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

; 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" = type { %"class.std::__shared_ptr" }
%"class.std::__shared_ptr" = type { ptr, %"class.std::__shared_count" }
%"class.std::__shared_count" = type { ptr }
%class.TiXmlDocument = type <{ %class.TiXmlNode, i8, [3 x i8], i32, %"class.std::__cxx11::basic_string", i32, %struct.TiXmlCursor, i8, [3 x i8] }>
%class.TiXmlNode = type { %class.TiXmlBase, ptr, i32, ptr, ptr, %"class.std::__cxx11::basic_string", ptr, ptr }
%class.TiXmlBase = type { ptr, %struct.TiXmlCursor, ptr }
%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon.0 }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon.0 = type { i64, [8 x i8] }
%struct.TiXmlCursor = type { i32, i32 }
%"class.std::allocator" = type { i8 }
%"class.urdf_export_helpers::URDFVersion" = type { i32, i32 }
%"class.std::shared_ptr.7" = type { %"class.std::__shared_ptr.8" }
%"class.std::__shared_ptr.8" = type { ptr, %"class.std::__shared_count" }
%"struct.std::pair.26" = type { %"class.std::__cxx11::basic_string", %"class.std::shared_ptr.7" }
%"struct.std::pair" = type <{ %"struct.std::_Rb_tree_iterator", i8, [7 x i8] }>
%"struct.std::_Rb_tree_iterator" = type { ptr }
%"class.std::shared_ptr.23" = type { %"class.std::__shared_ptr.24" }
%"class.std::__shared_ptr.24" = type { ptr, %"class.std::__shared_count" }
%"class.std::shared_ptr.56" = type { %"class.std::__shared_ptr.57" }
%"class.std::__shared_ptr.57" = type { ptr, %"class.std::__shared_count" }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }
%"struct.std::pair.63" = type { %"class.std::__cxx11::basic_string", %"class.std::shared_ptr.23" }
%"struct.std::pair.59" = type <{ %"struct.std::_Rb_tree_iterator.61", i8, [7 x i8] }>
%"struct.std::_Rb_tree_iterator.61" = 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.80" = type { %"class.std::__shared_ptr.81" }
%"class.std::__shared_ptr.81" = type { ptr, %"class.std::__shared_count" }
%"struct.std::pair.87" = type { %"class.std::__cxx11::basic_string", %"class.std::shared_ptr.43" }
%"struct.std::pair.83" = type <{ %"struct.std::_Rb_tree_iterator.85", i8, [7 x i8] }>
%"struct.std::_Rb_tree_iterator.85" = type { ptr }
%"class.std::map.89" = type { %"class.std::_Rb_tree.90" }
%"class.std::_Rb_tree.90" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"struct.std::_Rb_tree_header" = type { %"struct.std::_Rb_tree_node_base", i64 }
%"struct.std::_Rb_tree_node_base" = type { i32, ptr, ptr, ptr }
%"class.urdf::ModelInterface" = type { %"class.std::map", %"class.std::map.13", %"class.std::map.18", %"class.std::__cxx11::basic_string", %"class.std::shared_ptr.23" }
%"class.std::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, std::shared_ptr<urdf::Link>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::shared_ptr<urdf::Link>>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, std::shared_ptr<urdf::Link>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::shared_ptr<urdf::Link>>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"class.std::map.13" = type { %"class.std::_Rb_tree.14" }
%"class.std::_Rb_tree.14" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, std::shared_ptr<urdf::Joint>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::shared_ptr<urdf::Joint>>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, std::shared_ptr<urdf::Joint>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::shared_ptr<urdf::Joint>>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"class.std::map.18" = type { %"class.std::_Rb_tree.19" }
%"class.std::_Rb_tree.19" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, std::shared_ptr<urdf::Material>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::shared_ptr<urdf::Material>>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, std::shared_ptr<urdf::Material>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::shared_ptr<urdf::Material>>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"class.urdf::Material" = type { %"class.std::__cxx11::basic_string", %"class.std::__cxx11::basic_string", %"class.urdf::Color" }
%"class.urdf::Color" = type { float, float, float, float }
%"class.urdf::Link" = type { %"class.std::__cxx11::basic_string", i32, %"class.std::shared_ptr.29", %"class.std::shared_ptr.1", %"class.std::shared_ptr.32", %"class.std::vector", %"class.std::vector.38", %"class.std::shared_ptr.43", %"class.std::vector.46", %"class.std::vector.51", %"class.std::weak_ptr" }
%"class.std::shared_ptr.29" = type { %"class.std::__shared_ptr.30" }
%"class.std::__shared_ptr.30" = type { ptr, %"class.std::__shared_count" }
%"class.std::shared_ptr.1" = type { %"class.std::__shared_ptr.2" }
%"class.std::__shared_ptr.2" = type { ptr, %"class.std::__shared_count" }
%"class.std::shared_ptr.32" = type { %"class.std::__shared_ptr.33" }
%"class.std::__shared_ptr.33" = type { ptr, %"class.std::__shared_count" }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<std::shared_ptr<urdf::Collision>, std::allocator<std::shared_ptr<urdf::Collision>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::shared_ptr<urdf::Collision>, std::allocator<std::shared_ptr<urdf::Collision>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::shared_ptr<urdf::Collision>, std::allocator<std::shared_ptr<urdf::Collision>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::shared_ptr<urdf::Collision>, std::allocator<std::shared_ptr<urdf::Collision>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.38" = type { %"struct.std::_Vector_base.39" }
%"struct.std::_Vector_base.39" = type { %"struct.std::_Vector_base<std::shared_ptr<urdf::Visual>, std::allocator<std::shared_ptr<urdf::Visual>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::shared_ptr<urdf::Visual>, std::allocator<std::shared_ptr<urdf::Visual>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::shared_ptr<urdf::Visual>, std::allocator<std::shared_ptr<urdf::Visual>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::shared_ptr<urdf::Visual>, std::allocator<std::shared_ptr<urdf::Visual>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.46" = type { %"struct.std::_Vector_base.47" }
%"struct.std::_Vector_base.47" = type { %"struct.std::_Vector_base<std::shared_ptr<urdf::Joint>, std::allocator<std::shared_ptr<urdf::Joint>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::shared_ptr<urdf::Joint>, std::allocator<std::shared_ptr<urdf::Joint>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::shared_ptr<urdf::Joint>, std::allocator<std::shared_ptr<urdf::Joint>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::shared_ptr<urdf::Joint>, std::allocator<std::shared_ptr<urdf::Joint>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.51" = type { %"struct.std::_Vector_base.52" }
%"struct.std::_Vector_base.52" = type { %"struct.std::_Vector_base<std::shared_ptr<urdf::Link>, std::allocator<std::shared_ptr<urdf::Link>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::shared_ptr<urdf::Link>, std::allocator<std::shared_ptr<urdf::Link>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::shared_ptr<urdf::Link>, std::allocator<std::shared_ptr<urdf::Link>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::shared_ptr<urdf::Link>, std::allocator<std::shared_ptr<urdf::Link>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::weak_ptr" = type { %"class.std::__weak_ptr" }
%"class.std::__weak_ptr" = type { ptr, %"class.std::__weak_count" }
%"class.std::__weak_count" = type { ptr }
%"class.urdf::Joint" = type { %"class.std::__cxx11::basic_string", i32, %"class.urdf::Vector3", i32, %"class.std::__cxx11::basic_string", %"class.std::__cxx11::basic_string", %"class.urdf::Pose", %"class.std::shared_ptr.65", %"class.std::shared_ptr.68", %"class.std::shared_ptr.71", %"class.std::shared_ptr.74", %"class.std::shared_ptr.77", %"class.std::weak_ptr" }
%"class.urdf::Vector3" = type { double, double, double }
%"class.urdf::Pose" = type { %"class.urdf::Vector3", %"class.urdf::Rotation" }
%"class.urdf::Rotation" = type { double, double, double, double }
%"class.std::shared_ptr.65" = type { %"class.std::__shared_ptr.66" }
%"class.std::__shared_ptr.66" = type { ptr, %"class.std::__shared_count" }
%"class.std::shared_ptr.68" = type { %"class.std::__shared_ptr.69" }
%"class.std::__shared_ptr.69" = type { ptr, %"class.std::__shared_count" }
%"class.std::shared_ptr.71" = type { %"class.std::__shared_ptr.72" }
%"class.std::__shared_ptr.72" = type { ptr, %"class.std::__shared_count" }
%"class.std::shared_ptr.74" = type { %"class.std::__shared_ptr.75" }
%"class.std::__shared_ptr.75" = type { ptr, %"class.std::__shared_count" }
%"class.std::shared_ptr.77" = type { %"class.std::__shared_ptr.78" }
%"class.std::__shared_ptr.78" = type { ptr, %"class.std::__shared_count" }

@.str = external hidden unnamed_addr constant [6 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [5 x i8], align 1
@_ZTISt13runtime_error = external constant ptr
@.str.2 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [69 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [9 x i8], align 1
@_ZTIN4urdf10ParseErrorE = external dso_local constant { ptr, ptr, ptr }, align 8
@.str.5 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [6 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

; Function Attrs: mustprogress nounwind uwtable
declare noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32)) #1 align 2

declare i32 @__gxx_personality_v0(...)

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

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN4urdf9parseURDFERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind noalias writable sret(%"class.std::shared_ptr") align 8 %0, ptr noundef nonnull align 8 dereferenceable(32) %1) #2 personality ptr @__gxx_personality_v0 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca i1, align 1
  %6 = alloca ptr, align 8
  %7 = alloca i32, align 4
  %8 = alloca %class.TiXmlDocument, align 8
  %9 = alloca i32, align 4
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca %"class.std::__cxx11::basic_string", align 8
  %13 = alloca %"class.std::allocator", align 1
  %14 = alloca %"class.urdf_export_helpers::URDFVersion", align 4
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  %17 = alloca %"class.std::shared_ptr.7", align 8
  %18 = alloca %"class.std::shared_ptr.7", align 8
  %19 = alloca %"struct.std::pair.26", align 8
  %20 = alloca %"struct.std::pair", align 8
  %21 = alloca ptr, align 8
  %22 = alloca ptr, align 8
  %23 = alloca %"class.std::shared_ptr.23", align 8
  %24 = alloca %"class.std::shared_ptr.56", align 8
  %25 = alloca ptr, align 8
  %26 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %27 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %28 = alloca ptr, align 8
  %29 = alloca %"struct.std::pair.63", align 8
  %30 = alloca %"struct.std::pair.59", align 8
  %31 = alloca ptr, align 8
  %32 = alloca ptr, align 8
  %33 = alloca %"class.std::shared_ptr.43", align 8
  %34 = alloca %"class.std::shared_ptr.80", align 8
  %35 = alloca %"struct.std::pair.87", align 8
  %36 = alloca %"struct.std::pair.83", align 8
  %37 = alloca %"class.std::map.89", align 8
  %38 = alloca ptr, align 8
  %39 = alloca ptr, align 8
  store ptr %0, ptr %3, align 8
  store ptr %1, ptr %4, align 8, !tbaa !5
  store i1 false, ptr %5, align 1
  %40 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 192) #9
  call void @_ZN4urdf14ModelInterfaceC2Ev(ptr noundef nonnull align 8 dereferenceable(192) %40) #10
  call void @_ZNSt10shared_ptrIN4urdf14ModelInterfaceEEC2IS1_vEEPT_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef %40)
  %41 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  invoke void @_ZN4urdf14ModelInterface5clearEv(ptr noundef nonnull align 8 dereferenceable(192) %41)
          to label %42 unwind label %52

42:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 160, ptr %8) #10
  invoke void @_ZN13TiXmlDocumentC1Ev(ptr noundef nonnull align 8 dereferenceable(157) %8)
          to label %43 unwind label %56

43:                                               ; preds = %42
  %44 = load ptr, ptr %4, align 8, !tbaa !5
  %45 = call noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32) %44) #10
  %46 = invoke noundef ptr @_ZN13TiXmlDocument5ParseEPKcP16TiXmlParsingData13TiXmlEncoding(ptr noundef nonnull align 8 dereferenceable(157) %8, ptr noundef %45, ptr noundef null, i32 noundef 0)
          to label %47 unwind label %60

47:                                               ; preds = %43
  %48 = invoke noundef zeroext i1 @_ZNK13TiXmlDocument5ErrorEv(ptr noundef nonnull align 8 dereferenceable(157) %8)
          to label %49 unwind label %60

49:                                               ; preds = %47
  br i1 %48, label %50, label %64

50:                                               ; preds = %49
  invoke void @_ZN13TiXmlDocument10ClearErrorEv(ptr noundef nonnull align 8 dereferenceable(157) %8)
          to label %51 unwind label %60

51:                                               ; preds = %50
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  store i1 true, ptr %5, align 1
  store i32 1, ptr %9, align 4
  br label %467

52:                                               ; preds = %2
  %53 = landingpad { ptr, i32 }
          cleanup
  %54 = extractvalue { ptr, i32 } %53, 0
  store ptr %54, ptr %6, align 8
  %55 = extractvalue { ptr, i32 } %53, 1
  store i32 %55, ptr %7, align 4
  br label %473

56:                                               ; preds = %42
  %57 = landingpad { ptr, i32 }
          cleanup
  %58 = extractvalue { ptr, i32 } %57, 0
  store ptr %58, ptr %6, align 8
  %59 = extractvalue { ptr, i32 } %57, 1
  store i32 %59, ptr %7, align 4
  br label %470

60:                                               ; preds = %50, %47, %43
  %61 = landingpad { ptr, i32 }
          cleanup
  %62 = extractvalue { ptr, i32 } %61, 0
  store ptr %62, ptr %6, align 8
  %63 = extractvalue { ptr, i32 } %61, 1
  store i32 %63, ptr %7, align 4
  br label %469

64:                                               ; preds = %49
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #10
  %65 = invoke noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %8, ptr noundef @.str)
          to label %66 unwind label %70

66:                                               ; preds = %64
  store ptr %65, ptr %10, align 8, !tbaa !5
  %67 = load ptr, ptr %10, align 8, !tbaa !5
  %68 = icmp ne ptr %67, null
  br i1 %68, label %74, label %69

69:                                               ; preds = %66
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  store i1 true, ptr %5, align 1
  store i32 1, ptr %9, align 4
  br label %465

70:                                               ; preds = %64
  %71 = landingpad { ptr, i32 }
          cleanup
  %72 = extractvalue { ptr, i32 } %71, 0
  store ptr %72, ptr %6, align 8
  %73 = extractvalue { ptr, i32 } %71, 1
  store i32 %73, ptr %7, align 4
  br label %466

74:                                               ; preds = %66
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #10
  %75 = load ptr, ptr %10, align 8, !tbaa !5
  %76 = invoke noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216) %75, ptr noundef @.str.1)
          to label %77 unwind label %81

77:                                               ; preds = %74
  store ptr %76, ptr %11, align 8, !tbaa !5
  %78 = load ptr, ptr %11, align 8, !tbaa !5
  %79 = icmp ne ptr %78, null
  br i1 %79, label %85, label %80

80:                                               ; preds = %77
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  store i1 true, ptr %5, align 1
  store i32 1, ptr %9, align 4
  br label %463

81:                                               ; preds = %74
  %82 = landingpad { ptr, i32 }
          cleanup
  %83 = extractvalue { ptr, i32 } %82, 0
  store ptr %83, ptr %6, align 8
  %84 = extractvalue { ptr, i32 } %82, 1
  store i32 %84, ptr %7, align 4
  br label %464

85:                                               ; preds = %77
  call void @llvm.lifetime.start.p0(i64 32, ptr %12) #10
  %86 = load ptr, ptr %11, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 1, ptr %13) #10
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %13) #10
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %12, ptr noundef %86, ptr noundef nonnull align 1 dereferenceable(1) %13)
          to label %87 unwind label %100

87:                                               ; preds = %85
  %88 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  %89 = getelementptr inbounds %"class.urdf::ModelInterface", ptr %88, i32 0, i32 3
  %90 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEOS4_(ptr noundef nonnull align 8 dereferenceable(32) %89, ptr noundef nonnull align 8 dereferenceable(32) %12) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #10
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %13) #10
  call void @llvm.lifetime.end.p0(i64 1, ptr %13) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %12) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #10
  %91 = load ptr, ptr %10, align 8, !tbaa !5
  %92 = invoke noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216) %91, ptr noundef @.str.2)
          to label %93 unwind label %104

93:                                               ; preds = %87
  invoke void @_ZN19urdf_export_helpers11URDFVersionC2EPKc(ptr noundef nonnull align 4 dereferenceable(8) %14, ptr noundef %92)
          to label %94 unwind label %104

94:                                               ; preds = %93
  %95 = invoke noundef zeroext i1 @_ZN19urdf_export_helpers11URDFVersion5equalEjj(ptr noundef nonnull align 4 dereferenceable(8) %14, i32 noundef 1, i32 noundef 0)
          to label %96 unwind label %104

96:                                               ; preds = %94
  br i1 %95, label %112, label %97

97:                                               ; preds = %96
  %98 = call ptr @__cxa_allocate_exception(i64 16) #10
  invoke void @_ZNSt13runtime_errorC1EPKc(ptr noundef nonnull align 8 dereferenceable(16) %98, ptr noundef @.str.3)
          to label %99 unwind label %108

99:                                               ; preds = %97
  invoke void @__cxa_throw(ptr %98, ptr @_ZTISt13runtime_error, ptr @_ZNSt13runtime_errorD1Ev) #11
          to label %479 unwind label %104

100:                                              ; preds = %85
  %101 = landingpad { ptr, i32 }
          cleanup
  %102 = extractvalue { ptr, i32 } %101, 0
  store ptr %102, ptr %6, align 8
  %103 = extractvalue { ptr, i32 } %101, 1
  store i32 %103, ptr %7, align 4
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %13) #10
  call void @llvm.lifetime.end.p0(i64 1, ptr %13) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %12) #10
  br label %464

104:                                              ; preds = %99, %94, %93, %87
  %105 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTISt13runtime_error
  %106 = extractvalue { ptr, i32 } %105, 0
  store ptr %106, ptr %6, align 8
  %107 = extractvalue { ptr, i32 } %105, 1
  store i32 %107, ptr %7, align 4
  br label %113

108:                                              ; preds = %97
  %109 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTISt13runtime_error
  %110 = extractvalue { ptr, i32 } %109, 0
  store ptr %110, ptr %6, align 8
  %111 = extractvalue { ptr, i32 } %109, 1
  store i32 %111, ptr %7, align 4
  call void @__cxa_free_exception(ptr %98) #10
  br label %113

112:                                              ; preds = %96
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #10
  br label %126

113:                                              ; preds = %108, %104
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #10
  br label %114

114:                                              ; preds = %113
  %115 = load i32, ptr %7, align 4
  %116 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTISt13runtime_error) #10
  %117 = icmp eq i32 %115, %116
  br i1 %117, label %118, label %464

118:                                              ; preds = %114
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #10
  %119 = load ptr, ptr %6, align 8
  %120 = call ptr @__cxa_begin_catch(ptr %119) #10
  store ptr %120, ptr %15, align 8
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  store i1 true, ptr %5, align 1
  store i32 1, ptr %9, align 4
  invoke void @__cxa_end_catch()
          to label %121 unwind label %122

121:                                              ; preds = %118
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #10
  br label %463

122:                                              ; preds = %118
  %123 = landingpad { ptr, i32 }
          cleanup
  %124 = extractvalue { ptr, i32 } %123, 0
  store ptr %124, ptr %6, align 8
  %125 = extractvalue { ptr, i32 } %123, 1
  store i32 %125, ptr %7, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #10
  br label %464

126:                                              ; preds = %112
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #10
  %127 = load ptr, ptr %10, align 8, !tbaa !5
  %128 = invoke noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %127, ptr noundef @.str.4)
          to label %129 unwind label %134

129:                                              ; preds = %126
  store ptr %128, ptr %16, align 8, !tbaa !5
  br label %130

130:                                              ; preds = %210, %129
  %131 = load ptr, ptr %16, align 8, !tbaa !5
  %132 = icmp ne ptr %131, null
  br i1 %132, label %138, label %133

133:                                              ; preds = %130
  store i32 2, ptr %9, align 4
  br label %212

134:                                              ; preds = %207, %126
  %135 = landingpad { ptr, i32 }
          cleanup
  %136 = extractvalue { ptr, i32 } %135, 0
  store ptr %136, ptr %6, align 8
  %137 = extractvalue { ptr, i32 } %135, 1
  store i32 %137, ptr %7, align 4
  br label %214

138:                                              ; preds = %130
  call void @llvm.lifetime.start.p0(i64 16, ptr %17) #10
  call void @_ZNSt10shared_ptrIN4urdf8MaterialEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %17) #10
  %139 = invoke noalias noundef nonnull ptr @_Znwm(i64 noundef 80) #9
          to label %140 unwind label %153

140:                                              ; preds = %138
  invoke void @_ZN4urdf8MaterialC2Ev(ptr noundef nonnull align 8 dereferenceable(80) %139)
          to label %141 unwind label %157

141:                                              ; preds = %140
  invoke void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EE5resetIS1_EENSt9enable_ifIXsr21__sp_is_constructibleIS1_T_EE5valueEvE4typeEPS7_(ptr noundef nonnull align 8 dereferenceable(16) %17, ptr noundef %139)
          to label %142 unwind label %153

142:                                              ; preds = %141
  %143 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNKSt19__shared_ptr_accessIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %17) #10
  %144 = load ptr, ptr %16, align 8, !tbaa !5
  %145 = invoke noundef zeroext i1 @_ZN4urdf13parseMaterialERNS_8MaterialEP12TiXmlElementb(ptr noundef nonnull align 8 dereferenceable(80) %143, ptr noundef %144, i1 noundef zeroext false)
          to label %146 unwind label %161

146:                                              ; preds = %142
  call void @llvm.lifetime.start.p0(i64 16, ptr %18) #10
  %147 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  %148 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %17) #10
  %149 = getelementptr inbounds %"class.urdf::Material", ptr %148, i32 0, i32 0
  invoke void @_ZNK4urdf14ModelInterface11getMaterialERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind writable sret(%"class.std::shared_ptr.7") align 8 %18, ptr noundef nonnull align 8 dereferenceable(192) %147, ptr noundef nonnull align 8 dereferenceable(32) %149)
          to label %150 unwind label %165

150:                                              ; preds = %146
  %151 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %18) #10
  call void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %18) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %18) #10
  br i1 %151, label %152, label %169

152:                                              ; preds = %150
  call void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %17) #10
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  store i1 true, ptr %5, align 1
  store i32 1, ptr %9, align 4
  br label %204

153:                                              ; preds = %141, %138
  %154 = landingpad { ptr, i32 }
          cleanup
  %155 = extractvalue { ptr, i32 } %154, 0
  store ptr %155, ptr %6, align 8
  %156 = extractvalue { ptr, i32 } %154, 1
  store i32 %156, ptr %7, align 4
  br label %211

157:                                              ; preds = %140
  %158 = landingpad { ptr, i32 }
          cleanup
  %159 = extractvalue { ptr, i32 } %158, 0
  store ptr %159, ptr %6, align 8
  %160 = extractvalue { ptr, i32 } %158, 1
  store i32 %160, ptr %7, align 4
  call void @_ZdlPvm(ptr noundef %139, i64 noundef 80) #12
  br label %211

161:                                              ; preds = %142
  %162 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %163 = extractvalue { ptr, i32 } %162, 0
  store ptr %163, ptr %6, align 8
  %164 = extractvalue { ptr, i32 } %162, 1
  store i32 %164, ptr %7, align 4
  br label %190

165:                                              ; preds = %146
  %166 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %167 = extractvalue { ptr, i32 } %166, 0
  store ptr %167, ptr %6, align 8
  %168 = extractvalue { ptr, i32 } %166, 1
  store i32 %168, ptr %7, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %18) #10
  br label %190

169:                                              ; preds = %150
  %170 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  %171 = getelementptr inbounds %"class.urdf::ModelInterface", ptr %170, i32 0, i32 2
  call void @llvm.lifetime.start.p0(i64 48, ptr %19) #10
  %172 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %17) #10
  %173 = getelementptr inbounds %"class.urdf::Material", ptr %172, i32 0, i32 0
  invoke void @_ZSt9make_pairIRNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERSt10shared_ptrIN4urdf8MaterialEEESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENSD_INSE_IT0_E4typeEE6__typeEEOSF_OSK_(ptr dead_on_unwind writable sret(%"struct.std::pair.26") align 8 %19, ptr noundef nonnull align 8 dereferenceable(32) %173, ptr noundef nonnull align 8 dereferenceable(16) %17)
          to label %174 unwind label %181

174:                                              ; preds = %169
  %175 = invoke { ptr, i8 } @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf8MaterialEESt4lessIS5_ESaISt4pairIKS5_S9_EEE6insertISC_IS5_S9_EEENSt9enable_ifIXsr16is_constructibleISE_T_EE5valueESC_ISt17_Rb_tree_iteratorISE_EbEE4typeEOSK_(ptr noundef nonnull align 8 dereferenceable(48) %171, ptr noundef nonnull align 8 dereferenceable(48) %19)
          to label %176 unwind label %185

176:                                              ; preds = %174
  %177 = getelementptr inbounds { ptr, i8 }, ptr %20, i32 0, i32 0
  %178 = extractvalue { ptr, i8 } %175, 0
  store ptr %178, ptr %177, align 8
  %179 = getelementptr inbounds { ptr, i8 }, ptr %20, i32 0, i32 1
  %180 = extractvalue { ptr, i8 } %175, 1
  store i8 %180, ptr %179, align 8
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf8MaterialEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %19) #10
  call void @llvm.lifetime.end.p0(i64 48, ptr %19) #10
  br label %197

181:                                              ; preds = %169
  %182 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %183 = extractvalue { ptr, i32 } %182, 0
  store ptr %183, ptr %6, align 8
  %184 = extractvalue { ptr, i32 } %182, 1
  store i32 %184, ptr %7, align 4
  br label %189

185:                                              ; preds = %174
  %186 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %187 = extractvalue { ptr, i32 } %186, 0
  store ptr %187, ptr %6, align 8
  %188 = extractvalue { ptr, i32 } %186, 1
  store i32 %188, ptr %7, align 4
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf8MaterialEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %19) #10
  br label %189

189:                                              ; preds = %185, %181
  call void @llvm.lifetime.end.p0(i64 48, ptr %19) #10
  br label %190

190:                                              ; preds = %189, %165, %161
  %191 = load i32, ptr %7, align 4
  %192 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN4urdf10ParseErrorE) #10
  %193 = icmp eq i32 %191, %192
  br i1 %193, label %194, label %211

194:                                              ; preds = %190
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #10
  %195 = load ptr, ptr %6, align 8
  %196 = call ptr @__cxa_begin_catch(ptr %195) #10
  store ptr %196, ptr %21, align 8
  call void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %17) #10
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  store i1 true, ptr %5, align 1
  store i32 1, ptr %9, align 4
  invoke void @__cxa_end_catch()
          to label %198 unwind label %199

197:                                              ; preds = %176
  br label %203

198:                                              ; preds = %194
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #10
  br label %204

199:                                              ; preds = %194
  %200 = landingpad { ptr, i32 }
          cleanup
  %201 = extractvalue { ptr, i32 } %200, 0
  store ptr %201, ptr %6, align 8
  %202 = extractvalue { ptr, i32 } %200, 1
  store i32 %202, ptr %7, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #10
  br label %211

203:                                              ; preds = %197
  store i32 0, ptr %9, align 4
  br label %204

204:                                              ; preds = %203, %198, %152
  call void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %17) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #10
  %205 = load i32, ptr %9, align 4
  switch i32 %205, label %212 [
    i32 0, label %206
  ]

206:                                              ; preds = %204
  br label %207

207:                                              ; preds = %206
  %208 = load ptr, ptr %16, align 8, !tbaa !5
  %209 = invoke noundef ptr @_ZN9TiXmlNode18NextSiblingElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %208, ptr noundef @.str.4)
          to label %210 unwind label %134

210:                                              ; preds = %207
  store ptr %209, ptr %16, align 8, !tbaa !5
  br label %130, !llvm.loop !9

211:                                              ; preds = %199, %190, %157, %153
  call void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %17) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #10
  br label %214

212:                                              ; preds = %204, %133
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #10
  %213 = load i32, ptr %9, align 4
  switch i32 %213, label %463 [
    i32 2, label %215
  ]

214:                                              ; preds = %211, %134
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #10
  br label %464

215:                                              ; preds = %212
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #10
  %216 = load ptr, ptr %10, align 8, !tbaa !5
  %217 = invoke noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %216, ptr noundef @.str.5)
          to label %218 unwind label %223

218:                                              ; preds = %215
  store ptr %217, ptr %22, align 8, !tbaa !5
  br label %219

219:                                              ; preds = %337, %218
  %220 = load ptr, ptr %22, align 8, !tbaa !5
  %221 = icmp ne ptr %220, null
  br i1 %221, label %227, label %222

222:                                              ; preds = %219
  store i32 5, ptr %9, align 4
  br label %339

223:                                              ; preds = %334, %215
  %224 = landingpad { ptr, i32 }
          cleanup
  %225 = extractvalue { ptr, i32 } %224, 0
  store ptr %225, ptr %6, align 8
  %226 = extractvalue { ptr, i32 } %224, 1
  store i32 %226, ptr %7, align 4
  br label %341

227:                                              ; preds = %219
  call void @llvm.lifetime.start.p0(i64 16, ptr %23) #10
  call void @_ZNSt10shared_ptrIN4urdf4LinkEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %23) #10
  %228 = invoke noalias noundef nonnull ptr @_Znwm(i64 noundef 216) #9
          to label %229 unwind label %242

229:                                              ; preds = %227
  invoke void @_ZN4urdf4LinkC2Ev(ptr noundef nonnull align 8 dereferenceable(216) %228)
          to label %230 unwind label %246

230:                                              ; preds = %229
  invoke void @_ZNSt12__shared_ptrIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EE5resetIS1_EENSt9enable_ifIXsr21__sp_is_constructibleIS1_T_EE5valueEvE4typeEPS7_(ptr noundef nonnull align 8 dereferenceable(16) %23, ptr noundef %228)
          to label %231 unwind label %242

231:                                              ; preds = %230
  %232 = call noundef nonnull align 8 dereferenceable(216) ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %23) #10
  %233 = load ptr, ptr %22, align 8, !tbaa !5
  %234 = invoke noundef zeroext i1 @_ZN4urdf9parseLinkERNS_4LinkEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(216) %232, ptr noundef %233)
          to label %235 unwind label %250

235:                                              ; preds = %231
  call void @llvm.lifetime.start.p0(i64 16, ptr %24) #10
  %236 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  %237 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %23) #10
  %238 = getelementptr inbounds %"class.urdf::Link", ptr %237, i32 0, i32 0
  invoke void @_ZNK4urdf14ModelInterface7getLinkERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind writable sret(%"class.std::shared_ptr.56") align 8 %24, ptr noundef nonnull align 8 dereferenceable(192) %236, ptr noundef nonnull align 8 dereferenceable(32) %238)
          to label %239 unwind label %254

239:                                              ; preds = %235
  %240 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIKN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %24) #10
  call void @_ZNSt12__shared_ptrIKN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %24) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #10
  br i1 %240, label %241, label %258

241:                                              ; preds = %239
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  store i1 true, ptr %5, align 1
  store i32 1, ptr %9, align 4
  br label %331

242:                                              ; preds = %230, %227
  %243 = landingpad { ptr, i32 }
          cleanup
  %244 = extractvalue { ptr, i32 } %243, 0
  store ptr %244, ptr %6, align 8
  %245 = extractvalue { ptr, i32 } %243, 1
  store i32 %245, ptr %7, align 4
  br label %338

246:                                              ; preds = %229
  %247 = landingpad { ptr, i32 }
          cleanup
  %248 = extractvalue { ptr, i32 } %247, 0
  store ptr %248, ptr %6, align 8
  %249 = extractvalue { ptr, i32 } %247, 1
  store i32 %249, ptr %7, align 4
  call void @_ZdlPvm(ptr noundef %228, i64 noundef 216) #12
  br label %338

250:                                              ; preds = %262, %231
  %251 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %252 = extractvalue { ptr, i32 } %251, 0
  store ptr %252, ptr %6, align 8
  %253 = extractvalue { ptr, i32 } %251, 1
  store i32 %253, ptr %7, align 4
  br label %317

254:                                              ; preds = %235
  %255 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %256 = extractvalue { ptr, i32 } %255, 0
  store ptr %256, ptr %6, align 8
  %257 = extractvalue { ptr, i32 } %255, 1
  store i32 %257, ptr %7, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #10
  br label %317

258:                                              ; preds = %239
  %259 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %23) #10
  %260 = getelementptr inbounds %"class.urdf::Link", ptr %259, i32 0, i32 3
  %261 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf6VisualELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %260) #10
  br i1 %261, label %262, label %270

262:                                              ; preds = %258
  %263 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %23) #10
  %264 = getelementptr inbounds %"class.urdf::Link", ptr %263, i32 0, i32 3
  %265 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %23) #10
  %266 = getelementptr inbounds %"class.urdf::Link", ptr %265, i32 0, i32 0
  %267 = call noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32) %266) #10
  %268 = invoke noundef zeroext i1 @_ZN4urdf14assignMaterialERKSt10shared_ptrINS_6VisualEERS0_INS_14ModelInterfaceEEPKc(ptr noundef nonnull align 8 dereferenceable(16) %264, ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef %267)
          to label %269 unwind label %250

269:                                              ; preds = %262
  br label %270

270:                                              ; preds = %269, %258
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #10
  %271 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %23) #10
  %272 = getelementptr inbounds %"class.urdf::Link", ptr %271, i32 0, i32 6
  store ptr %272, ptr %25, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #10
  %273 = load ptr, ptr %25, align 8, !tbaa !5
  %274 = call ptr @_ZNSt6vectorISt10shared_ptrIN4urdf6VisualEESaIS3_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %273) #10
  %275 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %26, i32 0, i32 0
  store ptr %274, ptr %275, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #10
  %276 = load ptr, ptr %25, align 8, !tbaa !5
  %277 = call ptr @_ZNSt6vectorISt10shared_ptrIN4urdf6VisualEESaIS3_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %276) #10
  %278 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %27, i32 0, i32 0
  store ptr %277, ptr %278, align 8
  br label %279

279:                                              ; preds = %290, %270
  %280 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPSt10shared_ptrIN4urdf6VisualEESt6vectorIS4_SaIS4_EEEEbRKNS_17__normal_iteratorIT_T0_EESE_(ptr noundef nonnull align 8 dereferenceable(8) %26, ptr noundef nonnull align 8 dereferenceable(8) %27) #10
  br i1 %280, label %282, label %281

281:                                              ; preds = %279
  store i32 8, ptr %9, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #10
  br label %296

282:                                              ; preds = %279
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #10
  %283 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPSt10shared_ptrIN4urdf6VisualEESt6vectorIS4_SaIS4_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %26) #10
  store ptr %283, ptr %28, align 8, !tbaa !5
  %284 = load ptr, ptr %28, align 8, !tbaa !5
  %285 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %23) #10
  %286 = getelementptr inbounds %"class.urdf::Link", ptr %285, i32 0, i32 0
  %287 = call noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32) %286) #10
  %288 = invoke noundef zeroext i1 @_ZN4urdf14assignMaterialERKSt10shared_ptrINS_6VisualEERS0_INS_14ModelInterfaceEEPKc(ptr noundef nonnull align 8 dereferenceable(16) %284, ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef %287)
          to label %289 unwind label %292

289:                                              ; preds = %282
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #10
  br label %290

290:                                              ; preds = %289
  %291 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPSt10shared_ptrIN4urdf6VisualEESt6vectorIS4_SaIS4_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %26) #10
  br label %279

292:                                              ; preds = %282
  %293 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %294 = extractvalue { ptr, i32 } %293, 0
  store ptr %294, ptr %6, align 8
  %295 = extractvalue { ptr, i32 } %293, 1
  store i32 %295, ptr %7, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #10
  br label %317

296:                                              ; preds = %281
  %297 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  %298 = getelementptr inbounds %"class.urdf::ModelInterface", ptr %297, i32 0, i32 0
  call void @llvm.lifetime.start.p0(i64 48, ptr %29) #10
  %299 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %23) #10
  %300 = getelementptr inbounds %"class.urdf::Link", ptr %299, i32 0, i32 0
  invoke void @_ZSt9make_pairIRNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERSt10shared_ptrIN4urdf4LinkEEESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENSD_INSE_IT0_E4typeEE6__typeEEOSF_OSK_(ptr dead_on_unwind writable sret(%"struct.std::pair.63") align 8 %29, ptr noundef nonnull align 8 dereferenceable(32) %300, ptr noundef nonnull align 8 dereferenceable(16) %23)
          to label %301 unwind label %308

301:                                              ; preds = %296
  %302 = invoke { ptr, i8 } @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf4LinkEESt4lessIS5_ESaISt4pairIKS5_S9_EEE6insertISC_IS5_S9_EEENSt9enable_ifIXsr16is_constructibleISE_T_EE5valueESC_ISt17_Rb_tree_iteratorISE_EbEE4typeEOSK_(ptr noundef nonnull align 8 dereferenceable(48) %298, ptr noundef nonnull align 8 dereferenceable(48) %29)
          to label %303 unwind label %312

303:                                              ; preds = %301
  %304 = getelementptr inbounds { ptr, i8 }, ptr %30, i32 0, i32 0
  %305 = extractvalue { ptr, i8 } %302, 0
  store ptr %305, ptr %304, align 8
  %306 = getelementptr inbounds { ptr, i8 }, ptr %30, i32 0, i32 1
  %307 = extractvalue { ptr, i8 } %302, 1
  store i8 %307, ptr %306, align 8
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf4LinkEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %29) #10
  call void @llvm.lifetime.end.p0(i64 48, ptr %29) #10
  br label %324

308:                                              ; preds = %296
  %309 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %310 = extractvalue { ptr, i32 } %309, 0
  store ptr %310, ptr %6, align 8
  %311 = extractvalue { ptr, i32 } %309, 1
  store i32 %311, ptr %7, align 4
  br label %316

312:                                              ; preds = %301
  %313 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %314 = extractvalue { ptr, i32 } %313, 0
  store ptr %314, ptr %6, align 8
  %315 = extractvalue { ptr, i32 } %313, 1
  store i32 %315, ptr %7, align 4
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf4LinkEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %29) #10
  br label %316

316:                                              ; preds = %312, %308
  call void @llvm.lifetime.end.p0(i64 48, ptr %29) #10
  br label %317

317:                                              ; preds = %316, %292, %254, %250
  %318 = load i32, ptr %7, align 4
  %319 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN4urdf10ParseErrorE) #10
  %320 = icmp eq i32 %318, %319
  br i1 %320, label %321, label %338

321:                                              ; preds = %317
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #10
  %322 = load ptr, ptr %6, align 8
  %323 = call ptr @__cxa_begin_catch(ptr %322) #10
  store ptr %323, ptr %31, align 8
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  store i1 true, ptr %5, align 1
  store i32 1, ptr %9, align 4
  invoke void @__cxa_end_catch()
          to label %325 unwind label %326

324:                                              ; preds = %303
  br label %330

325:                                              ; preds = %321
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #10
  br label %331

326:                                              ; preds = %321
  %327 = landingpad { ptr, i32 }
          cleanup
  %328 = extractvalue { ptr, i32 } %327, 0
  store ptr %328, ptr %6, align 8
  %329 = extractvalue { ptr, i32 } %327, 1
  store i32 %329, ptr %7, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #10
  br label %338

330:                                              ; preds = %324
  store i32 0, ptr %9, align 4
  br label %331

331:                                              ; preds = %330, %325, %241
  call void @_ZNSt12__shared_ptrIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %23) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %23) #10
  %332 = load i32, ptr %9, align 4
  switch i32 %332, label %339 [
    i32 0, label %333
  ]

333:                                              ; preds = %331
  br label %334

334:                                              ; preds = %333
  %335 = load ptr, ptr %22, align 8, !tbaa !5
  %336 = invoke noundef ptr @_ZN9TiXmlNode18NextSiblingElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %335, ptr noundef @.str.5)
          to label %337 unwind label %223

337:                                              ; preds = %334
  store ptr %336, ptr %22, align 8, !tbaa !5
  br label %219, !llvm.loop !11

338:                                              ; preds = %326, %317, %246, %242
  call void @_ZNSt12__shared_ptrIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %23) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %23) #10
  br label %341

339:                                              ; preds = %331, %222
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #10
  %340 = load i32, ptr %9, align 4
  switch i32 %340, label %463 [
    i32 5, label %342
  ]

341:                                              ; preds = %338, %223
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #10
  br label %464

342:                                              ; preds = %339
  %343 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  %344 = getelementptr inbounds %"class.urdf::ModelInterface", ptr %343, i32 0, i32 0
  %345 = call noundef zeroext i1 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf4LinkEESt4lessIS5_ESaISt4pairIKS5_S9_EEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(48) %344) #10
  br i1 %345, label %346, label %347

346:                                              ; preds = %342
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  store i1 true, ptr %5, align 1
  store i32 1, ptr %9, align 4
  br label %463

347:                                              ; preds = %342
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #10
  %348 = load ptr, ptr %10, align 8, !tbaa !5
  %349 = invoke noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %348, ptr noundef @.str.6)
          to label %350 unwind label %355

350:                                              ; preds = %347
  store ptr %349, ptr %32, align 8, !tbaa !5
  br label %351

351:                                              ; preds = %417, %350
  %352 = load ptr, ptr %32, align 8, !tbaa !5
  %353 = icmp ne ptr %352, null
  br i1 %353, label %359, label %354

354:                                              ; preds = %351
  store i32 10, ptr %9, align 4
  br label %419

355:                                              ; preds = %414, %347
  %356 = landingpad { ptr, i32 }
          cleanup
  %357 = extractvalue { ptr, i32 } %356, 0
  store ptr %357, ptr %6, align 8
  %358 = extractvalue { ptr, i32 } %356, 1
  store i32 %358, ptr %7, align 4
  br label %421

359:                                              ; preds = %351
  call void @llvm.lifetime.start.p0(i64 16, ptr %33) #10
  call void @_ZNSt10shared_ptrIN4urdf5JointEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %33) #10
  %360 = invoke noalias noundef nonnull ptr @_Znwm(i64 noundef 288) #9
          to label %361 unwind label %375

361:                                              ; preds = %359
  invoke void @_ZN4urdf5JointC2Ev(ptr noundef nonnull align 8 dereferenceable(288) %360)
          to label %362 unwind label %379

362:                                              ; preds = %361
  invoke void @_ZNSt12__shared_ptrIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EE5resetIS1_EENSt9enable_ifIXsr21__sp_is_constructibleIS1_T_EE5valueEvE4typeEPS7_(ptr noundef nonnull align 8 dereferenceable(16) %33, ptr noundef %360)
          to label %363 unwind label %375

363:                                              ; preds = %362
  %364 = call noundef nonnull align 8 dereferenceable(288) ptr @_ZNKSt19__shared_ptr_accessIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %33) #10
  %365 = load ptr, ptr %32, align 8, !tbaa !5
  %366 = invoke noundef zeroext i1 @_ZN4urdf10parseJointERNS_5JointEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(288) %364, ptr noundef %365)
          to label %367 unwind label %375

367:                                              ; preds = %363
  br i1 %366, label %368, label %409

368:                                              ; preds = %367
  call void @llvm.lifetime.start.p0(i64 16, ptr %34) #10
  %369 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  %370 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %33) #10
  %371 = getelementptr inbounds %"class.urdf::Joint", ptr %370, i32 0, i32 0
  invoke void @_ZNK4urdf14ModelInterface8getJointERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind writable sret(%"class.std::shared_ptr.80") align 8 %34, ptr noundef nonnull align 8 dereferenceable(192) %369, ptr noundef nonnull align 8 dereferenceable(32) %371)
          to label %372 unwind label %383

372:                                              ; preds = %368
  %373 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIKN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %34) #10
  call void @_ZNSt12__shared_ptrIKN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %34) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %34) #10
  br i1 %373, label %374, label %387

374:                                              ; preds = %372
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  store i1 true, ptr %5, align 1
  store i32 1, ptr %9, align 4
  br label %411

375:                                              ; preds = %363, %362, %359
  %376 = landingpad { ptr, i32 }
          cleanup
  %377 = extractvalue { ptr, i32 } %376, 0
  store ptr %377, ptr %6, align 8
  %378 = extractvalue { ptr, i32 } %376, 1
  store i32 %378, ptr %7, align 4
  br label %418

379:                                              ; preds = %361
  %380 = landingpad { ptr, i32 }
          cleanup
  %381 = extractvalue { ptr, i32 } %380, 0
  store ptr %381, ptr %6, align 8
  %382 = extractvalue { ptr, i32 } %380, 1
  store i32 %382, ptr %7, align 4
  call void @_ZdlPvm(ptr noundef %360, i64 noundef 288) #12
  br label %418

383:                                              ; preds = %368
  %384 = landingpad { ptr, i32 }
          cleanup
  %385 = extractvalue { ptr, i32 } %384, 0
  store ptr %385, ptr %6, align 8
  %386 = extractvalue { ptr, i32 } %384, 1
  store i32 %386, ptr %7, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %34) #10
  br label %418

387:                                              ; preds = %372
  %388 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  %389 = getelementptr inbounds %"class.urdf::ModelInterface", ptr %388, i32 0, i32 1
  call void @llvm.lifetime.start.p0(i64 48, ptr %35) #10
  %390 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %33) #10
  %391 = getelementptr inbounds %"class.urdf::Joint", ptr %390, i32 0, i32 0
  invoke void @_ZSt9make_pairIRNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERSt10shared_ptrIN4urdf5JointEEESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENSD_INSE_IT0_E4typeEE6__typeEEOSF_OSK_(ptr dead_on_unwind writable sret(%"struct.std::pair.87") align 8 %35, ptr noundef nonnull align 8 dereferenceable(32) %391, ptr noundef nonnull align 8 dereferenceable(16) %33)
          to label %392 unwind label %399

392:                                              ; preds = %387
  %393 = invoke { ptr, i8 } @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf5JointEESt4lessIS5_ESaISt4pairIKS5_S9_EEE6insertISC_IS5_S9_EEENSt9enable_ifIXsr16is_constructibleISE_T_EE5valueESC_ISt17_Rb_tree_iteratorISE_EbEE4typeEOSK_(ptr noundef nonnull align 8 dereferenceable(48) %389, ptr noundef nonnull align 8 dereferenceable(48) %35)
          to label %394 unwind label %403

394:                                              ; preds = %392
  %395 = getelementptr inbounds { ptr, i8 }, ptr %36, i32 0, i32 0
  %396 = extractvalue { ptr, i8 } %393, 0
  store ptr %396, ptr %395, align 8
  %397 = getelementptr inbounds { ptr, i8 }, ptr %36, i32 0, i32 1
  %398 = extractvalue { ptr, i8 } %393, 1
  store i8 %398, ptr %397, align 8
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf5JointEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %35) #10
  call void @llvm.lifetime.end.p0(i64 48, ptr %35) #10
  br label %408

399:                                              ; preds = %387
  %400 = landingpad { ptr, i32 }
          cleanup
  %401 = extractvalue { ptr, i32 } %400, 0
  store ptr %401, ptr %6, align 8
  %402 = extractvalue { ptr, i32 } %400, 1
  store i32 %402, ptr %7, align 4
  br label %407

403:                                              ; preds = %392
  %404 = landingpad { ptr, i32 }
          cleanup
  %405 = extractvalue { ptr, i32 } %404, 0
  store ptr %405, ptr %6, align 8
  %406 = extractvalue { ptr, i32 } %404, 1
  store i32 %406, ptr %7, align 4
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf5JointEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %35) #10
  br label %407

407:                                              ; preds = %403, %399
  call void @llvm.lifetime.end.p0(i64 48, ptr %35) #10
  br label %418

408:                                              ; preds = %394
  br label %410

409:                                              ; preds = %367
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  store i1 true, ptr %5, align 1
  store i32 1, ptr %9, align 4
  br label %411

410:                                              ; preds = %408
  store i32 0, ptr %9, align 4
  br label %411

411:                                              ; preds = %410, %409, %374
  call void @_ZNSt12__shared_ptrIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %33) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #10
  %412 = load i32, ptr %9, align 4
  switch i32 %412, label %419 [
    i32 0, label %413
  ]

413:                                              ; preds = %411
  br label %414

414:                                              ; preds = %413
  %415 = load ptr, ptr %32, align 8, !tbaa !5
  %416 = invoke noundef ptr @_ZN9TiXmlNode18NextSiblingElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %415, ptr noundef @.str.6)
          to label %417 unwind label %355

417:                                              ; preds = %414
  store ptr %416, ptr %32, align 8, !tbaa !5
  br label %351, !llvm.loop !12

418:                                              ; preds = %407, %383, %379, %375
  call void @_ZNSt12__shared_ptrIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %33) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #10
  br label %421

419:                                              ; preds = %411, %354
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #10
  %420 = load i32, ptr %9, align 4
  switch i32 %420, label %463 [
    i32 10, label %422
  ]

421:                                              ; preds = %418, %355
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #10
  br label %464

422:                                              ; preds = %419
  call void @llvm.lifetime.start.p0(i64 48, ptr %37) #10
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(48) %37) #10
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE5clearEv(ptr noundef nonnull align 8 dereferenceable(48) %37) #10
  %423 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  invoke void @_ZN4urdf14ModelInterface8initTreeERSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_St4lessIS7_ESaISt4pairIKS7_S7_EEE(ptr noundef nonnull align 8 dereferenceable(192) %423, ptr noundef nonnull align 8 dereferenceable(48) %37)
          to label %424 unwind label %425

424:                                              ; preds = %422
  br label %441

425:                                              ; preds = %422
  %426 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %427 = extractvalue { ptr, i32 } %426, 0
  store ptr %427, ptr %6, align 8
  %428 = extractvalue { ptr, i32 } %426, 1
  store i32 %428, ptr %7, align 4
  br label %429

429:                                              ; preds = %425
  %430 = load i32, ptr %7, align 4
  %431 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN4urdf10ParseErrorE) #10
  %432 = icmp eq i32 %430, %431
  br i1 %432, label %433, label %462

433:                                              ; preds = %429
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #10
  %434 = load ptr, ptr %6, align 8
  %435 = call ptr @__cxa_begin_catch(ptr %434) #10
  store ptr %435, ptr %38, align 8
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  store i1 true, ptr %5, align 1
  store i32 1, ptr %9, align 4
  invoke void @__cxa_end_catch()
          to label %436 unwind label %437

436:                                              ; preds = %433
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #10
  br label %461

437:                                              ; preds = %433
  %438 = landingpad { ptr, i32 }
          cleanup
  %439 = extractvalue { ptr, i32 } %438, 0
  store ptr %439, ptr %6, align 8
  %440 = extractvalue { ptr, i32 } %438, 1
  store i32 %440, ptr %7, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #10
  br label %462

441:                                              ; preds = %424
  %442 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  invoke void @_ZN4urdf14ModelInterface8initRootERKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_St4lessIS7_ESaISt4pairIKS7_S7_EEE(ptr noundef nonnull align 8 dereferenceable(192) %442, ptr noundef nonnull align 8 dereferenceable(48) %37)
          to label %443 unwind label %444

443:                                              ; preds = %441
  br label %460

444:                                              ; preds = %441
  %445 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %446 = extractvalue { ptr, i32 } %445, 0
  store ptr %446, ptr %6, align 8
  %447 = extractvalue { ptr, i32 } %445, 1
  store i32 %447, ptr %7, align 4
  br label %448

448:                                              ; preds = %444
  %449 = load i32, ptr %7, align 4
  %450 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN4urdf10ParseErrorE) #10
  %451 = icmp eq i32 %449, %450
  br i1 %451, label %452, label %462

452:                                              ; preds = %448
  call void @llvm.lifetime.start.p0(i64 8, ptr %39) #10
  %453 = load ptr, ptr %6, align 8
  %454 = call ptr @__cxa_begin_catch(ptr %453) #10
  store ptr %454, ptr %39, align 8
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  store i1 true, ptr %5, align 1
  store i32 1, ptr %9, align 4
  invoke void @__cxa_end_catch()
          to label %455 unwind label %456

455:                                              ; preds = %452
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #10
  br label %461

456:                                              ; preds = %452
  %457 = landingpad { ptr, i32 }
          cleanup
  %458 = extractvalue { ptr, i32 } %457, 0
  store ptr %458, ptr %6, align 8
  %459 = extractvalue { ptr, i32 } %457, 1
  store i32 %459, ptr %7, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #10
  br label %462

460:                                              ; preds = %443
  store i1 true, ptr %5, align 1
  store i32 1, ptr %9, align 4
  br label %461

461:                                              ; preds = %460, %455, %436
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %37) #10
  call void @llvm.lifetime.end.p0(i64 48, ptr %37) #10
  br label %463

462:                                              ; preds = %456, %448, %437, %429
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %37) #10
  call void @llvm.lifetime.end.p0(i64 48, ptr %37) #10
  br label %464

463:                                              ; preds = %461, %419, %346, %339, %212, %121, %80
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #10
  br label %465

464:                                              ; preds = %462, %421, %341, %214, %122, %114, %100, %81
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #10
  br label %466

465:                                              ; preds = %463, %69
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #10
  br label %467

466:                                              ; preds = %464, %70
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #10
  br label %469

467:                                              ; preds = %465, %51
  call void @_ZN13TiXmlDocumentD2Ev(ptr noundef nonnull align 8 dereferenceable(157) %8) #10
  call void @llvm.lifetime.end.p0(i64 160, ptr %8) #10
  %468 = load i1, ptr %5, align 1
  br i1 %468, label %472, label %471

469:                                              ; preds = %466, %60
  call void @_ZN13TiXmlDocumentD2Ev(ptr noundef nonnull align 8 dereferenceable(157) %8) #10
  br label %470

470:                                              ; preds = %469, %56
  call void @llvm.lifetime.end.p0(i64 160, ptr %8) #10
  br label %473

471:                                              ; preds = %467
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  br label %472

472:                                              ; preds = %471, %467
  ret void

473:                                              ; preds = %470, %52
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  br label %474

474:                                              ; preds = %473
  %475 = load ptr, ptr %6, align 8
  %476 = load i32, ptr %7, align 4
  %477 = insertvalue { ptr, i32 } poison, ptr %475, 0
  %478 = insertvalue { ptr, i32 } %477, i32 %476, 1
  resume { ptr, i32 } %478

479:                                              ; preds = %99
  unreachable
}

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf14assignMaterialERKSt10shared_ptrINS_6VisualEERS0_INS_14ModelInterfaceEEPKc(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK4urdf14ModelInterface11getMaterialERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind noalias writable sret(%"class.std::shared_ptr.7") align 8, ptr noundef nonnull align 8 dereferenceable(192), ptr noundef nonnull align 8 dereferenceable(32)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local { ptr, i8 } @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf8MaterialEESt4lessIS5_ESaISt4pairIKS5_S9_EEE6insertISC_IS5_S9_EEENSt9enable_ifIXsr16is_constructibleISE_T_EE5valueESC_ISt17_Rb_tree_iteratorISE_EbEE4typeEOSK_(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef nonnull align 8 dereferenceable(48)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZSt9make_pairIRNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERSt10shared_ptrIN4urdf8MaterialEEESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENSD_INSE_IT0_E4typeEE6__typeEEOSF_OSK_(ptr dead_on_unwind noalias writable sret(%"struct.std::pair.26") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(16)) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf8MaterialEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #3 align 2

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf14ModelInterfaceC2Ev(ptr noundef nonnull align 8 dereferenceable(192)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt10shared_ptrIN4urdf14ModelInterfaceEEC2IS1_vEEPT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf14ModelInterface5clearEv(ptr noundef nonnull align 8 dereferenceable(192)) #1 align 2

declare void @_ZN13TiXmlDocumentC1Ev(ptr noundef nonnull align 8 dereferenceable(157)) unnamed_addr #5

declare noundef ptr @_ZN13TiXmlDocument5ParseEPKcP16TiXmlParsingData13TiXmlEncoding(ptr noundef nonnull align 8 dereferenceable(157), ptr noundef, ptr noundef, i32 noundef) unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK13TiXmlDocument5ErrorEv(ptr noundef nonnull align 8 dereferenceable(157)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN13TiXmlDocument10ClearErrorEv(ptr noundef nonnull align 8 dereferenceable(157)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(104), ptr noundef) #2 align 2

declare noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef) #5

; 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 #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEOS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN19urdf_export_helpers11URDFVersionC2EPKc(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN19urdf_export_helpers11URDFVersion5equalEjj(ptr noundef nonnull align 4 dereferenceable(8), i32 noundef, i32 noundef) #1 align 2

declare ptr @__cxa_allocate_exception(i64)

declare void @_ZNSt13runtime_errorC1EPKc(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) unnamed_addr #5

declare void @__cxa_free_exception(ptr)

; Function Attrs: nounwind
declare void @_ZNSt13runtime_errorD1Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #6

declare void @__cxa_throw(ptr, ptr, ptr)

; Function Attrs: nounwind memory(none)
declare i32 @llvm.eh.typeid.for.p0(ptr) #7

declare ptr @__cxa_begin_catch(ptr)

declare void @__cxa_end_catch()

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10shared_ptrIN4urdf8MaterialEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EE5resetIS1_EENSt9enable_ifIXsr21__sp_is_constructibleIS1_T_EE5valueEvE4typeEPS7_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf8MaterialC2Ev(ptr noundef nonnull align 8 dereferenceable(80)) unnamed_addr #2 align 2

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) #8

declare noundef zeroext i1 @_ZN4urdf13parseMaterialERNS_8MaterialEP12TiXmlElementb(ptr noundef nonnull align 8 dereferenceable(80), ptr noundef, i1 noundef zeroext) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZNKSt19__shared_ptr_accessIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN9TiXmlNode18NextSiblingElementEPKc(ptr noundef nonnull align 8 dereferenceable(104), ptr noundef) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10shared_ptrIN4urdf4LinkEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EE5resetIS1_EENSt9enable_ifIXsr21__sp_is_constructibleIS1_T_EE5valueEvE4typeEPS7_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf4LinkC2Ev(ptr noundef nonnull align 8 dereferenceable(216)) unnamed_addr #2 align 2

declare noundef zeroext i1 @_ZN4urdf9parseLinkERNS_4LinkEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(216) ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK4urdf14ModelInterface7getLinkERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind noalias writable sret(%"class.std::shared_ptr.56") align 8, ptr noundef nonnull align 8 dereferenceable(192), ptr noundef nonnull align 8 dereferenceable(32)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIKN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIKN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf6VisualELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorISt10shared_ptrIN4urdf6VisualEESaIS3_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorISt10shared_ptrIN4urdf6VisualEESaIS3_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPSt10shared_ptrIN4urdf6VisualEESt6vectorIS4_SaIS4_EEEEbRKNS_17__normal_iteratorIT_T0_EESE_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPSt10shared_ptrIN4urdf6VisualEESt6vectorIS4_SaIS4_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPSt10shared_ptrIN4urdf6VisualEESt6vectorIS4_SaIS4_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local { ptr, i8 } @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf4LinkEESt4lessIS5_ESaISt4pairIKS5_S9_EEE6insertISC_IS5_S9_EEENSt9enable_ifIXsr16is_constructibleISE_T_EE5valueESC_ISt17_Rb_tree_iteratorISE_EbEE4typeEOSK_(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef nonnull align 8 dereferenceable(48)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZSt9make_pairIRNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERSt10shared_ptrIN4urdf4LinkEEESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENSD_INSE_IT0_E4typeEE6__typeEEOSF_OSK_(ptr dead_on_unwind noalias writable sret(%"struct.std::pair.63") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(16)) #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf4LinkEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf4LinkEESt4lessIS5_ESaISt4pairIKS5_S9_EEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(48)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10shared_ptrIN4urdf5JointEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EE5resetIS1_EENSt9enable_ifIXsr21__sp_is_constructibleIS1_T_EE5valueEvE4typeEPS7_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf5JointC2Ev(ptr noundef nonnull align 8 dereferenceable(288)) unnamed_addr #2 align 2

declare noundef zeroext i1 @_ZN4urdf10parseJointERNS_5JointEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(288), ptr noundef) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(288) ptr @_ZNKSt19__shared_ptr_accessIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK4urdf14ModelInterface8getJointERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind noalias writable sret(%"class.std::shared_ptr.80") align 8, ptr noundef nonnull align 8 dereferenceable(192), ptr noundef nonnull align 8 dereferenceable(32)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIKN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIKN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local { ptr, i8 } @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf5JointEESt4lessIS5_ESaISt4pairIKS5_S9_EEE6insertISC_IS5_S9_EEENSt9enable_ifIXsr16is_constructibleISE_T_EE5valueESC_ISt17_Rb_tree_iteratorISE_EbEE4typeEOSK_(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef nonnull align 8 dereferenceable(48)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZSt9make_pairIRNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERSt10shared_ptrIN4urdf5JointEEESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENSD_INSE_IT0_E4typeEE6__typeEEOSF_OSK_(ptr dead_on_unwind noalias writable sret(%"struct.std::pair.87") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(16)) #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf5JointEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE5clearEv(ptr noundef nonnull align 8 dereferenceable(48)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf14ModelInterface8initTreeERSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_St4lessIS7_ESaISt4pairIKS7_S7_EEE(ptr noundef nonnull align 8 dereferenceable(192), ptr noundef nonnull align 8 dereferenceable(48)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf14ModelInterface8initRootERKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_St4lessIS7_ESaISt4pairIKS7_S7_EEE(ptr noundef nonnull align 8 dereferenceable(192), ptr noundef nonnull align 8 dereferenceable(48)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN13TiXmlDocumentD2Ev(ptr noundef nonnull align 8 dereferenceable(157)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { 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 #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 "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nounwind memory(none) }
attributes #8 = { 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 #9 = { builtin allocsize(0) }
attributes #10 = { nounwind }
attributes #11 = { noreturn }
attributes #12 = { 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 = distinct !{!9, !10}
!10 = !{!"llvm.loop.mustprogress"}
!11 = distinct !{!11, !10}
!12 = distinct !{!12, !10}


; 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" = type { %"class.std::__shared_ptr" }
%"class.std::__shared_ptr" = type { ptr, %"class.std::__shared_count" }
%"class.std::__shared_count" = type { ptr }
%class.TiXmlDocument = type <{ %class.TiXmlNode, i8, [3 x i8], i32, %"class.std::__cxx11::basic_string", i32, %struct.TiXmlCursor, i8, [3 x i8] }>
%class.TiXmlNode = type { %class.TiXmlBase, ptr, i32, ptr, ptr, %"class.std::__cxx11::basic_string", ptr, ptr }
%class.TiXmlBase = type { ptr, %struct.TiXmlCursor, ptr }
%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon.0 }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon.0 = type { i64, [8 x i8] }
%struct.TiXmlCursor = type { i32, i32 }
%"class.std::allocator" = type { i8 }
%"class.urdf_export_helpers::URDFVersion" = type { i32, i32 }
%"class.std::shared_ptr.7" = type { %"class.std::__shared_ptr.8" }
%"class.std::__shared_ptr.8" = type { ptr, %"class.std::__shared_count" }
%"struct.std::pair.26" = type { %"class.std::__cxx11::basic_string", %"class.std::shared_ptr.7" }
%"class.std::shared_ptr.23" = type { %"class.std::__shared_ptr.24" }
%"class.std::__shared_ptr.24" = type { ptr, %"class.std::__shared_count" }
%"class.std::shared_ptr.56" = type { %"class.std::__shared_ptr.57" }
%"class.std::__shared_ptr.57" = type { ptr, %"class.std::__shared_count" }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }
%"struct.std::pair.63" = type { %"class.std::__cxx11::basic_string", %"class.std::shared_ptr.23" }
%"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.80" = type { %"class.std::__shared_ptr.81" }
%"class.std::__shared_ptr.81" = type { ptr, %"class.std::__shared_count" }
%"struct.std::pair.87" = type { %"class.std::__cxx11::basic_string", %"class.std::shared_ptr.43" }
%"class.std::map.89" = type { %"class.std::_Rb_tree.90" }
%"class.std::_Rb_tree.90" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"struct.std::_Rb_tree_header" = type { %"struct.std::_Rb_tree_node_base", i64 }
%"struct.std::_Rb_tree_node_base" = type { i32, ptr, ptr, ptr }

@.str = external hidden unnamed_addr constant [6 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [5 x i8], align 1
@_ZTISt13runtime_error = external constant ptr
@.str.2 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [69 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [9 x i8], align 1
@_ZTIN4urdf10ParseErrorE = external dso_local constant { ptr, ptr, ptr }, align 8
@.str.5 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [6 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

; Function Attrs: mustprogress nounwind uwtable
declare noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #1 align 2

declare i32 @__gxx_personality_v0(...)

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

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN4urdf9parseURDFERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind noalias writable sret(%"class.std::shared_ptr") align 8 %0, ptr noundef nonnull align 8 dereferenceable(32) %1) local_unnamed_addr #2 personality ptr @__gxx_personality_v0 {
  %3 = alloca %class.TiXmlDocument, align 8
  %4 = alloca %"class.std::__cxx11::basic_string", align 8
  %5 = alloca %"class.std::allocator", align 1
  %6 = alloca %"class.urdf_export_helpers::URDFVersion", align 4
  %7 = alloca %"class.std::shared_ptr.7", align 8
  %8 = alloca %"class.std::shared_ptr.7", align 8
  %9 = alloca %"struct.std::pair.26", align 8
  %10 = alloca %"class.std::shared_ptr.23", align 8
  %11 = alloca %"class.std::shared_ptr.56", align 8
  %12 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %13 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %14 = alloca %"struct.std::pair.63", align 8
  %15 = alloca %"class.std::shared_ptr.43", align 8
  %16 = alloca %"class.std::shared_ptr.80", align 8
  %17 = alloca %"struct.std::pair.87", align 8
  %18 = alloca %"class.std::map.89", align 8
  %19 = tail call noalias noundef nonnull dereferenceable(192) ptr @_Znwm(i64 noundef 192) #9
  tail call void @_ZN4urdf14ModelInterfaceC2Ev(ptr noundef nonnull align 8 dereferenceable(192) %19) #10
  tail call void @_ZNSt10shared_ptrIN4urdf14ModelInterfaceEEC2IS1_vEEPT_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull %19)
  %20 = tail call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  tail call void @_ZN4urdf14ModelInterface5clearEv(ptr noundef nonnull align 8 dereferenceable(192) %20)
  call void @llvm.lifetime.start.p0(i64 160, ptr nonnull %3) #10
  invoke void @_ZN13TiXmlDocumentC1Ev(ptr noundef nonnull align 8 dereferenceable(157) %3)
          to label %21 unwind label %28

21:                                               ; preds = %2
  %22 = call noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32) %1) #10
  %23 = invoke noundef ptr @_ZN13TiXmlDocument5ParseEPKcP16TiXmlParsingData13TiXmlEncoding(ptr noundef nonnull align 8 dereferenceable(157) %3, ptr noundef %22, ptr noundef null, i32 noundef 0)
          to label %24 unwind label %32

24:                                               ; preds = %21
  %25 = call noundef zeroext i1 @_ZNK13TiXmlDocument5ErrorEv(ptr noundef nonnull align 8 dereferenceable(157) %3)
  br i1 %25, label %26, label %36

26:                                               ; preds = %24
  invoke void @_ZN13TiXmlDocument10ClearErrorEv(ptr noundef nonnull align 8 dereferenceable(157) %3)
          to label %27 unwind label %32

27:                                               ; preds = %26
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  br label %.critedge

28:                                               ; preds = %2
  %29 = landingpad { ptr, i32 }
          cleanup
  %30 = extractvalue { ptr, i32 } %29, 0
  %31 = extractvalue { ptr, i32 } %29, 1
  br label %283

32:                                               ; preds = %26, %21
  %33 = landingpad { ptr, i32 }
          cleanup
  %34 = extractvalue { ptr, i32 } %33, 0
  %35 = extractvalue { ptr, i32 } %33, 1
  br label %282

36:                                               ; preds = %24
  %37 = invoke noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %3, ptr noundef nonnull @.str)
          to label %38 unwind label %40

38:                                               ; preds = %36
  %.not = icmp eq ptr %37, null
  br i1 %.not, label %39, label %44

39:                                               ; preds = %38
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  br label %.critedge

40:                                               ; preds = %36
  %41 = landingpad { ptr, i32 }
          cleanup
  %42 = extractvalue { ptr, i32 } %41, 0
  %43 = extractvalue { ptr, i32 } %41, 1
  br label %282

44:                                               ; preds = %38
  %45 = invoke noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216) %37, ptr noundef nonnull @.str.1)
          to label %46 unwind label %48

46:                                               ; preds = %44
  %.not91 = icmp eq ptr %45, null
  br i1 %.not91, label %47, label %52

47:                                               ; preds = %46
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  br label %.critedge

48:                                               ; preds = %44
  %49 = landingpad { ptr, i32 }
          cleanup
  %50 = extractvalue { ptr, i32 } %49, 0
  %51 = extractvalue { ptr, i32 } %49, 1
  br label %282

52:                                               ; preds = %46
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %4) #10
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %5) #10
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #10
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %4, ptr noundef nonnull %45, ptr noundef nonnull align 1 dereferenceable(1) %5)
          to label %53 unwind label %64

53:                                               ; preds = %52
  %54 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  %55 = getelementptr inbounds i8, ptr %54, i64 144
  %56 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEOS4_(ptr noundef nonnull align 8 dereferenceable(32) %55, ptr noundef nonnull align 8 dereferenceable(32) %4) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #10
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #10
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %5) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #10
  %57 = invoke noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216) %37, ptr noundef nonnull @.str.2)
          to label %58 unwind label %68

58:                                               ; preds = %53
  invoke void @_ZN19urdf_export_helpers11URDFVersionC2EPKc(ptr noundef nonnull align 4 dereferenceable(8) %6, ptr noundef %57)
          to label %59 unwind label %68

59:                                               ; preds = %58
  %60 = call noundef zeroext i1 @_ZN19urdf_export_helpers11URDFVersion5equalEjj(ptr noundef nonnull align 4 dereferenceable(8) %6, i32 noundef 1, i32 noundef 0)
  br i1 %60, label %72, label %61

61:                                               ; preds = %59
  %62 = call ptr @__cxa_allocate_exception(i64 16) #10
  invoke void @_ZNSt13runtime_errorC1EPKc(ptr noundef nonnull align 8 dereferenceable(16) %62, ptr noundef nonnull @.str.3)
          to label %63 unwind label %70

63:                                               ; preds = %61
  invoke void @__cxa_throw(ptr nonnull %62, ptr nonnull @_ZTISt13runtime_error, ptr nonnull @_ZNSt13runtime_errorD1Ev) #11
          to label %287 unwind label %68

64:                                               ; preds = %52
  %65 = landingpad { ptr, i32 }
          cleanup
  %66 = extractvalue { ptr, i32 } %65, 0
  %67 = extractvalue { ptr, i32 } %65, 1
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #10
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %5) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #10
  br label %282

68:                                               ; preds = %63, %58, %53
  %69 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTISt13runtime_error
  br label %74

70:                                               ; preds = %61
  %71 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTISt13runtime_error
  call void @__cxa_free_exception(ptr %62) #10
  br label %74

72:                                               ; preds = %59
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #10
  %73 = invoke noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %37, ptr noundef nonnull @.str.4)
          to label %.preheader133 unwind label %.loopexit.split-lp135

74:                                               ; preds = %70, %68
  %.pn = phi { ptr, i32 } [ %69, %68 ], [ %71, %70 ]
  %.048 = extractvalue { ptr, i32 } %.pn, 0
  %.061 = extractvalue { ptr, i32 } %.pn, 1
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #10
  %75 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTISt13runtime_error) #10
  %76 = icmp eq i32 %.061, %75
  br i1 %76, label %77, label %282

77:                                               ; preds = %74
  %78 = call ptr @__cxa_begin_catch(ptr %.048) #10
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  invoke void @__cxa_end_catch()
          to label %.critedge unwind label %79

79:                                               ; preds = %77
  %80 = landingpad { ptr, i32 }
          cleanup
  %81 = extractvalue { ptr, i32 } %80, 0
  %82 = extractvalue { ptr, i32 } %80, 1
  br label %282

.preheader133:                                    ; preds = %72, %131
  %.085 = phi ptr [ %132, %131 ], [ %73, %72 ]
  %.not93 = icmp eq ptr %.085, null
  br i1 %.not93, label %135, label %86

.loopexit134:                                     ; preds = %131
  %lpad.loopexit136 = landingpad { ptr, i32 }
          cleanup
  br label %83

.loopexit.split-lp135:                            ; preds = %72
  %lpad.loopexit.split-lp137 = landingpad { ptr, i32 }
          cleanup
  br label %83

83:                                               ; preds = %.loopexit.split-lp135, %.loopexit134
  %lpad.phi138 = phi { ptr, i32 } [ %lpad.loopexit136, %.loopexit134 ], [ %lpad.loopexit.split-lp137, %.loopexit.split-lp135 ]
  %84 = extractvalue { ptr, i32 } %lpad.phi138, 0
  %85 = extractvalue { ptr, i32 } %lpad.phi138, 1
  br label %282

86:                                               ; preds = %.preheader133
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %7) #10
  call void @_ZNSt10shared_ptrIN4urdf8MaterialEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %7) #10
  %87 = invoke noalias noundef nonnull dereferenceable(80) ptr @_Znwm(i64 noundef 80) #9
          to label %88 unwind label %99

88:                                               ; preds = %86
  invoke void @_ZN4urdf8MaterialC2Ev(ptr noundef nonnull align 8 dereferenceable(80) %87)
          to label %89 unwind label %103

89:                                               ; preds = %88
  invoke void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EE5resetIS1_EENSt9enable_ifIXsr21__sp_is_constructibleIS1_T_EE5valueEvE4typeEPS7_(ptr noundef nonnull align 8 dereferenceable(16) %7, ptr noundef nonnull %87)
          to label %90 unwind label %99

90:                                               ; preds = %89
  %91 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNKSt19__shared_ptr_accessIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %7) #10
  %92 = invoke noundef zeroext i1 @_ZN4urdf13parseMaterialERNS_8MaterialEP12TiXmlElementb(ptr noundef nonnull align 8 dereferenceable(80) %91, ptr noundef nonnull %.085, i1 noundef zeroext false)
          to label %93 unwind label %107

93:                                               ; preds = %90
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #10
  %94 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  %95 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %7) #10
  invoke void @_ZNK4urdf14ModelInterface11getMaterialERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind nonnull writable sret(%"class.std::shared_ptr.7") align 8 %8, ptr noundef nonnull align 8 dereferenceable(192) %94, ptr noundef nonnull align 8 dereferenceable(32) %95)
          to label %96 unwind label %109

96:                                               ; preds = %93
  %97 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %8) #10
  call void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %8) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #10
  br i1 %97, label %98, label %111

98:                                               ; preds = %96
  call void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %7) #10
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  br label %134

99:                                               ; preds = %89, %86
  %100 = landingpad { ptr, i32 }
          cleanup
  %101 = extractvalue { ptr, i32 } %100, 0
  %102 = extractvalue { ptr, i32 } %100, 1
  br label %133

103:                                              ; preds = %88
  %104 = landingpad { ptr, i32 }
          cleanup
  %105 = extractvalue { ptr, i32 } %104, 0
  %106 = extractvalue { ptr, i32 } %104, 1
  call void @_ZdlPvm(ptr noundef nonnull %87, i64 noundef 80) #12
  br label %133

107:                                              ; preds = %90
  %108 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  br label %122

109:                                              ; preds = %93
  %110 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #10
  br label %122

111:                                              ; preds = %96
  %112 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %9) #10
  %113 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %7) #10
  invoke void @_ZSt9make_pairIRNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERSt10shared_ptrIN4urdf8MaterialEEESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENSD_INSE_IT0_E4typeEE6__typeEEOSF_OSK_(ptr dead_on_unwind nonnull writable sret(%"struct.std::pair.26") align 8 %9, ptr noundef nonnull align 8 dereferenceable(32) %113, ptr noundef nonnull align 8 dereferenceable(16) %7)
          to label %114 unwind label %117

114:                                              ; preds = %111
  %115 = getelementptr inbounds i8, ptr %112, i64 96
  %116 = invoke { ptr, i8 } @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf8MaterialEESt4lessIS5_ESaISt4pairIKS5_S9_EEE6insertISC_IS5_S9_EEENSt9enable_ifIXsr16is_constructibleISE_T_EE5valueESC_ISt17_Rb_tree_iteratorISE_EbEE4typeEOSK_(ptr noundef nonnull align 8 dereferenceable(48) %115, ptr noundef nonnull align 8 dereferenceable(48) %9)
          to label %131 unwind label %119

117:                                              ; preds = %111
  %118 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  br label %121

119:                                              ; preds = %114
  %120 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf8MaterialEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %9) #10
  br label %121

121:                                              ; preds = %119, %117
  %.pn94 = phi { ptr, i32 } [ %120, %119 ], [ %118, %117 ]
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %9) #10
  br label %122

122:                                              ; preds = %121, %109, %107
  %.pn94.pn = phi { ptr, i32 } [ %.pn94, %121 ], [ %110, %109 ], [ %108, %107 ]
  %.250 = extractvalue { ptr, i32 } %.pn94.pn, 0
  %.263 = extractvalue { ptr, i32 } %.pn94.pn, 1
  %123 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN4urdf10ParseErrorE) #10
  %124 = icmp eq i32 %.263, %123
  br i1 %124, label %125, label %133

125:                                              ; preds = %122
  %126 = call ptr @__cxa_begin_catch(ptr %.250) #10
  call void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %7) #10
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  invoke void @__cxa_end_catch()
          to label %134 unwind label %127

127:                                              ; preds = %125
  %128 = landingpad { ptr, i32 }
          cleanup
  %129 = extractvalue { ptr, i32 } %128, 0
  %130 = extractvalue { ptr, i32 } %128, 1
  br label %133

131:                                              ; preds = %114
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf8MaterialEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %9) #10
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %9) #10
  call void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %7) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #10
  %132 = invoke noundef ptr @_ZN9TiXmlNode18NextSiblingElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %.085, ptr noundef nonnull @.str.4)
          to label %.preheader133 unwind label %.loopexit134, !llvm.loop !5

133:                                              ; preds = %127, %122, %103, %99
  %.364 = phi i32 [ %130, %127 ], [ %.263, %122 ], [ %102, %99 ], [ %106, %103 ]
  %.351 = phi ptr [ %129, %127 ], [ %.250, %122 ], [ %101, %99 ], [ %105, %103 ]
  call void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %7) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #10
  br label %282

134:                                              ; preds = %98, %125
  call void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %7) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #10
  br label %281

135:                                              ; preds = %.preheader133
  %136 = invoke noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %37, ptr noundef nonnull @.str.5)
          to label %.preheader127 unwind label %.loopexit.split-lp129

.preheader127:                                    ; preds = %135, %207
  %.086 = phi ptr [ %208, %207 ], [ %136, %135 ]
  %.not97 = icmp eq ptr %.086, null
  br i1 %.not97, label %.thread117, label %140

.loopexit128:                                     ; preds = %207
  %lpad.loopexit130 = landingpad { ptr, i32 }
          cleanup
  br label %137

.loopexit.split-lp129:                            ; preds = %135
  %lpad.loopexit.split-lp131 = landingpad { ptr, i32 }
          cleanup
  br label %137

137:                                              ; preds = %.loopexit.split-lp129, %.loopexit128
  %lpad.phi132 = phi { ptr, i32 } [ %lpad.loopexit130, %.loopexit128 ], [ %lpad.loopexit.split-lp131, %.loopexit.split-lp129 ]
  %138 = extractvalue { ptr, i32 } %lpad.phi132, 0
  %139 = extractvalue { ptr, i32 } %lpad.phi132, 1
  br label %282

140:                                              ; preds = %.preheader127
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %10) #10
  call void @_ZNSt10shared_ptrIN4urdf4LinkEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %10) #10
  %141 = invoke noalias noundef nonnull dereferenceable(216) ptr @_Znwm(i64 noundef 216) #9
          to label %142 unwind label %152

142:                                              ; preds = %140
  invoke void @_ZN4urdf4LinkC2Ev(ptr noundef nonnull align 8 dereferenceable(216) %141)
          to label %143 unwind label %156

143:                                              ; preds = %142
  invoke void @_ZNSt12__shared_ptrIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EE5resetIS1_EENSt9enable_ifIXsr21__sp_is_constructibleIS1_T_EE5valueEvE4typeEPS7_(ptr noundef nonnull align 8 dereferenceable(16) %10, ptr noundef nonnull %141)
          to label %144 unwind label %152

144:                                              ; preds = %143
  %145 = call noundef nonnull align 8 dereferenceable(216) ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %10) #10
  %146 = invoke noundef zeroext i1 @_ZN4urdf9parseLinkERNS_4LinkEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(216) %145, ptr noundef nonnull %.086)
          to label %147 unwind label %160

147:                                              ; preds = %144
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #10
  %148 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  %149 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %10) #10
  invoke void @_ZNK4urdf14ModelInterface7getLinkERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind nonnull writable sret(%"class.std::shared_ptr.56") align 8 %11, ptr noundef nonnull align 8 dereferenceable(192) %148, ptr noundef nonnull align 8 dereferenceable(32) %149)
          to label %150 unwind label %162

150:                                              ; preds = %147
  %151 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIKN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %11) #10
  call void @_ZNSt12__shared_ptrIKN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %11) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #10
  br i1 %151, label %.thread120, label %164

.thread120:                                       ; preds = %150
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  call void @_ZNSt12__shared_ptrIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %10) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #10
  br label %281

152:                                              ; preds = %143, %140
  %153 = landingpad { ptr, i32 }
          cleanup
  %154 = extractvalue { ptr, i32 } %153, 0
  %155 = extractvalue { ptr, i32 } %153, 1
  br label %209

156:                                              ; preds = %142
  %157 = landingpad { ptr, i32 }
          cleanup
  %158 = extractvalue { ptr, i32 } %157, 0
  %159 = extractvalue { ptr, i32 } %157, 1
  call void @_ZdlPvm(ptr noundef nonnull %141, i64 noundef 216) #12
  br label %209

160:                                              ; preds = %168, %144
  %161 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  br label %198

162:                                              ; preds = %147
  %163 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #10
  br label %198

164:                                              ; preds = %150
  %165 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %10) #10
  %166 = getelementptr inbounds i8, ptr %165, i64 56
  %167 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf6VisualELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %166) #10
  br i1 %167, label %168, label %174

168:                                              ; preds = %164
  %169 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %10) #10
  %170 = getelementptr inbounds i8, ptr %169, i64 56
  %171 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %10) #10
  %172 = call noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32) %171) #10
  %173 = invoke noundef zeroext i1 @_ZN4urdf14assignMaterialERKSt10shared_ptrINS_6VisualEERS0_INS_14ModelInterfaceEEPKc(ptr noundef nonnull align 8 dereferenceable(16) %170, ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef %172)
          to label %174 unwind label %160

174:                                              ; preds = %168, %164
  %175 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %10) #10
  %176 = getelementptr inbounds i8, ptr %175, i64 112
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #10
  %177 = call ptr @_ZNSt6vectorISt10shared_ptrIN4urdf6VisualEESaIS3_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %176) #10
  store ptr %177, ptr %12, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #10
  %178 = call ptr @_ZNSt6vectorISt10shared_ptrIN4urdf6VisualEESaIS3_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %176) #10
  store ptr %178, ptr %13, align 8
  %179 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPSt10shared_ptrIN4urdf6VisualEESt6vectorIS4_SaIS4_EEEEbRKNS_17__normal_iteratorIT_T0_EESE_(ptr noundef nonnull align 8 dereferenceable(8) %12, ptr noundef nonnull align 8 dereferenceable(8) %13) #10
  br i1 %179, label %.lr.ph, label %._crit_edge

._crit_edge:                                      ; preds = %186, %174
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #10
  %180 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %14) #10
  %181 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %10) #10
  invoke void @_ZSt9make_pairIRNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERSt10shared_ptrIN4urdf4LinkEEESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENSD_INSE_IT0_E4typeEE6__typeEEOSF_OSK_(ptr dead_on_unwind nonnull writable sret(%"struct.std::pair.63") align 8 %14, ptr noundef nonnull align 8 dereferenceable(32) %181, ptr noundef nonnull align 8 dereferenceable(16) %10)
          to label %191 unwind label %193

.lr.ph:                                           ; preds = %174, %186
  %182 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPSt10shared_ptrIN4urdf6VisualEESt6vectorIS4_SaIS4_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %12) #10
  %183 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %10) #10
  %184 = call noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32) %183) #10
  %185 = invoke noundef zeroext i1 @_ZN4urdf14assignMaterialERKSt10shared_ptrINS_6VisualEERS0_INS_14ModelInterfaceEEPKc(ptr noundef nonnull align 8 dereferenceable(16) %182, ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef %184)
          to label %186 unwind label %189

186:                                              ; preds = %.lr.ph
  %187 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPSt10shared_ptrIN4urdf6VisualEESt6vectorIS4_SaIS4_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %12) #10
  %188 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPSt10shared_ptrIN4urdf6VisualEESt6vectorIS4_SaIS4_EEEEbRKNS_17__normal_iteratorIT_T0_EESE_(ptr noundef nonnull align 8 dereferenceable(8) %12, ptr noundef nonnull align 8 dereferenceable(8) %13) #10
  br i1 %188, label %.lr.ph, label %._crit_edge

189:                                              ; preds = %.lr.ph
  %190 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #10
  br label %198

191:                                              ; preds = %._crit_edge
  %192 = invoke { ptr, i8 } @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf4LinkEESt4lessIS5_ESaISt4pairIKS5_S9_EEE6insertISC_IS5_S9_EEENSt9enable_ifIXsr16is_constructibleISE_T_EE5valueESC_ISt17_Rb_tree_iteratorISE_EbEE4typeEOSK_(ptr noundef nonnull align 8 dereferenceable(48) %180, ptr noundef nonnull align 8 dereferenceable(48) %14)
          to label %207 unwind label %195

193:                                              ; preds = %._crit_edge
  %194 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  br label %197

195:                                              ; preds = %191
  %196 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf4LinkEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %14) #10
  br label %197

197:                                              ; preds = %195, %193
  %.pn98 = phi { ptr, i32 } [ %196, %195 ], [ %194, %193 ]
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %14) #10
  br label %198

198:                                              ; preds = %197, %189, %162, %160
  %.pn100 = phi { ptr, i32 } [ %190, %189 ], [ %.pn98, %197 ], [ %161, %160 ], [ %163, %162 ]
  %.654 = extractvalue { ptr, i32 } %.pn100, 0
  %.667 = extractvalue { ptr, i32 } %.pn100, 1
  %199 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN4urdf10ParseErrorE) #10
  %200 = icmp eq i32 %.667, %199
  br i1 %200, label %201, label %209

201:                                              ; preds = %198
  %202 = call ptr @__cxa_begin_catch(ptr %.654) #10
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  invoke void @__cxa_end_catch()
          to label %210 unwind label %203

203:                                              ; preds = %201
  %204 = landingpad { ptr, i32 }
          cleanup
  %205 = extractvalue { ptr, i32 } %204, 0
  %206 = extractvalue { ptr, i32 } %204, 1
  br label %209

207:                                              ; preds = %191
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf4LinkEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %14) #10
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %14) #10
  call void @_ZNSt12__shared_ptrIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %10) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #10
  %208 = invoke noundef ptr @_ZN9TiXmlNode18NextSiblingElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %.086, ptr noundef nonnull @.str.5)
          to label %.preheader127 unwind label %.loopexit128, !llvm.loop !7

209:                                              ; preds = %203, %198, %156, %152
  %.768 = phi i32 [ %206, %203 ], [ %.667, %198 ], [ %155, %152 ], [ %159, %156 ]
  %.755 = phi ptr [ %205, %203 ], [ %.654, %198 ], [ %154, %152 ], [ %158, %156 ]
  call void @_ZNSt12__shared_ptrIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %10) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #10
  br label %282

210:                                              ; preds = %201
  call void @_ZNSt12__shared_ptrIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %10) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #10
  br label %281

.thread117:                                       ; preds = %.preheader127
  %211 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  %212 = call noundef zeroext i1 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf4LinkEESt4lessIS5_ESaISt4pairIKS5_S9_EEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(48) %211) #10
  br i1 %212, label %213, label %214

213:                                              ; preds = %.thread117
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  br label %.critedge

214:                                              ; preds = %.thread117
  %215 = invoke noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %37, ptr noundef nonnull @.str.6)
          to label %.preheader unwind label %.loopexit.split-lp

.preheader:                                       ; preds = %214, %246
  %.084 = phi ptr [ %247, %246 ], [ %215, %214 ]
  %.not102 = icmp eq ptr %.084, null
  br i1 %.not102, label %251, label %216

.loopexit:                                        ; preds = %246
  %lpad.loopexit = landingpad { ptr, i32 }
          cleanup
  br label %250

.loopexit.split-lp:                               ; preds = %214
  %lpad.loopexit.split-lp = landingpad { ptr, i32 }
          cleanup
  br label %250

216:                                              ; preds = %.preheader
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %15) #10
  call void @_ZNSt10shared_ptrIN4urdf5JointEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %15) #10
  %217 = invoke noalias noundef nonnull dereferenceable(288) ptr @_Znwm(i64 noundef 288) #9
          to label %218 unwind label %229

218:                                              ; preds = %216
  invoke void @_ZN4urdf5JointC2Ev(ptr noundef nonnull align 8 dereferenceable(288) %217)
          to label %219 unwind label %231

219:                                              ; preds = %218
  invoke void @_ZNSt12__shared_ptrIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EE5resetIS1_EENSt9enable_ifIXsr21__sp_is_constructibleIS1_T_EE5valueEvE4typeEPS7_(ptr noundef nonnull align 8 dereferenceable(16) %15, ptr noundef nonnull %217)
          to label %220 unwind label %229

220:                                              ; preds = %219
  %221 = call noundef nonnull align 8 dereferenceable(288) ptr @_ZNKSt19__shared_ptr_accessIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %15) #10
  %222 = invoke noundef zeroext i1 @_ZN4urdf10parseJointERNS_5JointEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(288) %221, ptr noundef nonnull %.084)
          to label %223 unwind label %229

223:                                              ; preds = %220
  br i1 %222, label %224, label %249

224:                                              ; preds = %223
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #10
  %225 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  %226 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %15) #10
  invoke void @_ZNK4urdf14ModelInterface8getJointERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind nonnull writable sret(%"class.std::shared_ptr.80") align 8 %16, ptr noundef nonnull align 8 dereferenceable(192) %225, ptr noundef nonnull align 8 dereferenceable(32) %226)
          to label %227 unwind label %233

227:                                              ; preds = %224
  %228 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIKN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %16) #10
  call void @_ZNSt12__shared_ptrIKN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %16) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #10
  br i1 %228, label %249, label %235

229:                                              ; preds = %220, %219, %216
  %230 = landingpad { ptr, i32 }
          cleanup
  br label %248

231:                                              ; preds = %218
  %232 = landingpad { ptr, i32 }
          cleanup
  call void @_ZdlPvm(ptr noundef nonnull %217, i64 noundef 288) #12
  br label %248

233:                                              ; preds = %224
  %234 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #10
  br label %248

235:                                              ; preds = %227
  %236 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %17) #10
  %237 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %15) #10
  invoke void @_ZSt9make_pairIRNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERSt10shared_ptrIN4urdf5JointEEESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENSD_INSE_IT0_E4typeEE6__typeEEOSF_OSK_(ptr dead_on_unwind nonnull writable sret(%"struct.std::pair.87") align 8 %17, ptr noundef nonnull align 8 dereferenceable(32) %237, ptr noundef nonnull align 8 dereferenceable(16) %15)
          to label %238 unwind label %241

238:                                              ; preds = %235
  %239 = getelementptr inbounds i8, ptr %236, i64 48
  %240 = invoke { ptr, i8 } @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf5JointEESt4lessIS5_ESaISt4pairIKS5_S9_EEE6insertISC_IS5_S9_EEENSt9enable_ifIXsr16is_constructibleISE_T_EE5valueESC_ISt17_Rb_tree_iteratorISE_EbEE4typeEOSK_(ptr noundef nonnull align 8 dereferenceable(48) %239, ptr noundef nonnull align 8 dereferenceable(48) %17)
          to label %246 unwind label %243

241:                                              ; preds = %235
  %242 = landingpad { ptr, i32 }
          cleanup
  br label %245

243:                                              ; preds = %238
  %244 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf5JointEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %17) #10
  br label %245

245:                                              ; preds = %243, %241
  %.pn103 = phi { ptr, i32 } [ %244, %243 ], [ %242, %241 ]
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %17) #10
  br label %248

246:                                              ; preds = %238
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf5JointEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %17) #10
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %17) #10
  call void @_ZNSt12__shared_ptrIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %15) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #10
  %247 = invoke noundef ptr @_ZN9TiXmlNode18NextSiblingElementEPKc(ptr noundef nonnull align 8 dereferenceable(104) %.084, ptr noundef nonnull @.str.6)
          to label %.preheader unwind label %.loopexit, !llvm.loop !8

248:                                              ; preds = %245, %233, %231, %229
  %.pn103.pn = phi { ptr, i32 } [ %.pn103, %245 ], [ %234, %233 ], [ %230, %229 ], [ %232, %231 ]
  call void @_ZNSt12__shared_ptrIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %15) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #10
  br label %250

249:                                              ; preds = %223, %227
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  call void @_ZNSt12__shared_ptrIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %15) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #10
  br label %281

250:                                              ; preds = %.loopexit, %.loopexit.split-lp, %248
  %.pn106 = phi { ptr, i32 } [ %.pn103.pn, %248 ], [ %lpad.loopexit, %.loopexit ], [ %lpad.loopexit.split-lp, %.loopexit.split-lp ]
  %.1159 = extractvalue { ptr, i32 } %.pn106, 0
  %.1172 = extractvalue { ptr, i32 } %.pn106, 1
  br label %282

251:                                              ; preds = %.preheader
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %18) #10
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(48) %18) #10
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE5clearEv(ptr noundef nonnull align 8 dereferenceable(48) %18) #10
  %252 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  invoke void @_ZN4urdf14ModelInterface8initTreeERSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_St4lessIS7_ESaISt4pairIKS7_S7_EEE(ptr noundef nonnull align 8 dereferenceable(192) %252, ptr noundef nonnull align 8 dereferenceable(48) %18)
          to label %265 unwind label %253

253:                                              ; preds = %251
  %254 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %255 = extractvalue { ptr, i32 } %254, 0
  %256 = extractvalue { ptr, i32 } %254, 1
  %257 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN4urdf10ParseErrorE) #10
  %258 = icmp eq i32 %256, %257
  br i1 %258, label %259, label %280

259:                                              ; preds = %253
  %260 = call ptr @__cxa_begin_catch(ptr %255) #10
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  invoke void @__cxa_end_catch()
          to label %279 unwind label %261

261:                                              ; preds = %259
  %262 = landingpad { ptr, i32 }
          cleanup
  %263 = extractvalue { ptr, i32 } %262, 0
  %264 = extractvalue { ptr, i32 } %262, 1
  br label %280

265:                                              ; preds = %251
  %266 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #10
  invoke void @_ZN4urdf14ModelInterface8initRootERKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_St4lessIS7_ESaISt4pairIKS7_S7_EEE(ptr noundef nonnull align 8 dereferenceable(192) %266, ptr noundef nonnull align 8 dereferenceable(48) %18)
          to label %279 unwind label %267

267:                                              ; preds = %265
  %268 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %269 = extractvalue { ptr, i32 } %268, 0
  %270 = extractvalue { ptr, i32 } %268, 1
  %271 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN4urdf10ParseErrorE) #10
  %272 = icmp eq i32 %270, %271
  br i1 %272, label %273, label %280

273:                                              ; preds = %267
  %274 = call ptr @__cxa_begin_catch(ptr %269) #10
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  invoke void @__cxa_end_catch()
          to label %279 unwind label %275

275:                                              ; preds = %273
  %276 = landingpad { ptr, i32 }
          cleanup
  %277 = extractvalue { ptr, i32 } %276, 0
  %278 = extractvalue { ptr, i32 } %276, 1
  br label %280

279:                                              ; preds = %265, %273, %259
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %18) #10
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %18) #10
  br label %.critedge

280:                                              ; preds = %275, %267, %261, %253
  %.1273 = phi i32 [ %278, %275 ], [ %270, %267 ], [ %264, %261 ], [ %256, %253 ]
  %.1260 = phi ptr [ %277, %275 ], [ %269, %267 ], [ %263, %261 ], [ %255, %253 ]
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %18) #10
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %18) #10
  br label %282

281:                                              ; preds = %210, %249, %.thread120, %134
  call void @_ZN13TiXmlDocumentD2Ev(ptr noundef nonnull align 8 dereferenceable(157) %3) #10
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %3) #10
  br label %286

282:                                              ; preds = %40, %137, %209, %83, %133, %280, %250, %79, %74, %64, %48, %32
  %.1576 = phi i32 [ %35, %32 ], [ %43, %40 ], [ %.1172, %250 ], [ %.1273, %280 ], [ %82, %79 ], [ %.061, %74 ], [ %67, %64 ], [ %51, %48 ], [ %85, %83 ], [ %.364, %133 ], [ %139, %137 ], [ %.768, %209 ]
  %.15 = phi ptr [ %34, %32 ], [ %42, %40 ], [ %.1159, %250 ], [ %.1260, %280 ], [ %81, %79 ], [ %.048, %74 ], [ %66, %64 ], [ %50, %48 ], [ %84, %83 ], [ %.351, %133 ], [ %138, %137 ], [ %.755, %209 ]
  call void @_ZN13TiXmlDocumentD2Ev(ptr noundef nonnull align 8 dereferenceable(157) %3) #10
  br label %283

283:                                              ; preds = %282, %28
  %.1677 = phi i32 [ %.1576, %282 ], [ %31, %28 ]
  %.16 = phi ptr [ %.15, %282 ], [ %30, %28 ]
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %3) #10
  call void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %0) #10
  %284 = insertvalue { ptr, i32 } poison, ptr %.16, 0
  %285 = insertvalue { ptr, i32 } %284, i32 %.1677, 1
  resume { ptr, i32 } %285

.critedge:                                        ; preds = %77, %47, %279, %213, %39, %27
  call void @_ZN13TiXmlDocumentD2Ev(ptr noundef nonnull align 8 dereferenceable(157) %3) #10
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %3) #10
  br label %286

286:                                              ; preds = %281, %.critedge
  ret void

287:                                              ; preds = %63
  unreachable
}

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf14assignMaterialERKSt10shared_ptrINS_6VisualEERS0_INS_14ModelInterfaceEEPKc(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) local_unnamed_addr #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK4urdf14ModelInterface11getMaterialERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind noalias writable sret(%"class.std::shared_ptr.7") align 8, ptr noundef nonnull align 8 dereferenceable(192), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local { ptr, i8 } @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf8MaterialEESt4lessIS5_ESaISt4pairIKS5_S9_EEE6insertISC_IS5_S9_EEENSt9enable_ifIXsr16is_constructibleISE_T_EE5valueESC_ISt17_Rb_tree_iteratorISE_EbEE4typeEOSK_(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZSt9make_pairIRNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERSt10shared_ptrIN4urdf8MaterialEEESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENSD_INSE_IT0_E4typeEE6__typeEEOSF_OSK_(ptr dead_on_unwind noalias writable sret(%"struct.std::pair.26") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf8MaterialEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #3 align 2

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf14ModelInterfaceC2Ev(ptr noundef nonnull align 8 dereferenceable(192)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt10shared_ptrIN4urdf14ModelInterfaceEEC2IS1_vEEPT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf14ModelInterface5clearEv(ptr noundef nonnull align 8 dereferenceable(192)) local_unnamed_addr #1 align 2

declare void @_ZN13TiXmlDocumentC1Ev(ptr noundef nonnull align 8 dereferenceable(157)) unnamed_addr #5

declare noundef ptr @_ZN13TiXmlDocument5ParseEPKcP16TiXmlParsingData13TiXmlEncoding(ptr noundef nonnull align 8 dereferenceable(157), ptr noundef, ptr noundef, i32 noundef) unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK13TiXmlDocument5ErrorEv(ptr noundef nonnull align 8 dereferenceable(157)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN13TiXmlDocument10ClearErrorEv(ptr noundef nonnull align 8 dereferenceable(157)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(104), ptr noundef) local_unnamed_addr #2 align 2

declare noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef) local_unnamed_addr #5

; 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 #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEOS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN19urdf_export_helpers11URDFVersionC2EPKc(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN19urdf_export_helpers11URDFVersion5equalEjj(ptr noundef nonnull align 4 dereferenceable(8), i32 noundef, i32 noundef) local_unnamed_addr #1 align 2

declare ptr @__cxa_allocate_exception(i64) local_unnamed_addr

declare void @_ZNSt13runtime_errorC1EPKc(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) unnamed_addr #5

declare void @__cxa_free_exception(ptr) local_unnamed_addr

; Function Attrs: nounwind
declare void @_ZNSt13runtime_errorD1Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #6

declare void @__cxa_throw(ptr, ptr, ptr) local_unnamed_addr

; Function Attrs: nofree nosync nounwind memory(none)
declare i32 @llvm.eh.typeid.for.p0(ptr) #7

declare ptr @__cxa_begin_catch(ptr) local_unnamed_addr

declare void @__cxa_end_catch() local_unnamed_addr

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10shared_ptrIN4urdf8MaterialEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EE5resetIS1_EENSt9enable_ifIXsr21__sp_is_constructibleIS1_T_EE5valueEvE4typeEPS7_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf8MaterialC2Ev(ptr noundef nonnull align 8 dereferenceable(80)) unnamed_addr #2 align 2

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) local_unnamed_addr #8

declare noundef zeroext i1 @_ZN4urdf13parseMaterialERNS_8MaterialEP12TiXmlElementb(ptr noundef nonnull align 8 dereferenceable(80), ptr noundef, i1 noundef zeroext) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZNKSt19__shared_ptr_accessIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EE5resetEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN9TiXmlNode18NextSiblingElementEPKc(ptr noundef nonnull align 8 dereferenceable(104), ptr noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10shared_ptrIN4urdf4LinkEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EE5resetIS1_EENSt9enable_ifIXsr21__sp_is_constructibleIS1_T_EE5valueEvE4typeEPS7_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf4LinkC2Ev(ptr noundef nonnull align 8 dereferenceable(216)) unnamed_addr #2 align 2

declare noundef zeroext i1 @_ZN4urdf9parseLinkERNS_4LinkEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(216) ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK4urdf14ModelInterface7getLinkERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind noalias writable sret(%"class.std::shared_ptr.56") align 8, ptr noundef nonnull align 8 dereferenceable(192), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIKN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIKN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf6VisualELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorISt10shared_ptrIN4urdf6VisualEESaIS3_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorISt10shared_ptrIN4urdf6VisualEESaIS3_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPSt10shared_ptrIN4urdf6VisualEESt6vectorIS4_SaIS4_EEEEbRKNS_17__normal_iteratorIT_T0_EESE_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPSt10shared_ptrIN4urdf6VisualEESt6vectorIS4_SaIS4_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPSt10shared_ptrIN4urdf6VisualEESt6vectorIS4_SaIS4_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local { ptr, i8 } @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf4LinkEESt4lessIS5_ESaISt4pairIKS5_S9_EEE6insertISC_IS5_S9_EEENSt9enable_ifIXsr16is_constructibleISE_T_EE5valueESC_ISt17_Rb_tree_iteratorISE_EbEE4typeEOSK_(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZSt9make_pairIRNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERSt10shared_ptrIN4urdf4LinkEEESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENSD_INSE_IT0_E4typeEE6__typeEEOSF_OSK_(ptr dead_on_unwind noalias writable sret(%"struct.std::pair.63") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf4LinkEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf4LinkEESt4lessIS5_ESaISt4pairIKS5_S9_EEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10shared_ptrIN4urdf5JointEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EE5resetIS1_EENSt9enable_ifIXsr21__sp_is_constructibleIS1_T_EE5valueEvE4typeEPS7_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf5JointC2Ev(ptr noundef nonnull align 8 dereferenceable(288)) unnamed_addr #2 align 2

declare noundef zeroext i1 @_ZN4urdf10parseJointERNS_5JointEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(288), ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(288) ptr @_ZNKSt19__shared_ptr_accessIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK4urdf14ModelInterface8getJointERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind noalias writable sret(%"class.std::shared_ptr.80") align 8, ptr noundef nonnull align 8 dereferenceable(192), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIKN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIKN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local { ptr, i8 } @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf5JointEESt4lessIS5_ESaISt4pairIKS5_S9_EEE6insertISC_IS5_S9_EEENSt9enable_ifIXsr16is_constructibleISE_T_EE5valueESC_ISt17_Rb_tree_iteratorISE_EbEE4typeEOSK_(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZSt9make_pairIRNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERSt10shared_ptrIN4urdf5JointEEESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENSD_INSE_IT0_E4typeEE6__typeEEOSF_OSK_(ptr dead_on_unwind noalias writable sret(%"struct.std::pair.87") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf5JointEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf5JointELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE5clearEv(ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf14ModelInterface8initTreeERSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_St4lessIS7_ESaISt4pairIKS7_S7_EEE(ptr noundef nonnull align 8 dereferenceable(192), ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf14ModelInterface8initRootERKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_St4lessIS7_ESaISt4pairIKS7_S7_EEE(ptr noundef nonnull align 8 dereferenceable(192), ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN13TiXmlDocumentD2Ev(ptr noundef nonnull align 8 dereferenceable(157)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { 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 #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 "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nofree nosync nounwind memory(none) }
attributes #8 = { 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 #9 = { builtin allocsize(0) }
attributes #10 = { nounwind }
attributes #11 = { noreturn }
attributes #12 = { 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 = distinct !{!5, !6}
!6 = !{!"llvm.loop.mustprogress"}
!7 = distinct !{!7, !6}
!8 = distinct !{!8, !6}


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