Matrix.177", %"class.Eigen::Matrix.177", %"class.Eigen::Matrix.177" }
%struct.LegControllerData = type { %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.177", %"class.Eigen::Matrix.13", ptr }

@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str = external hidden unnamed_addr constant [23 x i8], align 1

declare i32 @__gxx_personality_v0(...)

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN11GaitCtrllerC2EdPd(ptr noundef nonnull align 16 dereferenceable(3816) %0, double noundef %1, ptr noundef %2) unnamed_addr #1 align 2 personality ptr @__gxx_personality_v0 {
  %4 = alloca ptr, align 8
  %5 = alloca double, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  %9 = alloca double, align 8
  %10 = alloca i32, align 4
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca double, align 8
  %16 = alloca i32, align 4
  %17 = alloca %"class.Eigen::Matrix", align 16
  %18 = alloca %"struct.Eigen::CommaInitializer", align 8
  %19 = alloca float, align 4
  %20 = alloca float, align 4
  %21 = alloca float, align 4
  %22 = alloca float, align 4
  store ptr %0, ptr %4, align 8, !tbaa !5
  store double %1, ptr %5, align 8, !tbaa !9
  store ptr %2, ptr %6, align 8, !tbaa !5
  %23 = load ptr, ptr %4, align 8
  %24 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 0
  store i32 0, ptr %24, align 16, !tbaa !11
  %25 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 1
  store i32 0, ptr %25, align 4, !tbaa !172
  %26 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 2
  store i8 1, ptr %26, align 8, !tbaa !173
  %27 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 3
  call void @_ZNSt6vectorIdSaIdEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %27) #6
  %28 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 5
  invoke void @_ZN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEC2Ev(ptr noundef nonnull align 16 dereferenceable(16) %28)
          to label %29 unwind label %72

29:                                               ; preds = %3
  %30 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 6
  invoke void @_Z16buildMiniCheetahIfE9QuadrupedIT_Ev(ptr dead_on_unwind writable sret(%class.Quadruped) align 16 %30)
          to label %31 unwind label %72

31:                                               ; preds = %29
  %32 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 7
  %33 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 6
  invoke void @_ZN9QuadrupedIfE10buildModelEv(ptr dead_on_unwind writable sret(%class.FloatingBaseModel) align 16 %32, ptr noundef nonnull align 16 dereferenceable(1160) %33)
          to label %34 unwind label %72

34:                                               ; preds = %31
  %35 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #6
  %36 = load double, ptr %5, align 8, !tbaa !9
  %37 = fdiv double 1.000000e+00, %36
  store double %37, ptr %9, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #6
  store i32 13, ptr %10, align 4, !tbaa !174
  invoke void @_ZSt11make_uniqueI19ConvexMPCLocomotionJdiEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind writable sret(%"class.std::unique_ptr") align 8 %35, ptr noundef nonnull align 8 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(4) %10)
          to label %38 unwind label %76

38:                                               ; preds = %34
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #6
  %39 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 9
  %40 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 6
  invoke void @_ZSt11make_uniqueI13LegControllerIfEJR9QuadrupedIfEEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind writable sret(%"class.std::unique_ptr.153") align 8 %39, ptr noundef nonnull align 16 dereferenceable(1160) %40)
          to label %41 unwind label %80

41:                                               ; preds = %38
  %42 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 10
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #6
  %43 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 16
  %44 = call noundef ptr @_ZNKSt10unique_ptrI12CheaterStateIdESt14default_deleteIS1_EE3getEv(ptr noundef nonnull align 8 dereferenceable(8) %43) #6
  store ptr %44, ptr %11, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #6
  %45 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 15
  store ptr %45, ptr %12, align 8, !tbaa !5
  %46 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 9
  %47 = call noundef ptr @_ZNKSt10unique_ptrI13LegControllerIfESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %46) #6
  %48 = getelementptr inbounds %class.LegController, ptr %47, i32 0, i32 1
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #6
  %49 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 18
  store ptr %49, ptr %13, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #6
  %50 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 19
  %51 = call noundef ptr @_ZNKSt10unique_ptrI22RobotControlParametersSt14default_deleteIS0_EE3getEv(ptr noundef nonnull align 8 dereferenceable(8) %50) #6
  store ptr %51, ptr %14, align 8, !tbaa !5
  invoke void @_ZSt11make_uniqueI23StateEstimatorContainerIfEJP12CheaterStateIdEP13VectorNavDataRA4_17LegControllerDataIfEP13StateEstimateIfEP22RobotControlParametersEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind writable sret(%"class.std::unique_ptr.161") align 8 %42, ptr noundef nonnull align 8 dereferenceable(8) %11, ptr noundef nonnull align 8 dereferenceable(8) %12, ptr noundef nonnull align 8 dereferenceable(416) %48, ptr noundef nonnull align 8 dereferenceable(8) %13, ptr noundef nonnull align 8 dereferenceable(8) %14)
          to label %52 unwind label %84

52:                                               ; preds = %41
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #6
  %53 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 11
  %54 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 12
  %55 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 13
  %56 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 15
  invoke void @_ZN13VectorNavDataC2Ev(ptr noundef nonnull align 16 dereferenceable(72) %56)
          to label %57 unwind label %88

57:                                               ; preds = %52
  %58 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 16
  call void @_ZNSt10unique_ptrI12CheaterStateIdESt14default_deleteIS1_EEC2IS3_vEEv(ptr noundef nonnull align 8 dereferenceable(8) %58) #6
  %59 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 18
  invoke void @_ZN13StateEstimateIfEC2Ev(ptr noundef nonnull align 16 dereferenceable(172) %59)
          to label %60 unwind label %92

60:                                               ; preds = %57
  %61 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 19
  call void @_ZNSt10unique_ptrI22RobotControlParametersSt14default_deleteIS0_EEC2IS2_vEEv(ptr noundef nonnull align 8 dereferenceable(8) %61) #6
  %62 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 20
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #6
  %63 = load double, ptr %5, align 8, !tbaa !9
  %64 = fdiv double 1.000000e+00, %63
  store double %64, ptr %15, align 8, !tbaa !9
  invoke void @_ZSt11make_uniqueI19DesiredStateCommandIfEJdEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind writable sret(%"class.std::unique_ptr.195") align 8 %62, ptr noundef nonnull align 8 dereferenceable(8) %15)
          to label %65 unwind label %96

65:                                               ; preds = %60
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #6
  %66 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 21
  invoke void @_ZSt11make_uniqueI13SafetyCheckerIfEJEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind writable sret(%"class.std::unique_ptr.203") align 8 %66)
          to label %67 unwind label %100

67:                                               ; preds = %65
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #6
  store i32 0, ptr %16, align 4, !tbaa !174
  br label %68

68:                                               ; preds = %116, %67
  %69 = load i32, ptr %16, align 4, !tbaa !174
  %70 = icmp slt i32 %69, 4
  br i1 %70, label %104, label %71

71:                                               ; preds = %68
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #6
  br label %123

72:                                               ; preds = %31, %29, %3
  %73 = landingpad { ptr, i32 }
          cleanup
  %74 = extractvalue { ptr, i32 } %73, 0
  store ptr %74, ptr %7, align 8
  %75 = extractvalue { ptr, i32 } %73, 1
  store i32 %75, ptr %8, align 4
  br label %189

76:                                               ; preds = %34
  %77 = landingpad { ptr, i32 }
          cleanup
  %78 = extractvalue { ptr, i32 } %77, 0
  store ptr %78, ptr %7, align 8
  %79 = extractvalue { ptr, i32 } %77, 1
  store i32 %79, ptr %8, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #6
  br label %188

80:                                               ; preds = %38
  %81 = landingpad { ptr, i32 }
          cleanup
  %82 = extractvalue { ptr, i32 } %81, 0
  store ptr %82, ptr %7, align 8
  %83 = extractvalue { ptr, i32 } %81, 1
  store i32 %83, ptr %8, align 4
  br label %187

84:                                               ; preds = %41
  %85 = landingpad { ptr, i32 }
          cleanup
  %86 = extractvalue { ptr, i32 } %85, 0
  store ptr %86, ptr %7, align 8
  %87 = extractvalue { ptr, i32 } %85, 1
  store i32 %87, ptr %8, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #6
  br label %186

88:                                               ; preds = %52
  %89 = landingpad { ptr, i32 }
          cleanup
  %90 = extractvalue { ptr, i32 } %89, 0
  store ptr %90, ptr %7, align 8
  %91 = extractvalue { ptr, i32 } %89, 1
  store i32 %91, ptr %8, align 4
  br label %185

92:                                               ; preds = %57
  %93 = landingpad { ptr, i32 }
          cleanup
  %94 = extractvalue { ptr, i32 } %93, 0
  store ptr %94, ptr %7, align 8
  %95 = extractvalue { ptr, i32 } %93, 1
  store i32 %95, ptr %8, align 4
  br label %184

96:                                               ; preds = %60
  %97 = landingpad { ptr, i32 }
          cleanup
  %98 = extractvalue { ptr, i32 } %97, 0
  store ptr %98, ptr %7, align 8
  %99 = extractvalue { ptr, i32 } %97, 1
  store i32 %99, ptr %8, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #6
  br label %183

100:                                              ; preds = %65
  %101 = landingpad { ptr, i32 }
          cleanup
  %102 = extractvalue { ptr, i32 } %101, 0
  store ptr %102, ptr %7, align 8
  %103 = extractvalue { ptr, i32 } %101, 1
  store i32 %103, ptr %8, align 4
  br label %182

104:                                              ; preds = %68
  %105 = load ptr, ptr %6, align 8, !tbaa !5
  %106 = load i32, ptr %16, align 4, !tbaa !174
  %107 = sext i32 %106 to i64
  %108 = getelementptr inbounds double, ptr %105, i64 %107
  %109 = load double, ptr %108, align 8, !tbaa !9
  %110 = fptrunc double %109 to float
  %111 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 5
  %112 = load i32, ptr %16, align 4, !tbaa !174
  %113 = sext i32 %112 to i64
  %114 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %111, i64 noundef %113)
          to label %115 unwind label %119

115:                                              ; preds = %104
  store float %110, ptr %114, align 4, !tbaa !175
  br label %116

116:                                              ; preds = %115
  %117 = load i32, ptr %16, align 4, !tbaa !174
  %118 = add nsw i32 %117, 1
  store i32 %118, ptr %16, align 4, !tbaa !174
  br label %68, !llvm.loop !176

119:                                              ; preds = %104
  %120 = landingpad { ptr, i32 }
          cleanup
  %121 = extractvalue { ptr, i32 } %120, 0
  store ptr %121, ptr %7, align 8
  %122 = extractvalue { ptr, i32 } %120, 1
  store i32 %122, ptr %8, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #6
  br label %181

123:                                              ; preds = %71
  %124 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 3
  invoke void @_ZNSt6vectorIdSaIdEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %124, i64 noundef 4)
          to label %125 unwind label %153

125:                                              ; preds = %123
  %126 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 10
  %127 = call noundef ptr @_ZNKSt10unique_ptrI23StateEstimatorContainerIfESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %126) #6
  invoke void @_ZN23StateEstimatorContainerIfE19removeAllEstimatorsEv(ptr noundef nonnull align 16 dereferenceable(96) %127)
          to label %128 unwind label %153

128:                                              ; preds = %125
  %129 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 10
  %130 = call noundef ptr @_ZNKSt10unique_ptrI23StateEstimatorContainerIfESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %129) #6
  invoke void @_ZN23StateEstimatorContainerIfE12addEstimatorI16ContactEstimatorIfEEEvv(ptr noundef nonnull align 16 dereferenceable(96) %130)
          to label %131 unwind label %153

131:                                              ; preds = %128
  call void @llvm.lifetime.start.p0(i64 16, ptr %17) #6
  invoke void @_ZN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEC2Ev(ptr noundef nonnull align 16 dereferenceable(16) %17)
          to label %132 unwind label %157

132:                                              ; preds = %131
  call void @llvm.lifetime.start.p0(i64 32, ptr %18) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #6
  store float 5.000000e-01, ptr %19, align 4, !tbaa !175
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEElsERKf(ptr dead_on_unwind writable sret(%"struct.Eigen::CommaInitializer") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %17, ptr noundef nonnull align 4 dereferenceable(4) %19)
          to label %133 unwind label %161

133:                                              ; preds = %132
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #6
  store float 5.000000e-01, ptr %20, align 4, !tbaa !175
  %134 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %18, ptr noundef nonnull align 4 dereferenceable(4) %20)
          to label %135 unwind label %165

135:                                              ; preds = %133
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #6
  store float 5.000000e-01, ptr %21, align 4, !tbaa !175
  %136 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %134, ptr noundef nonnull align 4 dereferenceable(4) %21)
          to label %137 unwind label %169

137:                                              ; preds = %135
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #6
  store float 5.000000e-01, ptr %22, align 4, !tbaa !175
  %138 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %136, ptr noundef nonnull align 4 dereferenceable(4) %22)
          to label %139 unwind label %173

139:                                              ; preds = %137
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #6
  call void @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %18) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %18) #6
  %140 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 10
  %141 = call noundef ptr @_ZNKSt10unique_ptrI23StateEstimatorContainerIfESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %140) #6
  invoke void @_ZN23StateEstimatorContainerIfE15setContactPhaseERN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEE(ptr noundef nonnull align 16 dereferenceable(96) %141, ptr noundef nonnull align 16 dereferenceable(16) %17)
          to label %142 unwind label %157

142:                                              ; preds = %139
  %143 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 10
  %144 = call noundef ptr @_ZNKSt10unique_ptrI23StateEstimatorContainerIfESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %143) #6
  invoke void @_ZN23StateEstimatorContainerIfE12addEstimatorI29VectorNavOrientationEstimatorIfEEEvv(ptr noundef nonnull align 16 dereferenceable(96) %144)
          to label %145 unwind label %157

145:                                              ; preds = %142
  %146 = getelementptr inbounds %class.GaitCtrller, ptr %23, i32 0, i32 10
  %147 = call noundef ptr @_ZNKSt10unique_ptrI23StateEstimatorContainerIfESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %146) #6
  invoke void @_ZN23StateEstimatorContainerIfE12addEstimatorI33LinearKFPositionVelocityEstimatorIfEEEvv(ptr noundef nonnull align 16 dereferenceable(96) %147)
          to label %148 unwind label %157

148:                                              ; preds = %145
  %149 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str)
          to label %150 unwind label %157

150:                                              ; preds = %148
  %151 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %149, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %152 unwind label %157

152:                                              ; preds = %150
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #6
  ret void

153:                                              ; preds = %128, %125, %123
  %154 = landingpad { ptr, i32 }
          cleanup
  %155 = extractvalue { ptr, i32 } %154, 0
  store ptr %155, ptr %7, align 8
  %156 = extractvalue { ptr, i32 } %154, 1
  store i32 %156, ptr %8, align 4
  br label %181

157:                                              ; preds = %150, %148, %145, %142, %139, %131
  %158 = landingpad { ptr, i32 }
          cleanup
  %159 = extractvalue { ptr, i32 } %158, 0
  store ptr %159, ptr %7, align 8
  %160 = extractvalue { ptr, i32 } %158, 1
  store i32 %160, ptr %8, align 4
  br label %180

161:                                              ; preds = %132
  %162 = landingpad { ptr, i32 }
          cleanup
  %163 = extractvalue { ptr, i32 } %162, 0
  store ptr %163, ptr %7, align 8
  %164 = extractvalue { ptr, i32 } %162, 1
  store i32 %164, ptr %8, align 4
  br label %179

165:                                              ; preds = %133
  %166 = landingpad { ptr, i32 }
          cleanup
  %167 = extractvalue { ptr, i32 } %166, 0
  store ptr %167, ptr %7, align 8
  %168 = extractvalue { ptr, i32 } %166, 1
  store i32 %168, ptr %8, align 4
  br label %178

169:                                              ; preds = %135
  %170 = landingpad { ptr, i32 }
          cleanup
  %171 = extractvalue { ptr, i32 } %170, 0
  store ptr %171, ptr %7, align 8
  %172 = extractvalue { ptr, i32 } %170, 1
  store i32 %172, ptr %8, align 4
  br label %177

173:                                              ; preds = %137
  %174 = landingpad { ptr, i32 }
          cleanup
  %175 = extractvalue { ptr, i32 } %174, 0
  store ptr %175, ptr %7, align 8
  %176 = extractvalue { ptr, i32 } %174, 1
  store i32 %176, ptr %8, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #6
  br label %177

177:                                              ; preds = %173, %169
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #6
  br label %178

178:                                              ; preds = %177, %165
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #6
  call void @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %18) #6
  br label %179

179:                                              ; preds = %178, %161
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %18) #6
  br label %180

180:                                              ; preds = %179, %157
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #6
  br label %181

181:                                              ; preds = %180, %153, %119
  call void @_ZNSt10unique_ptrI13SafetyCheckerIfESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %66) #6
  br label %182

182:                                              ; preds = %181, %100
  call void @_ZNSt10unique_ptrI19DesiredStateCommandIfESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %62) #6
  br label %183

183:                                              ; preds = %182, %96
  call void @_ZNSt10unique_ptrI22RobotControlParametersSt14default_deleteIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %61) #6
  br label %184

184:                                              ; preds = %183, %92
  call void @_ZNSt10unique_ptrI12CheaterStateIdESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %58) #6
  br label %185

185:                                              ; preds = %184, %88
  call void @_ZNSt10unique_ptrI23StateEstimatorContainerIfESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %42) #6
  br label %186

186:                                              ; preds = %185, %84
  call void @_ZNSt10unique_ptrI13LegControllerIfESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %39) #6
  br label %187

187:                                              ; preds = %186, %80
  call void @_ZNSt10unique_ptrI19ConvexMPCLocomotionSt14default_deleteIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %35) #6
  br label %188

188:                                              ; preds = %187, %76
  call void @_ZN17FloatingBaseModelIfED2Ev(ptr noundef nonnull align 16 dereferenceable(1872) %32) #6
  br label %189

189:                                              ; preds = %188, %72
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %27) #6
  br label %190

190:                                              ; preds = %189
  %191 = load ptr, ptr %7, align 8
  %192 = load i32, ptr %8, align 4
  %193 = insertvalue { ptr, i32 } poison, ptr %191, 0
  %194 = insertvalue { ptr, i32 } %193, i32 %192, 1
  resume { ptr, i32 } %194
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEC2Ev(ptr noundef nonnull align 16 dereferenceable(16)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z16buildMiniCheetahIfE9QuadrupedIT_Ev(ptr dead_on_unwind noalias writable sret(%class.Quadruped) align 16) #1

declare void @_ZN9QuadrupedIfE10buildModelEv(ptr dead_on_unwind writable sret(%class.FloatingBaseModel) align 16, ptr noundef nonnull align 16 dereferenceable(1160)) #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZSt11make_uniqueI19ConvexMPCLocomotionJdiEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind noalias writable sret(%"class.std::unique_ptr") align 8, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4)) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZSt11make_uniqueI13LegControllerIfEJR9QuadrupedIfEEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind noalias writable sret(%"class.std::unique_ptr.153") align 8, ptr noundef nonnull align 16 dereferenceable(1160)) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZSt11make_uniqueI23StateEstimatorContainerIfEJP12CheaterStateIdEP13VectorNavDataRA4_17LegControllerDataIfEP13StateEstimateIfEP22RobotControlParametersEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind noalias writable sret(%"class.std::unique_ptr.161") align 8, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(416), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt10unique_ptrI12CheaterStateIdESt14default_deleteIS1_EE3getEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt10unique_ptrI13LegControllerIfESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt10unique_ptrI22RobotControlParametersSt14default_deleteIS0_EE3getEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN13VectorNavDataC2Ev(ptr noundef nonnull align 16 dereferenceable(72)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrI12CheaterStateIdESt14default_deleteIS1_EEC2IS3_vEEv(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN13StateEstimateIfEC2Ev(ptr noundef nonnull align 16 dereferenceable(172)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrI22RobotControlParametersSt14default_deleteIS0_EEC2IS2_vEEv(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZSt11make_uniqueI19DesiredStateCommandIfEJdEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind noalias writable sret(%"class.std::unique_ptr.195") align 8, ptr noundef nonnull align 8 dereferenceable(8)) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZSt11make_uniqueI13SafetyCheckerIfEJEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind noalias writable sret(%"class.std::unique_ptr.203") align 8) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt10unique_ptrI23StateEstimatorContainerIfESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN23StateEstimatorContainerIfE19removeAllEstimatorsEv(ptr noundef nonnull align 16 dereferenceable(96)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN23StateEstimatorContainerIfE12addEstimatorI16ContactEstimatorIfEEEvv(ptr noundef nonnull align 16 dereferenceable(96)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEElsERKf(ptr dead_on_unwind noalias writable sret(%"struct.Eigen::CommaInitializer") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 4 dereferenceable(4)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN23StateEstimatorContainerIfE15setContactPhaseERN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEE(ptr noundef nonnull align 16 dereferenceable(96), ptr noundef nonnull align 16 dereferenceable(16)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN23StateEstimatorContainerIfE12addEstimatorI29VectorNavOrientationEstimatorIfEEEvv(ptr noundef nonnull align 16 dereferenceable(96)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN23StateEstimatorContainerIfE12addEstimatorI33LinearKFPositionVelocityEstimatorIfEEEvv(ptr noundef nonnull align 16 dereferenceable(96)) #1 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) #3

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

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrI13SafetyCheckerIfESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrI19DesiredStateCommandIfESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrI22RobotControlParametersSt14default_deleteIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrI12CheaterStateIdESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrI23StateEstimatorContainerIfESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrI13LegControllerIfESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrI19ConvexMPCLocomotionSt14default_deleteIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN17FloatingBaseModelIfED2Ev(ptr noundef nonnull align 16 dereferenceable(1872)) unnamed_addr #2 align 2

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

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"double", !7, i64 0}
!11 = !{!12, !13, i64 0}
!12 = !{!"_ZTS11GaitCtrller", !13, i64 0, !13, i64 4, !14, i64 8, !15, i64 16, !19, i64 48, !23, i64 64, !35, i64 1232, !121, i64 3104, !127, i64 3112, !133, i64 3120, !139, i64 3128, !140, i64 3224, !141, i64 3480, !142, i64 3520, !143, i64 3600, !149, i64 3616, !154, i64 3792, !160, i64 3800, !166, i64 3808}
!13 = !{!"int", !7, i64 0}
!14 = !{!"bool", !7, i64 0}
!15 = !{!"_ZTSSt6vectorIdSaIdEE", !16, i64 0}
!16 = !{!"_ZTSSt12_Vector_baseIdSaIdEE", !17, i64 0}
!17 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE12_Vector_implE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!19 = !{!"_ZTSN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEE", !20, i64 0}
!20 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen12DenseStorageIfLi4ELi4ELi1ELi0EEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi4ELi0ELi16EEE", !7, i64 0}
!23 = !{!"_ZTS9QuadrupedIfE", !24, i64 0, !25, i64 4, !25, i64 8, !25, i64 12, !25, i64 16, !25, i64 20, !25, i64 24, !25, i64 28, !25, i64 32, !25, i64 36, !25, i64 40, !25, i64 44, !25, i64 48, !25, i64 52, !25, i64 56, !25, i64 60, !25, i64 64, !25, i64 68, !25, i64 72, !26, i64 80, !26, i64 224, !26, i64 368, !26, i64 512, !26, i64 656, !26, i64 800, !26, i64 944, !31, i64 1088, !31, i64 1100, !31, i64 1112, !31, i64 1124, !31, i64 1136, !31, i64 1148}
!24 = !{!"_ZTS9RobotType", !7, i64 0}
!25 = !{!"float", !7, i64 0}
!26 = !{!"_ZTS14SpatialInertiaIfE", !27, i64 0}
!27 = !{!"_ZTSN5Eigen6MatrixIfLi6ELi6ELi0ELi6ELi6EEE", !28, i64 0}
!28 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi6ELi6ELi0ELi6ELi6EEEEE", !29, i64 0}
!29 = !{!"_ZTSN5Eigen12DenseStorageIfLi36ELi6ELi6ELi0EEE", !30, i64 0}
!30 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi36ELi0ELi16EEE", !7, i64 0}
!31 = !{!"_ZTSN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEE", !32, i64 0}
!32 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEEE", !33, i64 0}
!33 = !{!"_ZTSN5Eigen12DenseStorageIfLi3ELi3ELi1ELi0EEE", !34, i64 0}
!34 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi3ELi0ELi0EEE", !7, i64 0}
!35 = !{!"_ZTS17FloatingBaseModelIfE", !36, i64 0, !31, i64 8, !37, i64 24, !41, i64 48, !41, i64 72, !41, i64 96, !45, i64 120, !49, i64 144, !53, i64 168, !53, i64 192, !57, i64 216, !57, i64 240, !61, i64 264, !36, i64 288, !65, i64 296, !69, i64 320, !65, i64 344, !69, i64 368, !69, i64 392, !73, i64 416, !79, i64 464, !87, i64 560, !88, i64 616, !88, i64 640, !88, i64 664, !88, i64 688, !88, i64 712, !88, i64 736, !88, i64 760, !88, i64 784, !88, i64 808, !88, i64 832, !88, i64 856, !88, i64 880, !88, i64 904, !88, i64 928, !88, i64 952, !88, i64 976, !88, i64 1000, !88, i64 1024, !88, i64 1048, !88, i64 1072, !88, i64 1096, !88, i64 1120, !57, i64 1144, !53, i64 1168, !53, i64 1192, !53, i64 1216, !53, i64 1240, !53, i64 1264, !92, i64 1288, !92, i64 1312, !84, i64 1336, !84, i64 1352, !95, i64 1368, !88, i64 1392, !99, i64 1416, !103, i64 1440, !14, i64 1464, !14, i64 1465, !14, i64 1466, !14, i64 1467, !14, i64 1468, !14, i64 1469, !14, i64 1470, !92, i64 1472, !92, i64 1496, !107, i64 1520}
!36 = !{!"long", !7, i64 0}
!37 = !{!"_ZTSSt6vectorIiSaIiEE", !38, i64 0}
!38 = !{!"_ZTSSt12_Vector_baseIiSaIiEE", !39, i64 0}
!39 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE12_Vector_implE", !40, i64 0}
!40 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!41 = !{!"_ZTSSt6vectorIfSaIfEE", !42, i64 0}
!42 = !{!"_ZTSSt12_Vector_baseIfSaIfEE", !43, i64 0}
!43 = !{!"_ZTSNSt12_Vector_baseIfSaIfEE12_Vector_implE", !44, i64 0}
!44 = !{!"_ZTSNSt12_Vector_baseIfSaIfEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!45 = !{!"_ZTSSt6vectorIN7spatial9JointTypeESaIS1_EE", !46, i64 0}
!46 = !{!"_ZTSSt12_Vector_baseIN7spatial9JointTypeESaIS1_EE", !47, i64 0}
!47 = !{!"_ZTSNSt12_Vector_baseIN7spatial9JointTypeESaIS1_EE12_Vector_implE", !48, i64 0}
!48 = !{!"_ZTSNSt12_Vector_baseIN7spatial9JointTypeESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!49 = !{!"_ZTSSt6vectorIN3ori14CoordinateAxisESaIS1_EE", !50, i64 0}
!50 = !{!"_ZTSSt12_Vector_baseIN3ori14CoordinateAxisESaIS1_EE", !51, i64 0}
!51 = !{!"_ZTSNSt12_Vector_baseIN3ori14CoordinateAxisESaIS1_EE12_Vector_implE", !52, i64 0}
!52 = !{!"_ZTSNSt12_Vector_baseIN3ori14CoordinateAxisESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!53 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIfLi6ELi6ELi0ELi6ELi6EEENS0_17aligned_allocatorIS2_EEE", !54, i64 0}
!54 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIfLi6ELi6ELi0ELi6ELi6EEENS0_17aligned_allocatorIS2_EEE", !55, i64 0}
!55 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi6ELi6ELi0ELi6ELi6EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !56, i64 0}
!56 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi6ELi6ELi0ELi6ELi6EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!57 = !{!"_ZTSSt6vectorI14SpatialInertiaIfEN5Eigen17aligned_allocatorIS1_EEE", !58, i64 0}
!58 = !{!"_ZTSSt12_Vector_baseI14SpatialInertiaIfEN5Eigen17aligned_allocatorIS1_EEE", !59, i64 0}
!59 = !{!"_ZTSNSt12_Vector_baseI14SpatialInertiaIfEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !60, i64 0}
!60 = !{!"_ZTSNSt12_Vector_baseI14SpatialInertiaIfEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!61 = !{!"_ZTSSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !62, i64 0}
!62 = !{!"_ZTSSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !63, i64 0}
!63 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE12_Vector_implE", !64, i64 0}
!64 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!65 = !{!"_ZTSSt6vectorImSaImEE", !66, i64 0}
!66 = !{!"_ZTSSt12_Vector_baseImSaImEE", !67, i64 0}
!67 = !{!"_ZTSNSt12_Vector_baseImSaImEE12_Vector_implE", !68, i64 0}
!68 = !{!"_ZTSNSt12_Vector_baseImSaImEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!69 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEESaIS2_EE", !70, i64 0}
!70 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEESaIS2_EE", !71, i64 0}
!71 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEESaIS2_EE12_Vector_implE", !72, i64 0}
!72 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!73 = !{!"_ZTSSt6vectorIbSaIbEE", !74, i64 0}
!74 = !{!"_ZTSSt13_Bvector_baseISaIbEE", !75, i64 0}
!75 = !{!"_ZTSNSt13_Bvector_baseISaIbEE13_Bvector_implE", !76, i64 0}
!76 = !{!"_ZTSNSt13_Bvector_baseISaIbEE18_Bvector_impl_dataE", !77, i64 0, !77, i64 16, !6, i64 32}
!77 = !{!"_ZTSSt13_Bit_iterator", !78, i64 0}
!78 = !{!"_ZTSSt18_Bit_iterator_base", !6, i64 0, !13, i64 8}
!79 = !{!"_ZTS12FBModelStateIfE", !19, i64 0, !31, i64 16, !80, i64 28, !84, i64 56, !84, i64 72}
!80 = !{!"_ZTSN5Eigen6MatrixIfLi6ELi1ELi0ELi6ELi1EEE", !81, i64 0}
!81 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi6ELi1ELi0ELi6ELi1EEEEE", !82, i64 0}
!82 = !{!"_ZTSN5Eigen12DenseStorageIfLi6ELi6ELi1ELi0EEE", !83, i64 0}
!83 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi6ELi0ELi0EEE", !7, i64 0}
!84 = !{!"_ZTSN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEE", !85, i64 0}
!85 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLin1ELi1ELi0ELin1ELi1EEEEE", !86, i64 0}
!86 = !{!"_ZTSN5Eigen12DenseStorageIfLin1ELin1ELi1ELi0EEE", !6, i64 0, !36, i64 8}
!87 = !{!"_ZTS22FBModelStateDerivativeIfE", !31, i64 0, !80, i64 12, !84, i64 40}
!88 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIfLi6ELi1ELi0ELi6ELi1EEENS0_17aligned_allocatorIS2_EEE", !89, i64 0}
!89 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIfLi6ELi1ELi0ELi6ELi1EEENS0_17aligned_allocatorIS2_EEE", !90, i64 0}
!90 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi6ELi1ELi0ELi6ELi1EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !91, i64 0}
!91 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi6ELi1ELi0ELi6ELi1EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!92 = !{!"_ZTSN5Eigen6MatrixIfLin1ELin1ELi0ELin1ELin1EEE", !93, i64 0}
!93 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLin1ELin1ELi0ELin1ELin1EEEEE", !94, i64 0}
!94 = !{!"_ZTSN5Eigen12DenseStorageIfLin1ELin1ELin1ELi0EEE", !6, i64 0, !36, i64 8, !36, i64 16}
!95 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIfLi6ELin1ELi0ELi6ELin1EEENS0_17aligned_allocatorIS2_EEE", !96, i64 0}
!96 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIfLi6ELin1ELi0ELi6ELin1EEENS0_17aligned_allocatorIS2_EEE", !97, i64 0}
!97 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi6ELin1ELi0ELi6ELin1EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !98, i64 0}
!98 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi6ELin1ELi0ELi6ELin1EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!99 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIfLi3ELin1ELi0ELi3ELin1EEENS0_17aligned_allocatorIS2_EEE", !100, i64 0}
!100 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIfLi3ELin1ELi0ELi3ELin1EEENS0_17aligned_allocatorIS2_EEE", !101, i64 0}
!101 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi3ELin1ELi0ELi3ELin1EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !102, i64 0}
!102 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi3ELin1ELi0ELi3ELin1EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!103 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEENS0_17aligned_allocatorIS2_EEE", !104, i64 0}
!104 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEENS0_17aligned_allocatorIS2_EEE", !105, i64 0}
!105 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !106, i64 0}
!106 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!107 = !{!"_ZTSN5Eigen19ColPivHouseholderQRINS_6MatrixIfLi6ELi6ELi0ELi6ELi6EEEEE", !27, i64 0, !80, i64 144, !108, i64 168, !113, i64 192, !117, i64 240, !117, i64 264, !117, i64 288, !14, i64 312, !14, i64 313, !25, i64 316, !25, i64 320, !36, i64 328, !36, i64 336}
!108 = !{!"_ZTSN5Eigen17PermutationMatrixILi6ELi6EiEE", !109, i64 0}
!109 = !{!"_ZTSN5Eigen6MatrixIiLi6ELi1ELi0ELi6ELi1EEE", !110, i64 0}
!110 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIiLi6ELi1ELi0ELi6ELi1EEEEE", !111, i64 0}
!111 = !{!"_ZTSN5Eigen12DenseStorageIiLi6ELi6ELi1ELi0EEE", !112, i64 0}
!112 = !{!"_ZTSN5Eigen8internal11plain_arrayIiLi6ELi0ELi0EEE", !7, i64 0}
!113 = !{!"_ZTSN5Eigen6MatrixIlLi1ELi6ELi1ELi1ELi6EEE", !114, i64 0}
!114 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIlLi1ELi6ELi1ELi1ELi6EEEEE", !115, i64 0}
!115 = !{!"_ZTSN5Eigen12DenseStorageIlLi6ELi1ELi6ELi1EEE", !116, i64 0}
!116 = !{!"_ZTSN5Eigen8internal11plain_arrayIlLi6ELi1ELi16EEE", !7, i64 0}
!117 = !{!"_ZTSN5Eigen6MatrixIfLi1ELi6ELi1ELi1ELi6EEE", !118, i64 0}
!118 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi1ELi6ELi1ELi1ELi6EEEEE", !119, i64 0}
!119 = !{!"_ZTSN5Eigen12DenseStorageIfLi6ELi1ELi6ELi1EEE", !120, i64 0}
!120 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi6ELi1ELi0EEE", !7, i64 0}
!121 = !{!"_ZTSSt10unique_ptrI19ConvexMPCLocomotionSt14default_deleteIS0_EE", !122, i64 0}
!122 = !{!"_ZTSSt15__uniq_ptr_dataI19ConvexMPCLocomotionSt14default_deleteIS0_ELb1ELb1EE", !123, i64 0}
!123 = !{!"_ZTSSt15__uniq_ptr_implI19ConvexMPCLocomotionSt14default_deleteIS0_EE", !124, i64 0}
!124 = !{!"_ZTSSt5tupleIJP19ConvexMPCLocomotionSt14default_deleteIS0_EEE", !125, i64 0}
!125 = !{!"_ZTSSt11_Tuple_implILm0EJP19ConvexMPCLocomotionSt14default_deleteIS0_EEE", !126, i64 0}
!126 = !{!"_ZTSSt10_Head_baseILm0EP19ConvexMPCLocomotionLb0EE", !6, i64 0}
!127 = !{!"_ZTSSt10unique_ptrI13LegControllerIfESt14default_deleteIS1_EE", !128, i64 0}
!128 = !{!"_ZTSSt15__uniq_ptr_dataI13LegControllerIfESt14default_deleteIS1_ELb1ELb1EE", !129, i64 0}
!129 = !{!"_ZTSSt15__uniq_ptr_implI13LegControllerIfESt14default_deleteIS1_EE", !130, i64 0}
!130 = !{!"_ZTSSt5tupleIJP13LegControllerIfESt14default_deleteIS1_EEE", !131, i64 0}
!131 = !{!"_ZTSSt11_Tuple_implILm0EJP13LegControllerIfESt14default_deleteIS1_EEE", !132, i64 0}
!132 = !{!"_ZTSSt10_Head_baseILm0EP13LegControllerIfELb0EE", !6, i64 0}
!133 = !{!"_ZTSSt10unique_ptrI23StateEstimatorContainerIfESt14default_deleteIS1_EE", !134, i64 0}
!134 = !{!"_ZTSSt15__uniq_ptr_dataI23StateEstimatorContainerIfESt14default_deleteIS1_ELb1ELb1EE", !135, i64 0}
!135 = !{!"_ZTSSt15__uniq_ptr_implI23StateEstimatorContainerIfESt14default_deleteIS1_EE", !136, i64 0}
!136 = !{!"_ZTSSt5tupleIJP23StateEstimatorContainerIfESt14default_deleteIS1_EEE", !137, i64 0}
!137 = !{!"_ZTSSt11_Tuple_implILm0EJP23StateEstimatorContainerIfESt14default_deleteIS1_EEE", !138, i64 0}
!138 = !{!"_ZTSSt10_Head_baseILm0EP23StateEstimatorContainerIfELb0EE", !6, i64 0}
!139 = !{!"_ZTS7LegData", !7, i64 0, !7, i64 16, !7, i64 32, !7, i64 48, !7, i64 64, !7, i64 80}
!140 = !{!"_ZTS10LegCommand", !7, i64 0, !7, i64 16, !7, i64 32, !7, i64 48, !7, i64 64, !7, i64 80, !7, i64 96, !7, i64 112, !7, i64 128, !7, i64 144, !7, i64 160, !7, i64 176, !7, i64 192, !7, i64 208, !7, i64 224, !7, i64 240}
!141 = !{!"_ZTS14ControlFSMDataIfE", !6, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!142 = !{!"_ZTS13VectorNavData", !31, i64 0, !31, i64 12, !19, i64 32, !31, i64 48, !31, i64 60}
!143 = !{!"_ZTSSt10unique_ptrI12CheaterStateIdESt14default_deleteIS1_EE", !144, i64 0}
!144 = !{!"_ZTSSt15__uniq_ptr_dataI12CheaterStateIdESt14default_deleteIS1_ELb1ELb1EE", !145, i64 0}
!145 = !{!"_ZTSSt15__uniq_ptr_implI12CheaterStateIdESt14default_deleteIS1_EE", !146, i64 0}
!146 = !{!"_ZTSSt5tupleIJP12CheaterStateIdESt14default_deleteIS1_EEE", !147, i64 0}
!147 = !{!"_ZTSSt11_Tuple_implILm0EJP12CheaterStateIdESt14default_deleteIS1_EEE", !148, i64 0}
!148 = !{!"_ZTSSt10_Head_baseILm0EP12CheaterStateIdELb0EE", !6, i64 0}
!149 = !{!"_ZTS13StateEstimateIfE", !19, i64 0, !31, i64 16, !31, i64 28, !19, i64 48, !31, i64 64, !150, i64 76, !31, i64 112, !31, i64 124, !31, i64 136, !31, i64 148, !31, i64 160}
!150 = !{!"_ZTSN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEE", !151, i64 0}
!151 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEE", !152, i64 0}
!152 = !{!"_ZTSN5Eigen12DenseStorageIfLi9ELi3ELi3ELi0EEE", !153, i64 0}
!153 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi9ELi0ELi0EEE", !7, i64 0}
!154 = !{!"_ZTSSt10unique_ptrI22RobotControlParametersSt14default_deleteIS0_EE", !155, i64 0}
!155 = !{!"_ZTSSt15__uniq_ptr_dataI22RobotControlParametersSt14default_deleteIS0_ELb1ELb1EE", !156, i64 0}
!156 = !{!"_ZTSSt15__uniq_ptr_implI22RobotControlParametersSt14default_deleteIS0_EE", !157, i64 0}
!157 = !{!"_ZTSSt5tupleIJP22RobotControlParametersSt14default_deleteIS0_EEE", !158, i64 0}
!158 = !{!"_ZTSSt11_Tuple_implILm0EJP22RobotControlParametersSt14default_deleteIS0_EEE", !159, i64 0}
!159 = !{!"_ZTSSt10_Head_baseILm0EP22RobotControlParametersLb0EE", !6, i64 0}
!160 = !{!"_ZTSSt10unique_ptrI19DesiredStateCommandIfESt14default_deleteIS1_EE", !161, i64 0}
!161 = !{!"_ZTSSt15__uniq_ptr_dataI19DesiredStateCommandIfESt14default_deleteIS1_ELb1ELb1EE", !162, i64 0}
!162 = !{!"_ZTSSt15__uniq_ptr_implI19DesiredStateCommandIfESt14default_deleteIS1_EE", !163, i64 0}
!163 = !{!"_ZTSSt5tupleIJP19DesiredStateCommandIfESt14default_deleteIS1_EEE", !164, i64 0}
!164 = !{!"_ZTSSt11_Tuple_implILm0EJP19DesiredStateCommandIfESt14default_deleteIS1_EEE", !165, i64 0}
!165 = !{!"_ZTSSt10_Head_baseILm0EP19DesiredStateCommandIfELb0EE", !6, i64 0}
!166 = !{!"_ZTSSt10unique_ptrI13SafetyCheckerIfESt14default_deleteIS1_EE", !167, i64 0}
!167 = !{!"_ZTSSt15__uniq_ptr_dataI13SafetyCheckerIfESt14default_deleteIS1_ELb1ELb1EE", !168, i64 0}
!168 = !{!"_ZTSSt15__uniq_ptr_implI13SafetyCheckerIfESt14default_deleteIS1_EE", !169, i64 0}
!169 = !{!"_ZTSSt5tupleIJP13SafetyCheckerIfESt14default_deleteIS1_EEE", !170, i64 0}
!170 = !{!"_ZTSSt11_Tuple_implILm0EJP13SafetyCheckerIfESt14default_deleteIS1_EEE", !171, i64 0}
!171 = !{!"_ZTSSt10_Head_baseILm0EP13SafetyCheckerIfELb0EE", !6, i64 0}
!172 = !{!12, !13, i64 4}
!173 = !{!12, !14, i64 8}
!174 = !{!13, !13, i64 0}
!175 = !{!25, !25, i64 0}
!176 = distinct !{!176, !177}
!177 = !{!"llvm.loop.mustprogress"}


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

%"class.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [4 x float] }
%"struct.Eigen::CommaInitializer" = type { ptr, i64, i64, i64 }
%class.Quadruped = type { i32, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, [4 x i8], %class.SpatialInertia, %class.SpatialInertia, %class.SpatialInertia, %class.SpatialInertia, %class.SpatialInertia, %class.SpatialInertia, %class.SpatialInertia, %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", [8 x i8] }
%class.SpatialInertia = type { %"class.Eigen::Matrix.3" }
%"class.Eigen::Matrix.3" = type { %"class.Eigen::PlainObjectBase.4" }
%"class.Eigen::PlainObjectBase.4" = type { %"class.Eigen::DenseStorage.11" }
%"class.Eigen::DenseStorage.11" = type { %"struct.Eigen::internal::plain_array.12" }
%"struct.Eigen::internal::plain_array.12" = type { [36 x float] }
%"class.Eigen::Matrix.13" = type { %"class.Eigen::PlainObjectBase.14" }
%"class.Eigen::PlainObjectBase.14" = type { %"class.Eigen::DenseStorage.21" }
%"class.Eigen::DenseStorage.21" = type { %"struct.Eigen::internal::plain_array.22" }
%"struct.Eigen::internal::plain_array.22" = type { [3 x float] }
%class.FloatingBaseModel = type { i64, %"class.Eigen::Matrix.13", %"class.std::vector.23", %"class.std::vector.28", %"class.std::vector.28", %"class.std::vector.28", %"class.std::vector.33", %"class.std::vector.38", %"class.std::vector.43", %"class.std::vector.43", %"class.std::vector.48", %"class.std::vector.48", %"class.std::vector.54", i64, %"class.std::vector.59", %"class.std::vector.64", %"class.std::vector.59", %"class.std::vector.64", %"class.std::vector.64", %"class.std::vector.69", [8 x i8], %struct.FBModelState, %struct.FBModelStateDerivative, %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.48", %"class.std::vector.43", %"class.std::vector.43", %"class.std::vector.43", %"class.std::vector.43", %"class.std::vector.43", %"class.Eigen::Matrix.95", %"class.Eigen::Matrix.95", %"class.Eigen::Matrix.80", %"class.Eigen::Matrix.80", %"class.std::vector.104", %"class.std::vector.89", %"class.std::vector.110", %"class.std::vector.116", i8, i8, i8, i8, i8, i8, i8, %"class.Eigen::Matrix.95", %"class.Eigen::Matrix.95", %"class.Eigen::ColPivHouseholderQR" }
%"class.std::vector.23" = type { %"struct.std::_Vector_base.24" }
%"struct.std::_Vector_base.24" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.28" = type { %"struct.std::_Vector_base.29" }
%"struct.std::_Vector_base.29" = type { %"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl" }
%"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl" = type { %"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl_data" }
%"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.33" = type { %"struct.std::_Vector_base.34" }
%"struct.std::_Vector_base.34" = type { %"struct.std::_Vector_base<spatial::JointType, std::allocator<spatial::JointType>>::_Vector_impl" }
%"struct.std::_Vector_base<spatial::JointType, std::allocator<spatial::JointType>>::_Vector_impl" = type { %"struct.std::_Vector_base<spatial::JointType, std::allocator<spatial::JointType>>::_Vector_impl_data" }
%"struct.std::_Vector_base<spatial::JointType, std::allocator<spatial::JointType>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.38" = type { %"struct.std::_Vector_base.39" }
%"struct.std::_Vector_base.39" = type { %"struct.std::_Vector_base<ori::CoordinateAxis, std::allocator<ori::CoordinateAxis>>::_Vector_impl" }
%"struct.std::_Vector_base<ori::CoordinateAxis, std::allocator<ori::CoordinateAxis>>::_Vector_impl" = type { %"struct.std::_Vector_base<ori::CoordinateAxis, std::allocator<ori::CoordinateAxis>>::_Vector_impl_data" }
%"struct.std::_Vector_base<ori::CoordinateAxis, std::allocator<ori::CoordinateAxis>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.54" = type { %"struct.std::_Vector_base.55" }
%"struct.std::_Vector_base.55" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.59" = type { %"struct.std::_Vector_base.60" }
%"struct.std::_Vector_base.60" = type { %"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.64" = type { %"struct.std::_Vector_base.65" }
%"struct.std::_Vector_base.65" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, std::allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, std::allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, std::allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, std::allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.69" = type { %"struct.std::_Bvector_base" }
%"struct.std::_Bvector_base" = type { %"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl" }
%"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl" = type { %"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl_data" }
%"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl_data" = type { %"struct.std::_Bit_iterator", %"struct.std::_Bit_iterator", ptr }
%"struct.std::_Bit_iterator" = type { %"struct.std::_Bit_iterator_base.base", [4 x i8] }
%"struct.std::_Bit_iterator_base.base" = type <{ ptr, i32 }>
%struct.FBModelState = type { %"class.Eigen::Matrix", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.70", %"class.Eigen::Matrix.80", %"class.Eigen::Matrix.80", [8 x i8] }
%"class.Eigen::Matrix.70" = type { %"class.Eigen::PlainObjectBase.71" }
%"class.Eigen::PlainObjectBase.71" = type { %"class.Eigen::DenseStorage.78" }
%"class.Eigen::DenseStorage.78" = type { %"struct.Eigen::internal::plain_array.79" }
%"struct.Eigen::internal::plain_array.79" = type { [6 x float] }
%struct.FBModelStateDerivative = type { %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.70", %"class.Eigen::Matrix.80" }
%"class.std::vector.48" = type { %"struct.std::_Vector_base.49" }
%"struct.std::_Vector_base.49" = type { %"struct.std::_Vector_base<SpatialInertia<float>, Eigen::aligned_allocator<SpatialInertia<float>>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialInertia<float>, Eigen::aligned_allocator<SpatialInertia<float>>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialInertia<float>, Eigen::aligned_allocator<SpatialInertia<float>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialInertia<float>, Eigen::aligned_allocator<SpatialInertia<float>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.43" = type { %"struct.std::_Vector_base.44" }
%"struct.std::_Vector_base.44" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 6, 6>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 6>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 6, 6>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 6>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 6, 6>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 6>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 6, 6>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 6>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::Matrix.80" = type { %"class.Eigen::PlainObjectBase.81" }
%"class.Eigen::PlainObjectBase.81" = type { %"class.Eigen::DenseStorage.88" }
%"class.Eigen::DenseStorage.88" = type { ptr, i64 }
%"class.std::vector.104" = type { %"struct.std::_Vector_base.105" }
%"struct.std::_Vector_base.105" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 6, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, -1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 6, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, -1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 6, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, -1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 6, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, -1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.89" = type { %"struct.std::_Vector_base.90" }
%"struct.std::_Vector_base.90" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 6, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 6, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 6, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 6, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.110" = type { %"struct.std::_Vector_base.111" }
%"struct.std::_Vector_base.111" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 3, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, -1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 3, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, -1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 3, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, -1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 3, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, -1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.116" = type { %"struct.std::_Vector_base.117" }
%"struct.std::_Vector_base.117" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::Matrix.95" = type { %"class.Eigen::PlainObjectBase.96" }
%"class.Eigen::PlainObjectBase.96" = type { %"class.Eigen::DenseStorage.103" }
%"class.Eigen::DenseStorage.103" = type { ptr, i64, i64 }
%"class.Eigen::ColPivHouseholderQR" = type { %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.70", %"class.Eigen::PermutationMatrix", %"class.Eigen::Matrix.131", %"class.Eigen::Matrix.141", %"class.Eigen::Matrix.141", %"class.Eigen::Matrix.141", i8, i8, float, float, i64, i64, [8 x i8] }
%"class.Eigen::PermutationMatrix" = type { %"class.Eigen::Matrix.121" }
%"class.Eigen::Matrix.121" = type { %"class.Eigen::PlainObjectBase.122" }
%"class.Eigen::PlainObjectBase.122" = type { %"class.Eigen::DenseStorage.129" }
%"class.Eigen::DenseStorage.129" = type { %"struct.Eigen::internal::plain_array.130" }
%"struct.Eigen::internal::plain_array.130" = type { [6 x i32] }
%"class.Eigen::Matrix.131" = type { %"class.Eigen::PlainObjectBase.132" }
%"class.Eigen::PlainObjectBase.132" = type { %"class.Eigen::DenseStorage.139" }
%"class.Eigen::DenseStorage.139" = type { %"struct.Eigen::internal::plain_array.140" }
%"struct.Eigen::internal::plain_array.140" = type { [6 x i64] }
%"class.Eigen::Matrix.141" = type { %"class.Eigen::PlainObjectBase.142" }
%"class.Eigen::PlainObjectBase.142" = type { %"class.Eigen::DenseStorage.149" }
%"class.Eigen::DenseStorage.149" = type { %"struct.Eigen::internal::plain_array.150" }
%"struct.Eigen::internal::plain_array.150" = type { [6 x float] }
%"class.std::unique_ptr" = type { %"struct.std::__uniq_ptr_data" }
%"struct.std::__uniq_ptr_data" = type { %"class.std::__uniq_ptr_impl" }
%"class.std::__uniq_ptr_impl" = type { %"class.std::tuple" }
%"class.std::tuple" = type { %"struct.std::_Tuple_impl" }
%"struct.std::_Tuple_impl" = type { %"struct.std::_Head_base.152" }
%"struct.std::_Head_base.152" = type { ptr }
%"class.std::unique_ptr.153" = type { %"struct.std::__uniq_ptr_data.154" }
%"struct.std::__uniq_ptr_data.154" = type { %"class.std::__uniq_ptr_impl.155" }
%"class.std::__uniq_ptr_impl.155" = type { %"class.std::tuple.156" }
%"class.std::tuple.156" = type { %"struct.std::_Tuple_impl.157" }
%"struct.std::_Tuple_impl.157" = type { %"struct.std::_Head_base.160" }
%"struct.std::_Head_base.160" = type { ptr }
%"class.std::unique_ptr.161" = type { %"struct.std::__uniq_ptr_data.162" }
%"struct.std::__uniq_ptr_data.162" = type { %"class.std::__uniq_ptr_impl.163" }
%"class.std::__uniq_ptr_impl.163" = type { %"class.std::tuple.164" }
%"class.std::tuple.164" = type { %"struct.std::_Tuple_impl.165" }
%"struct.std::_Tuple_impl.165" = type { %"struct.std::_Head_base.168" }
%"struct.std::_Head_base.168" = type { ptr }
%"class.std::unique_ptr.195" = type { %"struct.std::__uniq_ptr_data.196" }
%"struct.std::__uniq_ptr_data.196" = type { %"class.std::__uniq_ptr_impl.197" }
%"class.std::__uniq_ptr_impl.197" = type { %"class.std::tuple.198" }
%"class.std::tuple.198" = type { %"struct.std::_Tuple_impl.199" }
%"struct.std::_Tuple_impl.199" = type { %"struct.std::_Head_base.202" }
%"struct.std::_Head_base.202" = type { ptr }
%"class.std::unique_ptr.203" = type { %"struct.std::__uniq_ptr_data.204" }
%"struct.std::__uniq_ptr_data.204" = type { %"class.std::__uniq_ptr_impl.205" }
%"class.std::__uniq_ptr_impl.205" = type { %"class.std::tuple.206" }
%"class.std::tuple.206" = type { %"struct.std::_Tuple_impl.207" }
%"struct.std::_Tuple_impl.207" = type { %"struct.std::_Head_base.210" }
%"struct.std::_Head_base.210" = type { ptr }

@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str = external hidden unnamed_addr constant [23 x i8], align 1

declare i32 @__gxx_personality_v0(...)

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN11GaitCtrllerC2EdPd(ptr noundef nonnull align 16 dereferenceable(3816) %0, double noundef %1, ptr nocapture noundef readonly %2) unnamed_addr #1 align 2 personality ptr @__gxx_personality_v0 {
  %4 = alloca double, align 8
  %5 = alloca i32, align 4
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca double, align 8
  %11 = alloca %"class.Eigen::Matrix", align 16
  %12 = alloca %"struct.Eigen::CommaInitializer", align 8
  %13 = alloca float, align 4
  %14 = alloca float, align 4
  %15 = alloca float, align 4
  %16 = alloca float, align 4
  store i32 0, ptr %0, align 16, !tbaa !5
  %17 = getelementptr inbounds i8, ptr %0, i64 4
  store i32 0, ptr %17, align 4, !tbaa !169
  %18 = getelementptr inbounds i8, ptr %0, i64 8
  store i8 1, ptr %18, align 8, !tbaa !170
  %19 = getelementptr inbounds i8, ptr %0, i64 16
  tail call void @_ZNSt6vectorIdSaIdEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #6
  %20 = getelementptr inbounds i8, ptr %0, i64 48
  invoke void @_ZN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEC2Ev(ptr noundef nonnull align 16 dereferenceable(16) %20)
          to label %21 unwind label %48

21:                                               ; preds = %3
  %22 = getelementptr inbounds i8, ptr %0, i64 64
  invoke void @_Z16buildMiniCheetahIfE9QuadrupedIT_Ev(ptr dead_on_unwind nonnull writable sret(%class.Quadruped) align 16 %22)
          to label %23 unwind label %48

23:                                               ; preds = %21
  %24 = getelementptr inbounds i8, ptr %0, i64 1232
  invoke void @_ZN9QuadrupedIfE10buildModelEv(ptr dead_on_unwind nonnull writable sret(%class.FloatingBaseModel) align 16 %24, ptr noundef nonnull align 16 dereferenceable(1160) %22)
          to label %25 unwind label %48

25:                                               ; preds = %23
  %26 = getelementptr inbounds i8, ptr %0, i64 3104
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #6
  %27 = fdiv double 1.000000e+00, %1
  store double %27, ptr %4, align 8, !tbaa !171
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %5) #6
  store i32 13, ptr %5, align 4, !tbaa !173
  invoke void @_ZSt11make_uniqueI19ConvexMPCLocomotionJdiEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind nonnull writable sret(%"class.std::unique_ptr") align 8 %26, ptr noundef nonnull align 8 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(4) %5)
          to label %28 unwind label %50

28:                                               ; preds = %25
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %5) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #6
  %29 = getelementptr inbounds i8, ptr %0, i64 3112
  invoke void @_ZSt11make_uniqueI13LegControllerIfEJR9QuadrupedIfEEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind nonnull writable sret(%"class.std::unique_ptr.153") align 8 %29, ptr noundef nonnull align 16 dereferenceable(1160) %22)
          to label %30 unwind label %52

30:                                               ; preds = %28
  %31 = getelementptr inbounds i8, ptr %0, i64 3120
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #6
  %32 = getelementptr inbounds i8, ptr %0, i64 3600
  %33 = call noundef ptr @_ZNKSt10unique_ptrI12CheaterStateIdESt14default_deleteIS1_EE3getEv(ptr noundef nonnull align 8 dereferenceable(8) %32) #6
  store ptr %33, ptr %6, align 8, !tbaa !174
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #6
  %34 = getelementptr inbounds i8, ptr %0, i64 3520
  store ptr %34, ptr %7, align 8, !tbaa !174
  %35 = call noundef ptr @_ZNKSt10unique_ptrI13LegControllerIfESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %29) #6
  %36 = getelementptr inbounds i8, ptr %35, i64 864
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #6
  %37 = getelementptr inbounds i8, ptr %0, i64 3616
  store ptr %37, ptr %8, align 8, !tbaa !174
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #6
  %38 = getelementptr inbounds i8, ptr %0, i64 3792
  %39 = call noundef ptr @_ZNKSt10unique_ptrI22RobotControlParametersSt14default_deleteIS0_EE3getEv(ptr noundef nonnull align 8 dereferenceable(8) %38) #6
  store ptr %39, ptr %9, align 8, !tbaa !174
  invoke void @_ZSt11make_uniqueI23StateEstimatorContainerIfEJP12CheaterStateIdEP13VectorNavDataRA4_17LegControllerDataIfEP13StateEstimateIfEP22RobotControlParametersEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind nonnull writable sret(%"class.std::unique_ptr.161") align 8 %31, ptr noundef nonnull align 8 dereferenceable(8) %6, ptr noundef nonnull align 8 dereferenceable(8) %7, ptr noundef nonnull align 8 dereferenceable(416) %36, ptr noundef nonnull align 8 dereferenceable(8) %8, ptr noundef nonnull align 8 dereferenceable(8) %9)
          to label %40 unwind label %54

40:                                               ; preds = %30
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #6
  invoke void @_ZN13VectorNavDataC2Ev(ptr noundef nonnull align 16 dereferenceable(72) %34)
          to label %41 unwind label %56

41:                                               ; preds = %40
  call void @_ZNSt10unique_ptrI12CheaterStateIdESt14default_deleteIS1_EEC2IS3_vEEv(ptr noundef nonnull align 8 dereferenceable(8) %32) #6
  invoke void @_ZN13StateEstimateIfEC2Ev(ptr noundef nonnull align 16 dereferenceable(172) %37)
          to label %42 unwind label %58

42:                                               ; preds = %41
  call void @_ZNSt10unique_ptrI22RobotControlParametersSt14default_deleteIS0_EEC2IS2_vEEv(ptr noundef nonnull align 8 dereferenceable(8) %38) #6
  %43 = getelementptr inbounds i8, ptr %0, i64 3800
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #6
  store double %27, ptr %10, align 8, !tbaa !171
  invoke void @_ZSt11make_uniqueI19DesiredStateCommandIfEJdEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind nonnull writable sret(%"class.std::unique_ptr.195") align 8 %43, ptr noundef nonnull align 8 dereferenceable(8) %10)
          to label %44 unwind label %60

44:                                               ; preds = %42
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #6
  %45 = getelementptr inbounds i8, ptr %0, i64 3808
  invoke void @_ZSt11make_uniqueI13SafetyCheckerIfEJEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind nonnull writable sret(%"class.std::unique_ptr.203") align 8 %45)
          to label %.preheader.preheader unwind label %62

.preheader.preheader:                             ; preds = %44
  %46 = load double, ptr %2, align 8, !tbaa !171
  %47 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %20, i64 noundef 0)
          to label %.preheader.1 unwind label %78

48:                                               ; preds = %23, %21, %3
  %49 = landingpad { ptr, i32 }
          cleanup
  br label %114

50:                                               ; preds = %25
  %51 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %5) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #6
  br label %113

52:                                               ; preds = %28
  %53 = landingpad { ptr, i32 }
          cleanup
  br label %112

54:                                               ; preds = %30
  %55 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #6
  br label %111

56:                                               ; preds = %40
  %57 = landingpad { ptr, i32 }
          cleanup
  br label %110

58:                                               ; preds = %41
  %59 = landingpad { ptr, i32 }
          cleanup
  br label %109

60:                                               ; preds = %42
  %61 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #6
  br label %108

62:                                               ; preds = %44
  %63 = landingpad { ptr, i32 }
          cleanup
  br label %107

.preheader.1:                                     ; preds = %.preheader.preheader
  %64 = fptrunc double %46 to float
  store float %64, ptr %47, align 4, !tbaa !175
  %65 = getelementptr inbounds i8, ptr %2, i64 8
  %66 = load double, ptr %65, align 8, !tbaa !171
  %67 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %20, i64 noundef 1)
          to label %.preheader.2 unwind label %78

.preheader.2:                                     ; preds = %.preheader.1
  %68 = fptrunc double %66 to float
  store float %68, ptr %67, align 4, !tbaa !175
  %69 = getelementptr inbounds i8, ptr %2, i64 16
  %70 = load double, ptr %69, align 8, !tbaa !171
  %71 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %20, i64 noundef 2)
          to label %.preheader.3 unwind label %78

.preheader.3:                                     ; preds = %.preheader.2
  %72 = fptrunc double %70 to float
  store float %72, ptr %71, align 4, !tbaa !175
  %73 = getelementptr inbounds i8, ptr %2, i64 24
  %74 = load double, ptr %73, align 8, !tbaa !171
  %75 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %20, i64 noundef 3)
          to label %76 unwind label %78

76:                                               ; preds = %.preheader.3
  %77 = fptrunc double %74 to float
  store float %77, ptr %75, align 4, !tbaa !175
  invoke void @_ZNSt6vectorIdSaIdEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %19, i64 noundef 4)
          to label %80 unwind label %99

78:                                               ; preds = %.preheader.3, %.preheader.2, %.preheader.1, %.preheader.preheader
  %79 = landingpad { ptr, i32 }
          cleanup
  br label %106

80:                                               ; preds = %76
  %81 = call noundef ptr @_ZNKSt10unique_ptrI23StateEstimatorContainerIfESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %31) #6
  call void @_ZN23StateEstimatorContainerIfE19removeAllEstimatorsEv(ptr noundef nonnull align 16 dereferenceable(96) %81)
  %82 = call noundef ptr @_ZNKSt10unique_ptrI23StateEstimatorContainerIfESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %31) #6
  invoke void @_ZN23StateEstimatorContainerIfE12addEstimatorI16ContactEstimatorIfEEEvv(ptr noundef nonnull align 16 dereferenceable(96) %82)
          to label %83 unwind label %99

83:                                               ; preds = %80
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #6
  invoke void @_ZN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEC2Ev(ptr noundef nonnull align 16 dereferenceable(16) %11)
          to label %84 unwind label %101

84:                                               ; preds = %83
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %12) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %13) #6
  store float 5.000000e-01, ptr %13, align 4, !tbaa !175
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEElsERKf(ptr dead_on_unwind nonnull writable sret(%"struct.Eigen::CommaInitializer") align 8 %12, ptr noundef nonnull align 1 dereferenceable(1) %11, ptr noundef nonnull align 4 dereferenceable(4) %13)
          to label %85 unwind label %103

85:                                               ; preds = %84
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %14) #6
  store float 5.000000e-01, ptr %14, align 4, !tbaa !175
  %86 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %12, ptr noundef nonnull align 4 dereferenceable(4) %14)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %15) #6
  store float 5.000000e-01, ptr %15, align 4, !tbaa !175
  %87 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %86, ptr noundef nonnull align 4 dereferenceable(4) %15)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %16) #6
  store float 5.000000e-01, ptr %16, align 4, !tbaa !175
  %88 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %87, ptr noundef nonnull align 4 dereferenceable(4) %16)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %16) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %15) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %14) #6
  call void @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %13) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %12) #6
  %89 = call noundef ptr @_ZNKSt10unique_ptrI23StateEstimatorContainerIfESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %31) #6
  invoke void @_ZN23StateEstimatorContainerIfE15setContactPhaseERN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEE(ptr noundef nonnull align 16 dereferenceable(96) %89, ptr noundef nonnull align 16 dereferenceable(16) %11)
          to label %90 unwind label %101

90:                                               ; preds = %85
  %91 = call noundef ptr @_ZNKSt10unique_ptrI23StateEstimatorContainerIfESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %31) #6
  invoke void @_ZN23StateEstimatorContainerIfE12addEstimatorI29VectorNavOrientationEstimatorIfEEEvv(ptr noundef nonnull align 16 dereferenceable(96) %91)
          to label %92 unwind label %101

92:                                               ; preds = %90
  %93 = call noundef ptr @_ZNKSt10unique_ptrI23StateEstimatorContainerIfESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %31) #6
  invoke void @_ZN23StateEstimatorContainerIfE12addEstimatorI33LinearKFPositionVelocityEstimatorIfEEEvv(ptr noundef nonnull align 16 dereferenceable(96) %93)
          to label %94 unwind label %101

94:                                               ; preds = %92
  %95 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str)
          to label %96 unwind label %101

96:                                               ; preds = %94
  %97 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %95, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %98 unwind label %101

98:                                               ; preds = %96
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #6
  ret void

99:                                               ; preds = %80, %76
  %100 = landingpad { ptr, i32 }
          cleanup
  br label %106

101:                                              ; preds = %96, %94, %92, %90, %85, %83
  %102 = landingpad { ptr, i32 }
          cleanup
  br label %105

103:                                              ; preds = %84
  %104 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %13) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %12) #6
  br label %105

105:                                              ; preds = %103, %101
  %.pn = phi { ptr, i32 } [ %102, %101 ], [ %104, %103 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #6
  br label %106

106:                                              ; preds = %105, %99, %78
  %.pn21 = phi { ptr, i32 } [ %79, %78 ], [ %.pn, %105 ], [ %100, %99 ]
  call void @_ZNSt10unique_ptrI13SafetyCheckerIfESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %45) #6
  br label %107

107:                                              ; preds = %106, %62
  %.pn21.pn = phi { ptr, i32 } [ %.pn21, %106 ], [ %63, %62 ]
  call void @_ZNSt10unique_ptrI19DesiredStateCommandIfESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %43) #6
  br label %108

108:                                              ; preds = %107, %60
  %.pn21.pn.pn = phi { ptr, i32 } [ %.pn21.pn, %107 ], [ %61, %60 ]
  call void @_ZNSt10unique_ptrI22RobotControlParametersSt14default_deleteIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %38) #6
  br label %109

109:                                              ; preds = %108, %58
  %.pn21.pn.pn.pn = phi { ptr, i32 } [ %.pn21.pn.pn, %108 ], [ %59, %58 ]
  call void @_ZNSt10unique_ptrI12CheaterStateIdESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %32) #6
  br label %110

110:                                              ; preds = %109, %56
  %.pn21.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn21.pn.pn.pn, %109 ], [ %57, %56 ]
  call void @_ZNSt10unique_ptrI23StateEstimatorContainerIfESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %31) #6
  br label %111

111:                                              ; preds = %110, %54
  %.pn21.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn21.pn.pn.pn.pn, %110 ], [ %55, %54 ]
  call void @_ZNSt10unique_ptrI13LegControllerIfESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %29) #6
  br label %112

112:                                              ; preds = %111, %52
  %.pn21.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn21.pn.pn.pn.pn.pn, %111 ], [ %53, %52 ]
  call void @_ZNSt10unique_ptrI19ConvexMPCLocomotionSt14default_deleteIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %26) #6
  br label %113

113:                                              ; preds = %112, %50
  %.pn21.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn21.pn.pn.pn.pn.pn.pn, %112 ], [ %51, %50 ]
  call void @_ZN17FloatingBaseModelIfED2Ev(ptr noundef nonnull align 16 dereferenceable(1872) %24) #6
  br label %114

114:                                              ; preds = %113, %48
  %.pn21.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn21.pn.pn.pn.pn.pn.pn.pn, %113 ], [ %49, %48 ]
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #6
  resume { ptr, i32 } %.pn21.pn.pn.pn.pn.pn.pn.pn.pn
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEC2Ev(ptr noundef nonnull align 16 dereferenceable(16)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z16buildMiniCheetahIfE9QuadrupedIT_Ev(ptr dead_on_unwind noalias writable sret(%class.Quadruped) align 16) local_unnamed_addr #1

declare void @_ZN9QuadrupedIfE10buildModelEv(ptr dead_on_unwind writable sret(%class.FloatingBaseModel) align 16, ptr noundef nonnull align 16 dereferenceable(1160)) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZSt11make_uniqueI19ConvexMPCLocomotionJdiEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind noalias writable sret(%"class.std::unique_ptr") align 8, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZSt11make_uniqueI13LegControllerIfEJR9QuadrupedIfEEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind noalias writable sret(%"class.std::unique_ptr.153") align 8, ptr noundef nonnull align 16 dereferenceable(1160)) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZSt11make_uniqueI23StateEstimatorContainerIfEJP12CheaterStateIdEP13VectorNavDataRA4_17LegControllerDataIfEP13StateEstimateIfEP22RobotControlParametersEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind noalias writable sret(%"class.std::unique_ptr.161") align 8, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(416), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt10unique_ptrI12CheaterStateIdESt14default_deleteIS1_EE3getEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt10unique_ptrI13LegControllerIfESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt10unique_ptrI22RobotControlParametersSt14default_deleteIS0_EE3getEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN13VectorNavDataC2Ev(ptr noundef nonnull align 16 dereferenceable(72)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrI12CheaterStateIdESt14default_deleteIS1_EEC2IS3_vEEv(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN13StateEstimateIfEC2Ev(ptr noundef nonnull align 16 dereferenceable(172)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrI22RobotControlParametersSt14default_deleteIS0_EEC2IS2_vEEv(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZSt11make_uniqueI19DesiredStateCommandIfEJdEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind noalias writable sret(%"class.std::unique_ptr.195") align 8, ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZSt11make_uniqueI13SafetyCheckerIfEJEENSt8__detail9_MakeUniqIT_E15__single_objectEDpOT0_(ptr dead_on_unwind noalias writable sret(%"class.std::unique_ptr.203") align 8) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt10unique_ptrI23StateEstimatorContainerIfESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN23StateEstimatorContainerIfE19removeAllEstimatorsEv(ptr noundef nonnull align 16 dereferenceable(96)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN23StateEstimatorContainerIfE12addEstimatorI16ContactEstimatorIfEEEvv(ptr noundef nonnull align 16 dereferenceable(96)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEElsERKf(ptr dead_on_unwind noalias writable sret(%"struct.Eigen::CommaInitializer") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN23StateEstimatorContainerIfE15setContactPhaseERN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEE(ptr noundef nonnull align 16 dereferenceable(96), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN23StateEstimatorContainerIfE12addEstimatorI29VectorNavOrientationEstimatorIfEEEvv(ptr noundef nonnull align 16 dereferenceable(96)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN23StateEstimatorContainerIfE12addEstimatorI33LinearKFPositionVelocityEstimatorIfEEEvv(ptr noundef nonnull align 16 dereferenceable(96)) local_unnamed_addr #1 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 #3

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

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrI13SafetyCheckerIfESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrI19DesiredStateCommandIfESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrI22RobotControlParametersSt14default_deleteIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrI12CheaterStateIdESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrI23StateEstimatorContainerIfESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrI13LegControllerIfESt14default_deleteIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrI19ConvexMPCLocomotionSt14default_deleteIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN17FloatingBaseModelIfED2Ev(ptr noundef nonnull align 16 dereferenceable(1872)) unnamed_addr #2 align 2

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

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { 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 #3 = { 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 #4 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { 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, !7, i64 0}
!6 = !{!"_ZTS11GaitCtrller", !7, i64 0, !7, i64 4, !10, i64 8, !11, i64 16, !16, i64 48, !20, i64 64, !32, i64 1232, !118, i64 3104, !124, i64 3112, !130, i64 3120, !136, i64 3128, !137, i64 3224, !138, i64 3480, !139, i64 3520, !140, i64 3600, !146, i64 3616, !151, i64 3792, !157, i64 3800, !163, i64 3808}
!7 = !{!"int", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"bool", !8, i64 0}
!11 = !{!"_ZTSSt6vectorIdSaIdEE", !12, i64 0}
!12 = !{!"_ZTSSt12_Vector_baseIdSaIdEE", !13, i64 0}
!13 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE12_Vector_implE", !14, i64 0}
!14 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!15 = !{!"any pointer", !8, i64 0}
!16 = !{!"_ZTSN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEE", !17, i64 0}
!17 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen12DenseStorageIfLi4ELi4ELi1ELi0EEE", !19, i64 0}
!19 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi4ELi0ELi16EEE", !8, i64 0}
!20 = !{!"_ZTS9QuadrupedIfE", !21, i64 0, !22, i64 4, !22, i64 8, !22, i64 12, !22, i64 16, !22, i64 20, !22, i64 24, !22, i64 28, !22, i64 32, !22, i64 36, !22, i64 40, !22, i64 44, !22, i64 48, !22, i64 52, !22, i64 56, !22, i64 60, !22, i64 64, !22, i64 68, !22, i64 72, !23, i64 80, !23, i64 224, !23, i64 368, !23, i64 512, !23, i64 656, !23, i64 800, !23, i64 944, !28, i64 1088, !28, i64 1100, !28, i64 1112, !28, i64 1124, !28, i64 1136, !28, i64 1148}
!21 = !{!"_ZTS9RobotType", !8, i64 0}
!22 = !{!"float", !8, i64 0}
!23 = !{!"_ZTS14SpatialInertiaIfE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen6MatrixIfLi6ELi6ELi0ELi6ELi6EEE", !25, i64 0}
!25 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi6ELi6ELi0ELi6ELi6EEEEE", !26, i64 0}
!26 = !{!"_ZTSN5Eigen12DenseStorageIfLi36ELi6ELi6ELi0EEE", !27, i64 0}
!27 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi36ELi0ELi16EEE", !8, i64 0}
!28 = !{!"_ZTSN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEE", !29, i64 0}
!29 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEEE", !30, i64 0}
!30 = !{!"_ZTSN5Eigen12DenseStorageIfLi3ELi3ELi1ELi0EEE", !31, i64 0}
!31 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi3ELi0ELi0EEE", !8, i64 0}
!32 = !{!"_ZTS17FloatingBaseModelIfE", !33, i64 0, !28, i64 8, !34, i64 24, !38, i64 48, !38, i64 72, !38, i64 96, !42, i64 120, !46, i64 144, !50, i64 168, !50, i64 192, !54, i64 216, !54, i64 240, !58, i64 264, !33, i64 288, !62, i64 296, !66, i64 320, !62, i64 344, !66, i64 368, !66, i64 392, !70, i64 416, !76, i64 464, !84, i64 560, !85, i64 616, !85, i64 640, !85, i64 664, !85, i64 688, !85, i64 712, !85, i64 736, !85, i64 760, !85, i64 784, !85, i64 808, !85, i64 832, !85, i64 856, !85, i64 880, !85, i64 904, !85, i64 928, !85, i64 952, !85, i64 976, !85, i64 1000, !85, i64 1024, !85, i64 1048, !85, i64 1072, !85, i64 1096, !85, i64 1120, !54, i64 1144, !50, i64 1168, !50, i64 1192, !50, i64 1216, !50, i64 1240, !50, i64 1264, !89, i64 1288, !89, i64 1312, !81, i64 1336, !81, i64 1352, !92, i64 1368, !85, i64 1392, !96, i64 1416, !100, i64 1440, !10, i64 1464, !10, i64 1465, !10, i64 1466, !10, i64 1467, !10, i64 1468, !10, i64 1469, !10, i64 1470, !89, i64 1472, !89, i64 1496, !104, i64 1520}
!33 = !{!"long", !8, i64 0}
!34 = !{!"_ZTSSt6vectorIiSaIiEE", !35, i64 0}
!35 = !{!"_ZTSSt12_Vector_baseIiSaIiEE", !36, i64 0}
!36 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE12_Vector_implE", !37, i64 0}
!37 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!38 = !{!"_ZTSSt6vectorIfSaIfEE", !39, i64 0}
!39 = !{!"_ZTSSt12_Vector_baseIfSaIfEE", !40, i64 0}
!40 = !{!"_ZTSNSt12_Vector_baseIfSaIfEE12_Vector_implE", !41, i64 0}
!41 = !{!"_ZTSNSt12_Vector_baseIfSaIfEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!42 = !{!"_ZTSSt6vectorIN7spatial9JointTypeESaIS1_EE", !43, i64 0}
!43 = !{!"_ZTSSt12_Vector_baseIN7spatial9JointTypeESaIS1_EE", !44, i64 0}
!44 = !{!"_ZTSNSt12_Vector_baseIN7spatial9JointTypeESaIS1_EE12_Vector_implE", !45, i64 0}
!45 = !{!"_ZTSNSt12_Vector_baseIN7spatial9JointTypeESaIS1_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!46 = !{!"_ZTSSt6vectorIN3ori14CoordinateAxisESaIS1_EE", !47, i64 0}
!47 = !{!"_ZTSSt12_Vector_baseIN3ori14CoordinateAxisESaIS1_EE", !48, i64 0}
!48 = !{!"_ZTSNSt12_Vector_baseIN3ori14CoordinateAxisESaIS1_EE12_Vector_implE", !49, i64 0}
!49 = !{!"_ZTSNSt12_Vector_baseIN3ori14CoordinateAxisESaIS1_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!50 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIfLi6ELi6ELi0ELi6ELi6EEENS0_17aligned_allocatorIS2_EEE", !51, i64 0}
!51 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIfLi6ELi6ELi0ELi6ELi6EEENS0_17aligned_allocatorIS2_EEE", !52, i64 0}
!52 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi6ELi6ELi0ELi6ELi6EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !53, i64 0}
!53 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi6ELi6ELi0ELi6ELi6EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!54 = !{!"_ZTSSt6vectorI14SpatialInertiaIfEN5Eigen17aligned_allocatorIS1_EEE", !55, i64 0}
!55 = !{!"_ZTSSt12_Vector_baseI14SpatialInertiaIfEN5Eigen17aligned_allocatorIS1_EEE", !56, i64 0}
!56 = !{!"_ZTSNSt12_Vector_baseI14SpatialInertiaIfEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !57, i64 0}
!57 = !{!"_ZTSNSt12_Vector_baseI14SpatialInertiaIfEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!58 = !{!"_ZTSSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !59, i64 0}
!59 = !{!"_ZTSSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !60, i64 0}
!60 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE12_Vector_implE", !61, i64 0}
!61 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!62 = !{!"_ZTSSt6vectorImSaImEE", !63, i64 0}
!63 = !{!"_ZTSSt12_Vector_baseImSaImEE", !64, i64 0}
!64 = !{!"_ZTSNSt12_Vector_baseImSaImEE12_Vector_implE", !65, i64 0}
!65 = !{!"_ZTSNSt12_Vector_baseImSaImEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!66 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEESaIS2_EE", !67, i64 0}
!67 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEESaIS2_EE", !68, i64 0}
!68 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEESaIS2_EE12_Vector_implE", !69, i64 0}
!69 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEESaIS2_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!70 = !{!"_ZTSSt6vectorIbSaIbEE", !71, i64 0}
!71 = !{!"_ZTSSt13_Bvector_baseISaIbEE", !72, i64 0}
!72 = !{!"_ZTSNSt13_Bvector_baseISaIbEE13_Bvector_implE", !73, i64 0}
!73 = !{!"_ZTSNSt13_Bvector_baseISaIbEE18_Bvector_impl_dataE", !74, i64 0, !74, i64 16, !15, i64 32}
!74 = !{!"_ZTSSt13_Bit_iterator", !75, i64 0}
!75 = !{!"_ZTSSt18_Bit_iterator_base", !15, i64 0, !7, i64 8}
!76 = !{!"_ZTS12FBModelStateIfE", !16, i64 0, !28, i64 16, !77, i64 28, !81, i64 56, !81, i64 72}
!77 = !{!"_ZTSN5Eigen6MatrixIfLi6ELi1ELi0ELi6ELi1EEE", !78, i64 0}
!78 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi6ELi1ELi0ELi6ELi1EEEEE", !79, i64 0}
!79 = !{!"_ZTSN5Eigen12DenseStorageIfLi6ELi6ELi1ELi0EEE", !80, i64 0}
!80 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi6ELi0ELi0EEE", !8, i64 0}
!81 = !{!"_ZTSN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEE", !82, i64 0}
!82 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLin1ELi1ELi0ELin1ELi1EEEEE", !83, i64 0}
!83 = !{!"_ZTSN5Eigen12DenseStorageIfLin1ELin1ELi1ELi0EEE", !15, i64 0, !33, i64 8}
!84 = !{!"_ZTS22FBModelStateDerivativeIfE", !28, i64 0, !77, i64 12, !81, i64 40}
!85 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIfLi6ELi1ELi0ELi6ELi1EEENS0_17aligned_allocatorIS2_EEE", !86, i64 0}
!86 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIfLi6ELi1ELi0ELi6ELi1EEENS0_17aligned_allocatorIS2_EEE", !87, i64 0}
!87 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi6ELi1ELi0ELi6ELi1EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !88, i64 0}
!88 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi6ELi1ELi0ELi6ELi1EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!89 = !{!"_ZTSN5Eigen6MatrixIfLin1ELin1ELi0ELin1ELin1EEE", !90, i64 0}
!90 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLin1ELin1ELi0ELin1ELin1EEEEE", !91, i64 0}
!91 = !{!"_ZTSN5Eigen12DenseStorageIfLin1ELin1ELin1ELi0EEE", !15, i64 0, !33, i64 8, !33, i64 16}
!92 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIfLi6ELin1ELi0ELi6ELin1EEENS0_17aligned_allocatorIS2_EEE", !93, i64 0}
!93 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIfLi6ELin1ELi0ELi6ELin1EEENS0_17aligned_allocatorIS2_EEE", !94, i64 0}
!94 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi6ELin1ELi0ELi6ELin1EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !95, i64 0}
!95 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi6ELin1ELi0ELi6ELin1EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!96 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIfLi3ELin1ELi0ELi3ELin1EEENS0_17aligned_allocatorIS2_EEE", !97, i64 0}
!97 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIfLi3ELin1ELi0ELi3ELin1EEENS0_17aligned_allocatorIS2_EEE", !98, i64 0}
!98 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi3ELin1ELi0ELi3ELin1EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !99, i64 0}
!99 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi3ELin1ELi0ELi3ELin1EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!100 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEENS0_17aligned_allocatorIS2_EEE", !101, i64 0}
!101 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEENS0_17aligned_allocatorIS2_EEE", !102, i64 0}
!102 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !103, i64 0}
!103 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!104 = !{!"_ZTSN5Eigen19ColPivHouseholderQRINS_6MatrixIfLi6ELi6ELi0ELi6ELi6EEEEE", !24, i64 0, !77, i64 144, !105, i64 168, !110, i64 192, !114, i64 240, !114, i64 264, !114, i64 288, !10, i64 312, !10, i64 313, !22, i64 316, !22, i64 320, !33, i64 328, !33, i64 336}
!105 = !{!"_ZTSN5Eigen17PermutationMatrixILi6ELi6EiEE", !106, i64 0}
!106 = !{!"_ZTSN5Eigen6MatrixIiLi6ELi1ELi0ELi6ELi1EEE", !107, i64 0}
!107 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIiLi6ELi1ELi0ELi6ELi1EEEEE", !108, i64 0}
!108 = !{!"_ZTSN5Eigen12DenseStorageIiLi6ELi6ELi1ELi0EEE", !109, i64 0}
!109 = !{!"_ZTSN5Eigen8internal11plain_arrayIiLi6ELi0ELi0EEE", !8, i64 0}
!110 = !{!"_ZTSN5Eigen6MatrixIlLi1ELi6ELi1ELi1ELi6EEE", !111, i64 0}
!111 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIlLi1ELi6ELi1ELi1ELi6EEEEE", !112, i64 0}
!112 = !{!"_ZTSN5Eigen12DenseStorageIlLi6ELi1ELi6ELi1EEE", !113, i64 0}
!113 = !{!"_ZTSN5Eigen8internal11plain_arrayIlLi6ELi1ELi16EEE", !8, i64 0}
!114 = !{!"_ZTSN5Eigen6MatrixIfLi1ELi6ELi1ELi1ELi6EEE", !115, i64 0}
!115 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi1ELi6ELi1ELi1ELi6EEEEE", !116, i64 0}
!116 = !{!"_ZTSN5Eigen12DenseStorageIfLi6ELi1ELi6ELi1EEE", !117, i64 0}
!117 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi6ELi1ELi0EEE", !8, i64 0}
!118 = !{!"_ZTSSt10unique_ptrI19ConvexMPCLocomotionSt14default_deleteIS0_EE", !119, i64 0}
!119 = !{!"_ZTSSt15__uniq_ptr_dataI19ConvexMPCLocomotionSt14default_deleteIS0_ELb1ELb1EE", !120, i64 0}
!120 = !{!"_ZTSSt15__uniq_ptr_implI19ConvexMPCLocomotionSt14default_deleteIS0_EE", !121, i64 0}
!121 = !{!"_ZTSSt5tupleIJP19ConvexMPCLocomotionSt14default_deleteIS0_EEE", !122, i64 0}
!122 = !{!"_ZTSSt11_Tuple_implILm0EJP19ConvexMPCLocomotionSt14default_deleteIS0_EEE", !123, i64 0}
!123 = !{!"_ZTSSt10_Head_baseILm0EP19ConvexMPCLocomotionLb0EE", !15, i64 0}
!124 = !{!"_ZTSSt10unique_ptrI13LegControllerIfESt14default_deleteIS1_EE", !125, i64 0}
!125 = !{!"_ZTSSt15__uniq_ptr_dataI13LegControllerIfESt14default_deleteIS1_ELb1ELb1EE", !126, i64 0}
!126 = !{!"_ZTSSt15__uniq_ptr_implI13LegControllerIfESt14default_deleteIS1_EE", !127, i64 0}
!127 = !{!"_ZTSSt5tupleIJP13LegControllerIfESt14default_deleteIS1_EEE", !128, i64 0}
!128 = !{!"_ZTSSt11_Tuple_implILm0EJP13LegControllerIfESt14default_deleteIS1_EEE", !129, i64 0}
!129 = !{!"_ZTSSt10_Head_baseILm0EP13LegControllerIfELb0EE", !15, i64 0}
!130 = !{!"_ZTSSt10unique_ptrI23StateEstimatorContainerIfESt14default_deleteIS1_EE", !131, i64 0}
!131 = !{!"_ZTSSt15__uniq_ptr_dataI23StateEstimatorContainerIfESt14default_deleteIS1_ELb1ELb1EE", !132, i64 0}
!132 = !{!"_ZTSSt15__uniq_ptr_implI23StateEstimatorContainerIfESt14default_deleteIS1_EE", !133, i64 0}
!133 = !{!"_ZTSSt5tupleIJP23StateEstimatorContainerIfESt14default_deleteIS1_EEE", !134, i64 0}
!134 = !{!"_ZTSSt11_Tuple_implILm0EJP23StateEstimatorContainerIfESt14default_deleteIS1_EEE", !135, i64 0}
!135 = !{!"_ZTSSt10_Head_baseILm0EP23StateEstimatorContainerIfELb0EE", !15, i64 0}
!136 = !{!"_ZTS7LegData", !8, i64 0, !8, i64 16, !8, i64 32, !8, i64 48, !8, i64 64, !8, i64 80}
!137 = !{!"_ZTS10LegCommand", !8, i64 0, !8, i64 16, !8, i64 32, !8, i64 48, !8, i64 64, !8, i64 80, !8, i64 96, !8, i64 112, !8, i64 128, !8, i64 144, !8, i64 160, !8, i64 176, !8, i64 192, !8, i64 208, !8, i64 224, !8, i64 240}
!138 = !{!"_ZTS14ControlFSMDataIfE", !15, i64 0, !15, i64 8, !15, i64 16, !15, i64 24}
!139 = !{!"_ZTS13VectorNavData", !28, i64 0, !28, i64 12, !16, i64 32, !28, i64 48, !28, i64 60}
!140 = !{!"_ZTSSt10unique_ptrI12CheaterStateIdESt14default_deleteIS1_EE", !141, i64 0}
!141 = !{!"_ZTSSt15__uniq_ptr_dataI12CheaterStateIdESt14default_deleteIS1_ELb1ELb1EE", !142, i64 0}
!142 = !{!"_ZTSSt15__uniq_ptr_implI12CheaterStateIdESt14default_deleteIS1_EE", !143, i64 0}
!143 = !{!"_ZTSSt5tupleIJP12CheaterStateIdESt14default_deleteIS1_EEE", !144, i64 0}
!144 = !{!"_ZTSSt11_Tuple_implILm0EJP12CheaterStateIdESt14default_deleteIS1_EEE", !145, i64 0}
!145 = !{!"_ZTSSt10_Head_baseILm0EP12CheaterStateIdELb0EE", !15, i64 0}
!146 = !{!"_ZTS13StateEstimateIfE", !16, i64 0, !28, i64 16, !28, i64 28, !16, i64 48, !28, i64 64, !147, i64 76, !28, i64 112, !28, i64 124, !28, i64 136, !28, i64 148, !28, i64 160}
!147 = !{!"_ZTSN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEE", !148, i64 0}
!148 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEE", !149, i64 0}
!149 = !{!"_ZTSN5Eigen12DenseStorageIfLi9ELi3ELi3ELi0EEE", !150, i64 0}
!150 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi9ELi0ELi0EEE", !8, i64 0}
!151 = !{!"_ZTSSt10unique_ptrI22RobotControlParametersSt14default_deleteIS0_EE", !152, i64 0}
!152 = !{!"_ZTSSt15__uniq_ptr_dataI22RobotControlParametersSt14default_deleteIS0_ELb1ELb1EE", !153, i64 0}
!153 = !{!"_ZTSSt15__uniq_ptr_implI22RobotControlParametersSt14default_deleteIS0_EE", !154, i64 0}
!154 = !{!"_ZTSSt5tupleIJP22RobotControlParametersSt14default_deleteIS0_EEE", !155, i64 0}
!155 = !{!"_ZTSSt11_Tuple_implILm0EJP22RobotControlParametersSt14default_deleteIS0_EEE", !156, i64 0}
!156 = !{!"_ZTSSt10_Head_baseILm0EP22RobotControlParametersLb0EE", !15, i64 0}
!157 = !{!"_ZTSSt10unique_ptrI19DesiredStateCommandIfESt14default_deleteIS1_EE", !158, i64 0}
!158 = !{!"_ZTSSt15__uniq_ptr_dataI19DesiredStateCommandIfESt14default_deleteIS1_ELb1ELb1EE", !159, i64 0}
!159 = !{!"_ZTSSt15__uniq_ptr_implI19DesiredStateCommandIfESt14default_deleteIS1_EE", !160, i64 0}
!160 = !{!"_ZTSSt5tupleIJP19DesiredStateCommandIfESt14default_deleteIS1_EEE", !161, i64 0}
!161 = !{!"_ZTSSt11_Tuple_implILm0EJP19DesiredStateCommandIfESt14default_deleteIS1_EEE", !162, i64 0}
!162 = !{!"_ZTSSt10_Head_baseILm0EP19DesiredStateCommandIfELb0EE", !15, i64 0}
!163 = !{!"_ZTSSt10unique_ptrI13SafetyCheckerIfESt14default_deleteIS1_EE", !164, i64 0}
!164 = !{!"_ZTSSt15__uniq_ptr_dataI13SafetyCheckerIfESt14default_deleteIS1_ELb1ELb1EE", !165, i64 0}
!165 = !{!"_ZTSSt15__uniq_ptr_implI13SafetyCheckerIfESt14default_deleteIS1_EE", !166, i64 0}
!166 = !{!"_ZTSSt5tupleIJP13SafetyCheckerIfESt14default_deleteIS1_EEE", !167, i64 0}
!167 = !{!"_ZTSSt11_Tuple_implILm0EJP13SafetyCheckerIfESt14default_deleteIS1_EEE", !168, i64 0}
!168 = !{!"_ZTSSt10_Head_baseILm0EP13SafetyCheckerIfELb0EE", !15, i64 0}
!169 = !{!6, !7, i64 4}
!170 = !{!6, !10, i64 8}
!171 = !{!172, !172, i64 0}
!172 = !{!"double", !8, i64 0}
!173 = !{!7, !7, i64 0}
!174 = !{!15, !15, i64 0}
!175 = !{!22, !22, i64 0}


; Effective O3 passes: EarlyCSEPass,GVNPass,GlobalOptPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,LoopRotatePass,LoopSimplifyPass,PostOrderFunctionAttrsPass,SROAPass,SimplifyCFGPass,TailCallElimPass