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

; 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::shared_ptr.40" = type { %"class.std::__shared_ptr.41" }
%"class.std::__shared_ptr.41" = type { ptr, %"class.std::__shared_count" }
%"class.std::__shared_count" = type { ptr }
%"class.std::shared_ptr.43" = type { %"class.std::__shared_ptr.44" }
%"class.std::__shared_ptr.44" = type { ptr, %"class.std::__shared_count" }
%"class.std::shared_ptr.46" = type { %"class.std::__shared_ptr.47" }
%"class.std::__shared_ptr.47" = type { ptr, %"class.std::__shared_count" }
%"class.std::shared_ptr.49" = type { %"class.std::__shared_ptr.50" }
%"class.std::__shared_ptr.50" = type { ptr, %"class.std::__shared_count" }
%"class.urdf::Sphere" = type { %"class.urdf::Geometry.base", double }
%"class.urdf::Geometry.base" = type <{ ptr, i32 }>

@.str.32 = external hidden unnamed_addr constant [9 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: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf6SphereC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf8GeometryELN9__gnu_cxx12_Lock_policyE2EE5resetINS0_6SphereEEENSt9enable_ifIXsr21__sp_is_constructibleIS1_T_EE5valueEvE4typeEPS8_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) #4 align 2

declare void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef) unnamed_addr #5

declare noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104), ptr noundef) #5

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf12exportSphereERNS_6SphereEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef) #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf9exportBoxERNS_3BoxEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef) #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf14exportCylinderERNS_8CylinderEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf10exportMeshERNS_4MeshEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef) #4

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf14exportGeometryERSt10shared_ptrINS_8GeometryEEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef %1) #4 personality ptr @__gxx_personality_v0 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca i32, align 4
  %8 = alloca %"class.std::shared_ptr.40", align 8
  %9 = alloca %"class.std::shared_ptr.40", align 8
  %10 = alloca %"class.std::shared_ptr.43", align 8
  %11 = alloca %"class.std::shared_ptr.43", align 8
  %12 = alloca %"class.std::shared_ptr.46", align 8
  %13 = alloca %"class.std::shared_ptr.46", align 8
  %14 = alloca %"class.std::shared_ptr.49", align 8
  %15 = alloca %"class.std::shared_ptr.49", align 8
  %16 = alloca ptr, align 8
  %17 = alloca %"class.std::shared_ptr.40", align 8
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #6
  %18 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 216) #7
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %18, ptr noundef @.str.32)
          to label %19 unwind label %28

19:                                               ; preds = %2
  store ptr %18, ptr %5, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %8) #6
  %20 = load ptr, ptr %3, align 8, !tbaa !5
  call void @_ZN4urdf20dynamic_pointer_castINS_6SphereENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind writable sret(%"class.std::shared_ptr.40") align 8 %8, ptr noundef nonnull align 8 dereferenceable(16) %20)
  %21 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %8) #6
  call void @_ZNSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %8) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %8) #6
  br i1 %21, label %22, label %36

22:                                               ; preds = %19
  call void @llvm.lifetime.start.p0(i64 16, ptr %9) #6
  %23 = load ptr, ptr %3, align 8, !tbaa !5
  call void @_ZN4urdf20dynamic_pointer_castINS_6SphereENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind writable sret(%"class.std::shared_ptr.40") align 8 %9, ptr noundef nonnull align 8 dereferenceable(16) %23)
  %24 = call noundef ptr @_ZNKSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EE3getEv(ptr noundef nonnull align 8 dereferenceable(16) %9) #6
  %25 = load ptr, ptr %5, align 8, !tbaa !5
  %26 = invoke noundef zeroext i1 @_ZN4urdf12exportSphereERNS_6SphereEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(24) %24, ptr noundef %25)
          to label %27 unwind label %32

27:                                               ; preds = %22
  call void @_ZNSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %9) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %9) #6
  br label %99

28:                                               ; preds = %2
  %29 = landingpad { ptr, i32 }
          cleanup
  %30 = extractvalue { ptr, i32 } %29, 0
  store ptr %30, ptr %6, align 8
  %31 = extractvalue { ptr, i32 } %29, 1
  store i32 %31, ptr %7, align 4
  call void @_ZdlPvm(ptr noundef %18, i64 noundef 216) #8
  br label %103

32:                                               ; preds = %22
  %33 = landingpad { ptr, i32 }
          cleanup
  %34 = extractvalue { ptr, i32 } %33, 0
  store ptr %34, ptr %6, align 8
  %35 = extractvalue { ptr, i32 } %33, 1
  store i32 %35, ptr %7, align 4
  call void @_ZNSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %9) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %9) #6
  br label %103

36:                                               ; preds = %19
  call void @llvm.lifetime.start.p0(i64 16, ptr %10) #6
  %37 = load ptr, ptr %3, align 8, !tbaa !5
  call void @_ZN4urdf20dynamic_pointer_castINS_3BoxENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind writable sret(%"class.std::shared_ptr.43") align 8 %10, ptr noundef nonnull align 8 dereferenceable(16) %37)
  %38 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf3BoxELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %10) #6
  call void @_ZNSt12__shared_ptrIN4urdf3BoxELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %10) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %10) #6
  br i1 %38, label %39, label %49

39:                                               ; preds = %36
  call void @llvm.lifetime.start.p0(i64 16, ptr %11) #6
  %40 = load ptr, ptr %3, align 8, !tbaa !5
  call void @_ZN4urdf20dynamic_pointer_castINS_3BoxENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind writable sret(%"class.std::shared_ptr.43") align 8 %11, ptr noundef nonnull align 8 dereferenceable(16) %40)
  %41 = call noundef ptr @_ZNKSt12__shared_ptrIN4urdf3BoxELN9__gnu_cxx12_Lock_policyE2EE3getEv(ptr noundef nonnull align 8 dereferenceable(16) %11) #6
  %42 = load ptr, ptr %5, align 8, !tbaa !5
  %43 = invoke noundef zeroext i1 @_ZN4urdf9exportBoxERNS_3BoxEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(40) %41, ptr noundef %42)
          to label %44 unwind label %45

44:                                               ; preds = %39
  call void @_ZNSt12__shared_ptrIN4urdf3BoxELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %11) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %11) #6
  br label %98

45:                                               ; preds = %39
  %46 = landingpad { ptr, i32 }
          cleanup
  %47 = extractvalue { ptr, i32 } %46, 0
  store ptr %47, ptr %6, align 8
  %48 = extractvalue { ptr, i32 } %46, 1
  store i32 %48, ptr %7, align 4
  call void @_ZNSt12__shared_ptrIN4urdf3BoxELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %11) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %11) #6
  br label %103

49:                                               ; preds = %36
  call void @llvm.lifetime.start.p0(i64 16, ptr %12) #6
  %50 = load ptr, ptr %3, align 8, !tbaa !5
  call void @_ZN4urdf20dynamic_pointer_castINS_8CylinderENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind writable sret(%"class.std::shared_ptr.46") align 8 %12, ptr noundef nonnull align 8 dereferenceable(16) %50)
  %51 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf8CylinderELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %12) #6
  call void @_ZNSt12__shared_ptrIN4urdf8CylinderELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %12) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %12) #6
  br i1 %51, label %52, label %62

52:                                               ; preds = %49
  call void @llvm.lifetime.start.p0(i64 16, ptr %13) #6
  %53 = load ptr, ptr %3, align 8, !tbaa !5
  call void @_ZN4urdf20dynamic_pointer_castINS_8CylinderENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind writable sret(%"class.std::shared_ptr.46") align 8 %13, ptr noundef nonnull align 8 dereferenceable(16) %53)
  %54 = call noundef ptr @_ZNKSt12__shared_ptrIN4urdf8CylinderELN9__gnu_cxx12_Lock_policyE2EE3getEv(ptr noundef nonnull align 8 dereferenceable(16) %13) #6
  %55 = load ptr, ptr %5, align 8, !tbaa !5
  %56 = invoke noundef zeroext i1 @_ZN4urdf14exportCylinderERNS_8CylinderEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(32) %54, ptr noundef %55)
          to label %57 unwind label %58

57:                                               ; preds = %52
  call void @_ZNSt12__shared_ptrIN4urdf8CylinderELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %13) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %13) #6
  br label %97

58:                                               ; preds = %52
  %59 = landingpad { ptr, i32 }
          cleanup
  %60 = extractvalue { ptr, i32 } %59, 0
  store ptr %60, ptr %6, align 8
  %61 = extractvalue { ptr, i32 } %59, 1
  store i32 %61, ptr %7, align 4
  call void @_ZNSt12__shared_ptrIN4urdf8CylinderELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %13) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %13) #6
  br label %103

62:                                               ; preds = %49
  call void @llvm.lifetime.start.p0(i64 16, ptr %14) #6
  %63 = load ptr, ptr %3, align 8, !tbaa !5
  call void @_ZN4urdf20dynamic_pointer_castINS_4MeshENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind writable sret(%"class.std::shared_ptr.49") align 8 %14, ptr noundef nonnull align 8 dereferenceable(16) %63)
  %64 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf4MeshELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %14) #6
  call void @_ZNSt12__shared_ptrIN4urdf4MeshELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %14) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #6
  br i1 %64, label %65, label %75

65:                                               ; preds = %62
  call void @llvm.lifetime.start.p0(i64 16, ptr %15) #6
  %66 = load ptr, ptr %3, align 8, !tbaa !5
  call void @_ZN4urdf20dynamic_pointer_castINS_4MeshENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind writable sret(%"class.std::shared_ptr.49") align 8 %15, ptr noundef nonnull align 8 dereferenceable(16) %66)
  %67 = call noundef ptr @_ZNKSt12__shared_ptrIN4urdf4MeshELN9__gnu_cxx12_Lock_policyE2EE3getEv(ptr noundef nonnull align 8 dereferenceable(16) %15) #6
  %68 = load ptr, ptr %5, align 8, !tbaa !5
  %69 = invoke noundef zeroext i1 @_ZN4urdf10exportMeshERNS_4MeshEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(72) %67, ptr noundef %68)
          to label %70 unwind label %71

70:                                               ; preds = %65
  call void @_ZNSt12__shared_ptrIN4urdf4MeshELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %15) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %15) #6
  br label %96

71:                                               ; preds = %65
  %72 = landingpad { ptr, i32 }
          cleanup
  %73 = extractvalue { ptr, i32 } %72, 0
  store ptr %73, ptr %6, align 8
  %74 = extractvalue { ptr, i32 } %72, 1
  store i32 %74, ptr %7, align 4
  call void @_ZNSt12__shared_ptrIN4urdf4MeshELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %15) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %15) #6
  br label %103

75:                                               ; preds = %62
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #6
  %76 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 24) #7
  invoke void @_ZN4urdf6SphereC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %76)
          to label %77 unwind label %87

77:                                               ; preds = %75
  store ptr %76, ptr %16, align 8, !tbaa !5
  %78 = load ptr, ptr %16, align 8, !tbaa !5
  %79 = getelementptr inbounds %"class.urdf::Sphere", ptr %78, i32 0, i32 1
  store double 3.000000e-02, ptr %79, align 8, !tbaa !9
  %80 = load ptr, ptr %3, align 8, !tbaa !5
  %81 = load ptr, ptr %16, align 8, !tbaa !5
  call void @_ZNSt12__shared_ptrIN4urdf8GeometryELN9__gnu_cxx12_Lock_policyE2EE5resetINS0_6SphereEEENSt9enable_ifIXsr21__sp_is_constructibleIS1_T_EE5valueEvE4typeEPS8_(ptr noundef nonnull align 8 dereferenceable(16) %80, ptr noundef %81)
  call void @llvm.lifetime.start.p0(i64 16, ptr %17) #6
  %82 = load ptr, ptr %3, align 8, !tbaa !5
  call void @_ZN4urdf20dynamic_pointer_castINS_6SphereENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind writable sret(%"class.std::shared_ptr.40") align 8 %17, ptr noundef nonnull align 8 dereferenceable(16) %82)
  %83 = call noundef ptr @_ZNKSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EE3getEv(ptr noundef nonnull align 8 dereferenceable(16) %17) #6
  %84 = load ptr, ptr %5, align 8, !tbaa !5
  %85 = invoke noundef zeroext i1 @_ZN4urdf12exportSphereERNS_6SphereEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(24) %83, ptr noundef %84)
          to label %86 unwind label %91

86:                                               ; preds = %77
  call void @_ZNSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %17) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #6
  br label %96

87:                                               ; preds = %75
  %88 = landingpad { ptr, i32 }
          cleanup
  %89 = extractvalue { ptr, i32 } %88, 0
  store ptr %89, ptr %6, align 8
  %90 = extractvalue { ptr, i32 } %88, 1
  store i32 %90, ptr %7, align 4
  call void @_ZdlPvm(ptr noundef %76, i64 noundef 24) #8
  br label %95

91:                                               ; preds = %77
  %92 = landingpad { ptr, i32 }
          cleanup
  %93 = extractvalue { ptr, i32 } %92, 0
  store ptr %93, ptr %6, align 8
  %94 = extractvalue { ptr, i32 } %92, 1
  store i32 %94, ptr %7, align 4
  call void @_ZNSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %17) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #6
  br label %95

95:                                               ; preds = %91, %87
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #6
  br label %103

96:                                               ; preds = %86, %70
  br label %97

97:                                               ; preds = %96, %57
  br label %98

98:                                               ; preds = %97, %44
  br label %99

99:                                               ; preds = %98, %27
  %100 = load ptr, ptr %4, align 8, !tbaa !5
  %101 = load ptr, ptr %5, align 8, !tbaa !5
  %102 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %100, ptr noundef %101)
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #6
  ret i1 true

103:                                              ; preds = %95, %71, %58, %45, %32, %28
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #6
  br label %104

104:                                              ; preds = %103
  %105 = load ptr, ptr %6, align 8
  %106 = load i32, ptr %7, align 4
  %107 = insertvalue { ptr, i32 } poison, ptr %105, 0
  %108 = insertvalue { ptr, i32 } %107, i32 %106, 1
  resume { ptr, i32 } %108
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf20dynamic_pointer_castINS_6SphereENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind noalias writable sret(%"class.std::shared_ptr.40") align 8, ptr noundef nonnull align 8 dereferenceable(16)) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EE3getEv(ptr noundef nonnull align 8 dereferenceable(16)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf20dynamic_pointer_castINS_3BoxENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind noalias writable sret(%"class.std::shared_ptr.43") align 8, ptr noundef nonnull align 8 dereferenceable(16)) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf3BoxELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf3BoxELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt12__shared_ptrIN4urdf3BoxELN9__gnu_cxx12_Lock_policyE2EE3getEv(ptr noundef nonnull align 8 dereferenceable(16)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf20dynamic_pointer_castINS_8CylinderENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind noalias writable sret(%"class.std::shared_ptr.46") align 8, ptr noundef nonnull align 8 dereferenceable(16)) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf8CylinderELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf8CylinderELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt12__shared_ptrIN4urdf8CylinderELN9__gnu_cxx12_Lock_policyE2EE3getEv(ptr noundef nonnull align 8 dereferenceable(16)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf20dynamic_pointer_castINS_4MeshENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind noalias writable sret(%"class.std::shared_ptr.49") align 8, ptr noundef nonnull align 8 dereferenceable(16)) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf4MeshELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf4MeshELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt12__shared_ptrIN4urdf4MeshELN9__gnu_cxx12_Lock_policyE2EE3getEv(ptr noundef nonnull align 8 dereferenceable(16)) #2 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nobuiltin allocsize(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 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { 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 #5 = { "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 }
attributes #7 = { builtin allocsize(0) }
attributes #8 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !13, i64 16}
!10 = !{!"_ZTSN4urdf6SphereE", !11, i64 0, !13, i64 16}
!11 = !{!"_ZTSN4urdf8GeometryE", !12, i64 8}
!12 = !{!"_ZTSN4urdf8GeometryUt_E", !7, i64 0}
!13 = !{!"double", !7, i64 0}


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

%"class.std::shared_ptr.40" = type { %"class.std::__shared_ptr.41" }
%"class.std::__shared_ptr.41" = type { ptr, %"class.std::__shared_count" }
%"class.std::__shared_count" = type { ptr }
%"class.std::shared_ptr.43" = type { %"class.std::__shared_ptr.44" }
%"class.std::__shared_ptr.44" = type { ptr, %"class.std::__shared_count" }
%"class.std::shared_ptr.46" = type { %"class.std::__shared_ptr.47" }
%"class.std::__shared_ptr.47" = type { ptr, %"class.std::__shared_count" }
%"class.std::shared_ptr.49" = type { %"class.std::__shared_ptr.50" }
%"class.std::__shared_ptr.50" = type { ptr, %"class.std::__shared_count" }

@.str.32 = external hidden unnamed_addr constant [9 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: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) local_unnamed_addr #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf6SphereC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf8GeometryELN9__gnu_cxx12_Lock_policyE2EE5resetINS0_6SphereEEENSt9enable_ifIXsr21__sp_is_constructibleIS1_T_EE5valueEvE4typeEPS8_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) local_unnamed_addr #4 align 2

declare void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef) unnamed_addr #5

declare noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104), ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf12exportSphereERNS_6SphereEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf9exportBoxERNS_3BoxEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf14exportCylinderERNS_8CylinderEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf10exportMeshERNS_4MeshEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf14exportGeometryERSt10shared_ptrINS_8GeometryEEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef %1) local_unnamed_addr #4 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.std::shared_ptr.40", align 8
  %4 = alloca %"class.std::shared_ptr.40", align 8
  %5 = alloca %"class.std::shared_ptr.43", align 8
  %6 = alloca %"class.std::shared_ptr.43", align 8
  %7 = alloca %"class.std::shared_ptr.46", align 8
  %8 = alloca %"class.std::shared_ptr.46", align 8
  %9 = alloca %"class.std::shared_ptr.49", align 8
  %10 = alloca %"class.std::shared_ptr.49", align 8
  %11 = alloca %"class.std::shared_ptr.40", align 8
  %12 = tail call noalias noundef nonnull dereferenceable(216) ptr @_Znwm(i64 noundef 216) #6
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %12, ptr noundef nonnull @.str.32)
          to label %13 unwind label %19

13:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %3) #7
  call void @_ZN4urdf20dynamic_pointer_castINS_6SphereENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind nonnull writable sret(%"class.std::shared_ptr.40") align 8 %3, ptr noundef nonnull align 8 dereferenceable(16) %0)
  %14 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %3) #7
  call void @_ZNSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %3) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %3) #7
  br i1 %14, label %15, label %23

15:                                               ; preds = %13
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %4) #7
  call void @_ZN4urdf20dynamic_pointer_castINS_6SphereENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind nonnull writable sret(%"class.std::shared_ptr.40") align 8 %4, ptr noundef nonnull align 8 dereferenceable(16) %0)
  %16 = call noundef ptr @_ZNKSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EE3getEv(ptr noundef nonnull align 8 dereferenceable(16) %4) #7
  %17 = invoke noundef zeroext i1 @_ZN4urdf12exportSphereERNS_6SphereEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(24) %16, ptr noundef nonnull %12)
          to label %18 unwind label %21

18:                                               ; preds = %15
  call void @_ZNSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %4) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %4) #7
  br label %55

19:                                               ; preds = %2
  %20 = landingpad { ptr, i32 }
          cleanup
  tail call void @_ZdlPvm(ptr noundef nonnull %12, i64 noundef 216) #8
  br label %57

21:                                               ; preds = %15
  %22 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %4) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %4) #7
  br label %57

23:                                               ; preds = %13
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %5) #7
  call void @_ZN4urdf20dynamic_pointer_castINS_3BoxENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind nonnull writable sret(%"class.std::shared_ptr.43") align 8 %5, ptr noundef nonnull align 8 dereferenceable(16) %0)
  %24 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf3BoxELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %5) #7
  call void @_ZNSt12__shared_ptrIN4urdf3BoxELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %5) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %5) #7
  br i1 %24, label %25, label %31

25:                                               ; preds = %23
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #7
  call void @_ZN4urdf20dynamic_pointer_castINS_3BoxENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind nonnull writable sret(%"class.std::shared_ptr.43") align 8 %6, ptr noundef nonnull align 8 dereferenceable(16) %0)
  %26 = call noundef ptr @_ZNKSt12__shared_ptrIN4urdf3BoxELN9__gnu_cxx12_Lock_policyE2EE3getEv(ptr noundef nonnull align 8 dereferenceable(16) %6) #7
  %27 = invoke noundef zeroext i1 @_ZN4urdf9exportBoxERNS_3BoxEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(40) %26, ptr noundef nonnull %12)
          to label %28 unwind label %29

28:                                               ; preds = %25
  call void @_ZNSt12__shared_ptrIN4urdf3BoxELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %6) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #7
  br label %55

29:                                               ; preds = %25
  %30 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt12__shared_ptrIN4urdf3BoxELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %6) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #7
  br label %57

31:                                               ; preds = %23
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %7) #7
  call void @_ZN4urdf20dynamic_pointer_castINS_8CylinderENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind nonnull writable sret(%"class.std::shared_ptr.46") align 8 %7, ptr noundef nonnull align 8 dereferenceable(16) %0)
  %32 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf8CylinderELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %7) #7
  call void @_ZNSt12__shared_ptrIN4urdf8CylinderELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %7) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #7
  br i1 %32, label %33, label %39

33:                                               ; preds = %31
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #7
  call void @_ZN4urdf20dynamic_pointer_castINS_8CylinderENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind nonnull writable sret(%"class.std::shared_ptr.46") align 8 %8, ptr noundef nonnull align 8 dereferenceable(16) %0)
  %34 = call noundef ptr @_ZNKSt12__shared_ptrIN4urdf8CylinderELN9__gnu_cxx12_Lock_policyE2EE3getEv(ptr noundef nonnull align 8 dereferenceable(16) %8) #7
  %35 = invoke noundef zeroext i1 @_ZN4urdf14exportCylinderERNS_8CylinderEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(32) %34, ptr noundef nonnull %12)
          to label %36 unwind label %37

36:                                               ; preds = %33
  call void @_ZNSt12__shared_ptrIN4urdf8CylinderELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %8) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #7
  br label %55

37:                                               ; preds = %33
  %38 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt12__shared_ptrIN4urdf8CylinderELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %8) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #7
  br label %57

39:                                               ; preds = %31
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #7
  call void @_ZN4urdf20dynamic_pointer_castINS_4MeshENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind nonnull writable sret(%"class.std::shared_ptr.49") align 8 %9, ptr noundef nonnull align 8 dereferenceable(16) %0)
  %40 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf4MeshELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %9) #7
  call void @_ZNSt12__shared_ptrIN4urdf4MeshELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %9) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #7
  br i1 %40, label %41, label %47

41:                                               ; preds = %39
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %10) #7
  call void @_ZN4urdf20dynamic_pointer_castINS_4MeshENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind nonnull writable sret(%"class.std::shared_ptr.49") align 8 %10, ptr noundef nonnull align 8 dereferenceable(16) %0)
  %42 = call noundef ptr @_ZNKSt12__shared_ptrIN4urdf4MeshELN9__gnu_cxx12_Lock_policyE2EE3getEv(ptr noundef nonnull align 8 dereferenceable(16) %10) #7
  %43 = invoke noundef zeroext i1 @_ZN4urdf10exportMeshERNS_4MeshEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(72) %42, ptr noundef nonnull %12)
          to label %44 unwind label %45

44:                                               ; preds = %41
  call void @_ZNSt12__shared_ptrIN4urdf4MeshELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %10) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #7
  br label %55

45:                                               ; preds = %41
  %46 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt12__shared_ptrIN4urdf4MeshELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %10) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #7
  br label %57

47:                                               ; preds = %39
  %48 = call noalias noundef nonnull dereferenceable(24) ptr @_Znwm(i64 noundef 24) #6
  call void @_ZN4urdf6SphereC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %48)
  %49 = getelementptr inbounds i8, ptr %48, i64 16
  store double 3.000000e-02, ptr %49, align 8, !tbaa !5
  call void @_ZNSt12__shared_ptrIN4urdf8GeometryELN9__gnu_cxx12_Lock_policyE2EE5resetINS0_6SphereEEENSt9enable_ifIXsr21__sp_is_constructibleIS1_T_EE5valueEvE4typeEPS8_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull %48)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #7
  call void @_ZN4urdf20dynamic_pointer_castINS_6SphereENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind nonnull writable sret(%"class.std::shared_ptr.40") align 8 %11, ptr noundef nonnull align 8 dereferenceable(16) %0)
  %50 = call noundef ptr @_ZNKSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EE3getEv(ptr noundef nonnull align 8 dereferenceable(16) %11) #7
  %51 = invoke noundef zeroext i1 @_ZN4urdf12exportSphereERNS_6SphereEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(24) %50, ptr noundef nonnull %12)
          to label %52 unwind label %53

52:                                               ; preds = %47
  call void @_ZNSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %11) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #7
  br label %55

53:                                               ; preds = %47
  %54 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %11) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #7
  br label %57

55:                                               ; preds = %28, %44, %52, %36, %18
  %56 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %1, ptr noundef nonnull %12)
  ret i1 true

57:                                               ; preds = %53, %45, %37, %29, %21, %19
  %.pn = phi { ptr, i32 } [ %22, %21 ], [ %30, %29 ], [ %38, %37 ], [ %46, %45 ], [ %54, %53 ], [ %20, %19 ]
  resume { ptr, i32 } %.pn
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf20dynamic_pointer_castINS_6SphereENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind noalias writable sret(%"class.std::shared_ptr.40") align 8, ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt12__shared_ptrIN4urdf6SphereELN9__gnu_cxx12_Lock_policyE2EE3getEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf20dynamic_pointer_castINS_3BoxENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind noalias writable sret(%"class.std::shared_ptr.43") align 8, ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf3BoxELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf3BoxELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt12__shared_ptrIN4urdf3BoxELN9__gnu_cxx12_Lock_policyE2EE3getEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf20dynamic_pointer_castINS_8CylinderENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind noalias writable sret(%"class.std::shared_ptr.46") align 8, ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf8CylinderELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf8CylinderELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt12__shared_ptrIN4urdf8CylinderELN9__gnu_cxx12_Lock_policyE2EE3getEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf20dynamic_pointer_castINS_4MeshENS_8GeometryEEESt10shared_ptrIT_ERKS3_IT0_E(ptr dead_on_unwind noalias writable sret(%"class.std::shared_ptr.49") align 8, ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf4MeshELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf4MeshELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt12__shared_ptrIN4urdf4MeshELN9__gnu_cxx12_Lock_policyE2EE3getEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nobuiltin allocsize(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 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { 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 #5 = { "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 = { builtin allocsize(0) }
attributes #7 = { nounwind }
attributes #8 = { builtin 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, !11, i64 16}
!6 = !{!"_ZTSN4urdf6SphereE", !7, i64 0, !11, i64 16}
!7 = !{!"_ZTSN4urdf8GeometryE", !8, i64 8}
!8 = !{!"_ZTSN4urdf8GeometryUt_E", !9, i64 0}
!9 = !{!"omnipotent char", !10, i64 0}
!10 = !{!"Simple C++ TBAA"}
!11 = !{!"double", !9, i64 0}


; Effective O3 passes: CorrelatedValuePropagationPass,GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,SROAPass,SimplifyCFGPass,TailCallElimPass