; LLVM IR from HiroIshida/tinyfk :: urdf_parser/src/pose.ll (ZN4urdf9parsePoseERNS_4PoseEP12TiXmlElement)

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

%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator" = type { i8 }
%"class.urdf::Pose" = type { %"class.urdf::Vector3", %"class.urdf::Rotation" }
%"class.urdf::Vector3" = type { double, double, double }
%"class.urdf::Rotation" = type { double, double, double, double }

@.str.1 = external hidden unnamed_addr constant [4 x i8], align 1
@_ZTIN4urdf10ParseErrorE = external dso_local constant { ptr, ptr, ptr }, align 8
@.str.2 = external hidden unnamed_addr constant [4 x i8], align 1

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf9parsePoseERNS_4PoseEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(56) %0, ptr noundef %1) #1 personality ptr @__gxx_personality_v0 {
  %3 = alloca i1, align 1
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca %"class.std::__cxx11::basic_string", align 8
  %8 = alloca %"class.std::allocator", align 1
  %9 = alloca ptr, align 8
  %10 = alloca i32, align 4
  %11 = alloca ptr, align 8
  %12 = alloca i32, align 4
  %13 = alloca ptr, align 8
  %14 = alloca %"class.std::__cxx11::basic_string", align 8
  %15 = alloca %"class.std::allocator", align 1
  %16 = alloca ptr, align 8
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  %17 = load ptr, ptr %4, align 8, !tbaa !5
  call void @_ZN4urdf4Pose5clearEv(ptr noundef nonnull align 8 dereferenceable(56) %17)
  %18 = load ptr, ptr %5, align 8, !tbaa !5
  %19 = icmp ne ptr %18, null
  br i1 %19, label %20, label %83

20:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #5
  %21 = load ptr, ptr %5, align 8, !tbaa !5
  %22 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216) %21, ptr noundef @.str.1)
  store ptr %22, ptr %6, align 8, !tbaa !5
  %23 = load ptr, ptr %6, align 8, !tbaa !5
  %24 = icmp ne ptr %23, null
  br i1 %24, label %25, label %48

25:                                               ; preds = %20
  %26 = load ptr, ptr %4, align 8, !tbaa !5
  %27 = getelementptr inbounds %"class.urdf::Pose", ptr %26, i32 0, i32 0
  call void @llvm.lifetime.start.p0(i64 32, ptr %7) #5
  %28 = load ptr, ptr %6, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 1, ptr %8) #5
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %8) #5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %7, ptr noundef %28, ptr noundef nonnull align 1 dereferenceable(1) %8)
          to label %29 unwind label %31

29:                                               ; preds = %25
  invoke void @_ZN4urdf7Vector34initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(24) %27, ptr noundef nonnull align 8 dereferenceable(32) %7)
          to label %30 unwind label %35

30:                                               ; preds = %29
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #5
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %8) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %8) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %7) #5
  br label %47

31:                                               ; preds = %25
  %32 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %33 = extractvalue { ptr, i32 } %32, 0
  store ptr %33, ptr %9, align 8
  %34 = extractvalue { ptr, i32 } %32, 1
  store i32 %34, ptr %10, align 4
  br label %39

35:                                               ; preds = %29
  %36 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %37 = extractvalue { ptr, i32 } %36, 0
  store ptr %37, ptr %9, align 8
  %38 = extractvalue { ptr, i32 } %36, 1
  store i32 %38, ptr %10, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #5
  br label %39

39:                                               ; preds = %35, %31
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %8) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %8) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %7) #5
  br label %40

40:                                               ; preds = %39
  %41 = load i32, ptr %10, align 4
  %42 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN4urdf10ParseErrorE) #5
  %43 = icmp eq i32 %41, %42
  br i1 %43, label %44, label %82

44:                                               ; preds = %40
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #5
  %45 = load ptr, ptr %9, align 8
  %46 = call ptr @__cxa_begin_catch(ptr %45) #5
  store ptr %46, ptr %11, align 8
  store i1 false, ptr %3, align 1
  store i32 1, ptr %12, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #5
  br label %78

47:                                               ; preds = %30
  br label %48

48:                                               ; preds = %47, %20
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #5
  %49 = load ptr, ptr %5, align 8, !tbaa !5
  %50 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216) %49, ptr noundef @.str.2)
  store ptr %50, ptr %13, align 8, !tbaa !5
  %51 = load ptr, ptr %13, align 8, !tbaa !5
  %52 = icmp ne ptr %51, null
  br i1 %52, label %53, label %76

53:                                               ; preds = %48
  %54 = load ptr, ptr %4, align 8, !tbaa !5
  %55 = getelementptr inbounds %"class.urdf::Pose", ptr %54, i32 0, i32 1
  call void @llvm.lifetime.start.p0(i64 32, ptr %14) #5
  %56 = load ptr, ptr %13, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 1, ptr %15) #5
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %15) #5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %14, ptr noundef %56, ptr noundef nonnull align 1 dereferenceable(1) %15)
          to label %57 unwind label %59

57:                                               ; preds = %53
  invoke void @_ZN4urdf8Rotation4initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(32) %55, ptr noundef nonnull align 8 dereferenceable(32) %14)
          to label %58 unwind label %63

58:                                               ; preds = %57
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %14) #5
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %15) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %15) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %14) #5
  br label %75

59:                                               ; preds = %53
  %60 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %61 = extractvalue { ptr, i32 } %60, 0
  store ptr %61, ptr %9, align 8
  %62 = extractvalue { ptr, i32 } %60, 1
  store i32 %62, ptr %10, align 4
  br label %67

63:                                               ; preds = %57
  %64 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %65 = extractvalue { ptr, i32 } %64, 0
  store ptr %65, ptr %9, align 8
  %66 = extractvalue { ptr, i32 } %64, 1
  store i32 %66, ptr %10, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %14) #5
  br label %67

67:                                               ; preds = %63, %59
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %15) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %15) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %14) #5
  br label %68

68:                                               ; preds = %67
  %69 = load i32, ptr %10, align 4
  %70 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN4urdf10ParseErrorE) #5
  %71 = icmp eq i32 %69, %70
  br i1 %71, label %72, label %81

72:                                               ; preds = %68
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #5
  %73 = load ptr, ptr %9, align 8
  %74 = call ptr @__cxa_begin_catch(ptr %73) #5
  store ptr %74, ptr %16, align 8
  store i1 false, ptr %3, align 1
  store i32 1, ptr %12, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #5
  br label %77

75:                                               ; preds = %58
  br label %76

76:                                               ; preds = %75, %48
  store i32 0, ptr %12, align 4
  br label %77

77:                                               ; preds = %76, %72
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #5
  br label %78

78:                                               ; preds = %77, %44
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #5
  %79 = load i32, ptr %12, align 4
  switch i32 %79, label %91 [
    i32 0, label %80
    i32 1, label %84
  ]

80:                                               ; preds = %78
  br label %83

81:                                               ; preds = %68
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #5
  br label %82

82:                                               ; preds = %81, %40
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #5
  br label %86

83:                                               ; preds = %80, %2
  store i1 true, ptr %3, align 1
  br label %84

84:                                               ; preds = %83, %78
  %85 = load i1, ptr %3, align 1
  ret i1 %85

86:                                               ; preds = %82
  %87 = load ptr, ptr %9, align 8
  %88 = load i32, ptr %10, align 4
  %89 = insertvalue { ptr, i32 } poison, ptr %87, 0
  %90 = insertvalue { ptr, i32 } %89, i32 %88, 1
  resume { ptr, i32 } %90

91:                                               ; preds = %78
  unreachable
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf4Pose5clearEv(ptr noundef nonnull align 8 dereferenceable(56)) #1 align 2

declare noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef) #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf7Vector34initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(32)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: nounwind memory(none)
declare i32 @llvm.eh.typeid.for.p0(ptr) #4

declare ptr @__cxa_begin_catch(ptr)

declare void @__cxa_end_catch()

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf8Rotation4initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) #1 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 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { nounwind memory(none) }
attributes #5 = { 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"}


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

%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator" = type { i8 }

@.str.1 = external hidden unnamed_addr constant [4 x i8], align 1
@_ZTIN4urdf10ParseErrorE = external dso_local constant { ptr, ptr, ptr }, align 8
@.str.2 = external hidden unnamed_addr constant [4 x i8], align 1

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf9parsePoseERNS_4PoseEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(56) %0, ptr noundef %1) local_unnamed_addr #1 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.std::__cxx11::basic_string", align 8
  %4 = alloca %"class.std::allocator", align 1
  %5 = alloca %"class.std::__cxx11::basic_string", align 8
  %6 = alloca %"class.std::allocator", align 1
  tail call void @_ZN4urdf4Pose5clearEv(ptr noundef nonnull align 8 dereferenceable(56) %0)
  %.not = icmp eq ptr %1, null
  br i1 %.not, label %.thread, label %7

7:                                                ; preds = %2
  %8 = tail call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216) %1, ptr noundef nonnull @.str.1)
  %.not27 = icmp eq ptr %8, null
  br i1 %.not27, label %21, label %9

9:                                                ; preds = %7
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %3) #5
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %4) #5
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %3, ptr noundef nonnull %8, ptr noundef nonnull align 1 dereferenceable(1) %4)
          to label %10 unwind label %12

10:                                               ; preds = %9
  invoke void @_ZN4urdf7Vector34initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 8 dereferenceable(32) %3)
          to label %11 unwind label %14

11:                                               ; preds = %10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #5
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %3) #5
  br label %21

12:                                               ; preds = %9
  %13 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  br label %16

14:                                               ; preds = %10
  %15 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #5
  br label %16

16:                                               ; preds = %14, %12
  %.pn = phi { ptr, i32 } [ %15, %14 ], [ %13, %12 ]
  %.022 = extractvalue { ptr, i32 } %.pn, 1
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %3) #5
  %17 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN4urdf10ParseErrorE) #5
  %18 = icmp eq i32 %.022, %17
  br i1 %18, label %19, label %36

19:                                               ; preds = %16
  %.017 = extractvalue { ptr, i32 } %.pn, 0
  %20 = call ptr @__cxa_begin_catch(ptr %.017) #5
  call void @__cxa_end_catch()
  br label %.thread

21:                                               ; preds = %11, %7
  %22 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216) %1, ptr noundef nonnull @.str.2)
  %.not29 = icmp eq ptr %22, null
  br i1 %.not29, label %.thread, label %23

23:                                               ; preds = %21
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %5) #5
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %6) #5
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %5, ptr noundef nonnull %22, ptr noundef nonnull align 1 dereferenceable(1) %6)
          to label %24 unwind label %27

24:                                               ; preds = %23
  %25 = getelementptr inbounds i8, ptr %0, i64 24
  invoke void @_ZN4urdf8Rotation4initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(32) %25, ptr noundef nonnull align 8 dereferenceable(32) %5)
          to label %26 unwind label %29

26:                                               ; preds = %24
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #5
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %6) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #5
  br label %.thread

27:                                               ; preds = %23
  %28 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  br label %31

29:                                               ; preds = %24
  %30 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #5
  br label %31

31:                                               ; preds = %29, %27
  %.pn30 = phi { ptr, i32 } [ %30, %29 ], [ %28, %27 ]
  %.123 = extractvalue { ptr, i32 } %.pn30, 1
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %6) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #5
  %32 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN4urdf10ParseErrorE) #5
  %33 = icmp eq i32 %.123, %32
  br i1 %33, label %34, label %36

34:                                               ; preds = %31
  %.118 = extractvalue { ptr, i32 } %.pn30, 0
  %35 = call ptr @__cxa_begin_catch(ptr %.118) #5
  call void @__cxa_end_catch()
  br label %.thread

36:                                               ; preds = %31, %16
  %.merged = phi { ptr, i32 } [ %.pn, %16 ], [ %.pn30, %31 ]
  resume { ptr, i32 } %.merged

.thread:                                          ; preds = %21, %26, %2, %19, %34
  %.2 = phi i1 [ false, %34 ], [ false, %19 ], [ true, %2 ], [ true, %26 ], [ true, %21 ]
  ret i1 %.2
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf4Pose5clearEv(ptr noundef nonnull align 8 dereferenceable(56)) local_unnamed_addr #1 align 2

declare noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf7Vector34initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: nofree nosync nounwind memory(none)
declare i32 @llvm.eh.typeid.for.p0(ptr) #4

declare ptr @__cxa_begin_catch(ptr) local_unnamed_addr

declare void @__cxa_end_catch() local_unnamed_addr

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf8Rotation4initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #1 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 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { nofree nosync nounwind memory(none) }
attributes #5 = { 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)"}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,SROAPass,SimplifyCFGPass,TailCallElimPass