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

; 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::JointCalibration" = type { double, %"class.std::shared_ptr", %"class.std::shared_ptr" }
%"class.std::shared_ptr" = type { %"class.std::__shared_ptr" }
%"class.std::__shared_ptr" = type { ptr, %"class.std::__shared_count" }
%"class.std::__shared_count" = type { ptr }

@.str.10 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.11 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.31 = external hidden unnamed_addr constant [12 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: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) #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 #4 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

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

declare void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) #5

declare void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8, double noundef) #5

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

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf22exportJointCalibrationERNS_16JointCalibrationEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(40) %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::__cxx11::basic_string", align 8
  %9 = alloca %"class.std::allocator", align 1
  %10 = alloca %"class.std::__cxx11::basic_string", align 8
  %11 = alloca %"class.std::__cxx11::basic_string", align 8
  %12 = alloca %"class.std::allocator", align 1
  %13 = alloca %"class.std::__cxx11::basic_string", align 8
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %14 = load ptr, ptr %3, align 8, !tbaa !5
  %15 = getelementptr inbounds %"class.urdf::JointCalibration", ptr %14, i32 0, i32 2
  %16 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIdLN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %15) #6
  br i1 %16, label %21, label %17

17:                                               ; preds = %2
  %18 = load ptr, ptr %3, align 8, !tbaa !5
  %19 = getelementptr inbounds %"class.urdf::JointCalibration", ptr %18, i32 0, i32 1
  %20 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIdLN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %19) #6
  br i1 %20, label %21, label %86

21:                                               ; preds = %17, %2
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #6
  %22 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 216) #7
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %22, ptr noundef @.str.31)
          to label %23 unwind label %36

23:                                               ; preds = %21
  store ptr %22, ptr %5, align 8, !tbaa !5
  %24 = load ptr, ptr %3, align 8, !tbaa !5
  %25 = getelementptr inbounds %"class.urdf::JointCalibration", ptr %24, i32 0, i32 2
  %26 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIdLN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %25) #6
  br i1 %26, label %27, label %54

27:                                               ; preds = %23
  %28 = load ptr, ptr %5, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %8) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %9) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %8, ptr noundef @.str.11, ptr noundef nonnull align 1 dereferenceable(1) %9)
          to label %29 unwind label %40

29:                                               ; preds = %27
  call void @llvm.lifetime.start.p0(i64 32, ptr %10) #6
  %30 = load ptr, ptr %3, align 8, !tbaa !5
  %31 = getelementptr inbounds %"class.urdf::JointCalibration", ptr %30, i32 0, i32 2
  %32 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNKSt19__shared_ptr_accessIdLN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %31) #6
  %33 = load double, ptr %32, align 8, !tbaa !9
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %10, double noundef %33)
          to label %34 unwind label %44

34:                                               ; preds = %29
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %28, ptr noundef nonnull align 8 dereferenceable(32) %8, ptr noundef nonnull align 8 dereferenceable(32) %10)
          to label %35 unwind label %48

35:                                               ; preds = %34
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %10) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %9) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %8) #6
  br label %54

36:                                               ; preds = %21
  %37 = landingpad { ptr, i32 }
          cleanup
  %38 = extractvalue { ptr, i32 } %37, 0
  store ptr %38, ptr %6, align 8
  %39 = extractvalue { ptr, i32 } %37, 1
  store i32 %39, ptr %7, align 4
  call void @_ZdlPvm(ptr noundef %22, i64 noundef 216) #8
  br label %85

40:                                               ; preds = %27
  %41 = landingpad { ptr, i32 }
          cleanup
  %42 = extractvalue { ptr, i32 } %41, 0
  store ptr %42, ptr %6, align 8
  %43 = extractvalue { ptr, i32 } %41, 1
  store i32 %43, ptr %7, align 4
  br label %53

44:                                               ; preds = %29
  %45 = landingpad { ptr, i32 }
          cleanup
  %46 = extractvalue { ptr, i32 } %45, 0
  store ptr %46, ptr %6, align 8
  %47 = extractvalue { ptr, i32 } %45, 1
  store i32 %47, ptr %7, align 4
  br label %52

48:                                               ; preds = %34
  %49 = landingpad { ptr, i32 }
          cleanup
  %50 = extractvalue { ptr, i32 } %49, 0
  store ptr %50, ptr %6, align 8
  %51 = extractvalue { ptr, i32 } %49, 1
  store i32 %51, ptr %7, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #6
  br label %52

52:                                               ; preds = %48, %44
  call void @llvm.lifetime.end.p0(i64 32, ptr %10) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #6
  br label %53

53:                                               ; preds = %52, %40
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %9) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %8) #6
  br label %85

54:                                               ; preds = %35, %23
  %55 = load ptr, ptr %3, align 8, !tbaa !5
  %56 = getelementptr inbounds %"class.urdf::JointCalibration", ptr %55, i32 0, i32 1
  %57 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIdLN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %56) #6
  br i1 %57, label %58, label %81

58:                                               ; preds = %54
  %59 = load ptr, ptr %5, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %11) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %12) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %12) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %11, ptr noundef @.str.10, ptr noundef nonnull align 1 dereferenceable(1) %12)
          to label %60 unwind label %67

60:                                               ; preds = %58
  call void @llvm.lifetime.start.p0(i64 32, ptr %13) #6
  %61 = load ptr, ptr %3, align 8, !tbaa !5
  %62 = getelementptr inbounds %"class.urdf::JointCalibration", ptr %61, i32 0, i32 1
  %63 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNKSt19__shared_ptr_accessIdLN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %62) #6
  %64 = load double, ptr %63, align 8, !tbaa !9
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %13, double noundef %64)
          to label %65 unwind label %71

65:                                               ; preds = %60
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %59, ptr noundef nonnull align 8 dereferenceable(32) %11, ptr noundef nonnull align 8 dereferenceable(32) %13)
          to label %66 unwind label %75

66:                                               ; preds = %65
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %13) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %12) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %12) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %11) #6
  br label %81

67:                                               ; preds = %58
  %68 = landingpad { ptr, i32 }
          cleanup
  %69 = extractvalue { ptr, i32 } %68, 0
  store ptr %69, ptr %6, align 8
  %70 = extractvalue { ptr, i32 } %68, 1
  store i32 %70, ptr %7, align 4
  br label %80

71:                                               ; preds = %60
  %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
  br label %79

75:                                               ; preds = %65
  %76 = landingpad { ptr, i32 }
          cleanup
  %77 = extractvalue { ptr, i32 } %76, 0
  store ptr %77, ptr %6, align 8
  %78 = extractvalue { ptr, i32 } %76, 1
  store i32 %78, ptr %7, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #6
  br label %79

79:                                               ; preds = %75, %71
  call void @llvm.lifetime.end.p0(i64 32, ptr %13) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #6
  br label %80

80:                                               ; preds = %79, %67
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %12) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %12) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %11) #6
  br label %85

81:                                               ; preds = %66, %54
  %82 = load ptr, ptr %4, align 8, !tbaa !5
  %83 = load ptr, ptr %5, align 8, !tbaa !5
  %84 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %82, ptr noundef %83)
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #6
  br label %86

85:                                               ; preds = %80, %53, %36
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #6
  br label %87

86:                                               ; preds = %81, %17
  ret i1 true

87:                                               ; preds = %85
  %88 = load ptr, ptr %6, align 8
  %89 = load i32, ptr %7, align 4
  %90 = insertvalue { ptr, i32 } poison, ptr %88, 0
  %91 = insertvalue { ptr, i32 } %90, i32 %89, 1
  resume { ptr, i32 } %91
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIdLN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNKSt19__shared_ptr_accessIdLN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 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 = { 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 #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 = { 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, !10, i64 0}
!10 = !{!"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::__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.10 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.11 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.31 = external hidden unnamed_addr constant [12 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: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) local_unnamed_addr #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 #4 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

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

declare void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #5

declare void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8, double noundef) local_unnamed_addr #5

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

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf22exportJointCalibrationERNS_16JointCalibrationEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(40) %0, ptr noundef %1) local_unnamed_addr #4 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::__cxx11::basic_string", align 8
  %7 = alloca %"class.std::allocator", align 1
  %8 = alloca %"class.std::__cxx11::basic_string", align 8
  %9 = getelementptr inbounds i8, ptr %0, i64 24
  %10 = tail call noundef zeroext i1 @_ZNKSt12__shared_ptrIdLN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %9) #6
  br i1 %10, label %14, label %11

11:                                               ; preds = %2
  %12 = getelementptr inbounds i8, ptr %0, i64 8
  %13 = tail call noundef zeroext i1 @_ZNKSt12__shared_ptrIdLN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %12) #6
  br i1 %13, label %14, label %54

14:                                               ; preds = %11, %2
  %15 = tail call noalias noundef nonnull dereferenceable(216) ptr @_Znwm(i64 noundef 216) #7
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %15, ptr noundef nonnull @.str.31)
          to label %16 unwind label %24

16:                                               ; preds = %14
  %17 = tail call noundef zeroext i1 @_ZNKSt12__shared_ptrIdLN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %9) #6
  br i1 %17, label %18, label %34

18:                                               ; preds = %16
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %3) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %4) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %3, ptr noundef nonnull @.str.11, ptr noundef nonnull align 1 dereferenceable(1) %4)
          to label %19 unwind label %26

19:                                               ; preds = %18
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %5) #6
  %20 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNKSt19__shared_ptr_accessIdLN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %9) #6
  %21 = load double, ptr %20, align 8, !tbaa !5
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %5, double noundef %21)
          to label %22 unwind label %28

22:                                               ; preds = %19
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %15, ptr noundef nonnull align 8 dereferenceable(32) %3, ptr noundef nonnull align 8 dereferenceable(32) %5)
          to label %23 unwind label %30

23:                                               ; preds = %22
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %3) #6
  br label %34

24:                                               ; preds = %14
  %25 = landingpad { ptr, i32 }
          cleanup
  tail call void @_ZdlPvm(ptr noundef nonnull %15, i64 noundef 216) #8
  br label %53

26:                                               ; preds = %18
  %27 = landingpad { ptr, i32 }
          cleanup
  br label %33

28:                                               ; preds = %19
  %29 = landingpad { ptr, i32 }
          cleanup
  br label %32

30:                                               ; preds = %22
  %31 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #6
  br label %32

32:                                               ; preds = %30, %28
  %.pn = phi { ptr, i32 } [ %31, %30 ], [ %29, %28 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #6
  br label %33

33:                                               ; preds = %32, %26
  %.pn.pn = phi { ptr, i32 } [ %.pn, %32 ], [ %27, %26 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %3) #6
  br label %53

34:                                               ; preds = %23, %16
  %35 = getelementptr inbounds i8, ptr %0, i64 8
  %36 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIdLN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %35) #6
  br i1 %36, label %37, label %51

37:                                               ; preds = %34
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %6) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %7) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %6, ptr noundef nonnull @.str.10, ptr noundef nonnull align 1 dereferenceable(1) %7)
          to label %38 unwind label %43

38:                                               ; preds = %37
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %8) #6
  %39 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNKSt19__shared_ptr_accessIdLN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %35) #6
  %40 = load double, ptr %39, align 8, !tbaa !5
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %8, double noundef %40)
          to label %41 unwind label %45

41:                                               ; preds = %38
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %15, ptr noundef nonnull align 8 dereferenceable(32) %6, ptr noundef nonnull align 8 dereferenceable(32) %8)
          to label %42 unwind label %47

42:                                               ; preds = %41
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %7) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #6
  br label %51

43:                                               ; preds = %37
  %44 = landingpad { ptr, i32 }
          cleanup
  br label %50

45:                                               ; preds = %38
  %46 = landingpad { ptr, i32 }
          cleanup
  br label %49

47:                                               ; preds = %41
  %48 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #6
  br label %49

49:                                               ; preds = %47, %45
  %.pn18 = phi { ptr, i32 } [ %48, %47 ], [ %46, %45 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #6
  br label %50

50:                                               ; preds = %49, %43
  %.pn18.pn = phi { ptr, i32 } [ %.pn18, %49 ], [ %44, %43 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %7) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #6
  br label %53

51:                                               ; preds = %42, %34
  %52 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %1, ptr noundef nonnull %15)
  br label %54

53:                                               ; preds = %50, %33, %24
  %.pn18.pn.pn = phi { ptr, i32 } [ %.pn18.pn, %50 ], [ %.pn.pn, %33 ], [ %25, %24 ]
  resume { ptr, i32 } %.pn18.pn.pn

54:                                               ; preds = %51, %11
  ret i1 true
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIdLN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNKSt19__shared_ptr_accessIdLN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 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 = { 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 #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 = { 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 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}


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