; 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.7" = type { %"class.std::__shared_ptr.8" }
%"class.std::__shared_ptr.8" = type { ptr, %"class.std::__shared_count" }
%"class.std::__shared_count" = type { ptr }
%"struct.std::pair.26" = type { %"class.std::__cxx11::basic_string", %"class.std::shared_ptr.7" }
%"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.std::pair" = type <{ %"struct.std::_Rb_tree_iterator", i8, [7 x i8] }>
%"struct.std::_Rb_tree_iterator" = type { ptr }
%"class.urdf::Visual" = type { %"class.urdf::Pose", %"class.std::shared_ptr.4", %"class.std::__cxx11::basic_string", %"class.std::shared_ptr.7", %"class.std::__cxx11::basic_string" }
%"class.urdf::Pose" = type { %"class.urdf::Vector3", %"class.urdf::Rotation" }
%"class.urdf::Vector3" = type { double, double, double }
%"class.urdf::Rotation" = type { double, double, double, double }
%"class.std::shared_ptr.4" = type { %"class.std::__shared_ptr.5" }
%"class.std::__shared_ptr.5" = type { ptr, %"class.std::__shared_count" }
%"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" }
%"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.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.std::shared_ptr.23" = type { %"class.std::__shared_ptr.24" }
%"class.std::__shared_ptr.24" = type { ptr, %"class.std::__shared_count" }
%"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 }

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf14assignMaterialERKSt10shared_ptrINS_6VisualEERS0_INS_14ModelInterfaceEEPKc(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef %2) #1 personality ptr @__gxx_personality_v0 {
  %4 = alloca i1, align 1
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca %"class.std::shared_ptr.7", align 8
  %10 = alloca %"struct.std::pair.26", align 8
  %11 = alloca ptr, align 8
  %12 = alloca i32, align 4
  %13 = alloca %"struct.std::pair", align 8
  %14 = alloca i32, align 4
  store ptr %0, ptr %5, align 8, !tbaa !5
  store ptr %1, ptr %6, align 8, !tbaa !5
  store ptr %2, ptr %7, align 8, !tbaa !5
  %15 = load ptr, ptr %5, align 8, !tbaa !5
  %16 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf6VisualELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %15) #4
  %17 = getelementptr inbounds %"class.urdf::Visual", ptr %16, i32 0, i32 2
  %18 = call noundef zeroext i1 @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(32) %17) #4
  br i1 %18, label %19, label %20

19:                                               ; preds = %3
  store i1 true, ptr %4, align 1
  br label %71

20:                                               ; preds = %3
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #4
  call void @llvm.lifetime.start.p0(i64 16, ptr %9) #4
  %21 = load ptr, ptr %6, align 8, !tbaa !5
  %22 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %21) #4
  %23 = load ptr, ptr %5, align 8, !tbaa !5
  %24 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf6VisualELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %23) #4
  %25 = getelementptr inbounds %"class.urdf::Visual", ptr %24, i32 0, i32 2
  call void @_ZNK4urdf14ModelInterface11getMaterialERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind writable sret(%"class.std::shared_ptr.7") align 8 %9, ptr noundef nonnull align 8 dereferenceable(192) %22, ptr noundef nonnull align 8 dereferenceable(32) %25)
  store ptr %9, ptr %8, align 8, !tbaa !5
  %26 = load ptr, ptr %8, align 8, !tbaa !5
  %27 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %26) #4
  br i1 %27, label %28, label %34

28:                                               ; preds = %20
  %29 = load ptr, ptr %8, align 8, !tbaa !5
  %30 = load ptr, ptr %5, align 8, !tbaa !5
  %31 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf6VisualELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %30) #4
  %32 = getelementptr inbounds %"class.urdf::Visual", ptr %31, i32 0, i32 3
  %33 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZNSt10shared_ptrIN4urdf8MaterialEEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(16) %32, ptr noundef nonnull align 8 dereferenceable(16) %29) #4
  br label %69

34:                                               ; preds = %20
  %35 = load ptr, ptr %5, align 8, !tbaa !5
  %36 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf6VisualELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %35) #4
  %37 = getelementptr inbounds %"class.urdf::Visual", ptr %36, i32 0, i32 3
  %38 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %37) #4
  br i1 %38, label %39, label %67

39:                                               ; preds = %34
  %40 = load ptr, ptr %6, align 8, !tbaa !5
  %41 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %40) #4
  %42 = getelementptr inbounds %"class.urdf::ModelInterface", ptr %41, i32 0, i32 2
  call void @llvm.lifetime.start.p0(i64 48, ptr %10) #4
  %43 = load ptr, ptr %5, align 8, !tbaa !5
  %44 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf6VisualELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %43) #4
  %45 = getelementptr inbounds %"class.urdf::Visual", ptr %44, i32 0, i32 3
  %46 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %45) #4
  %47 = getelementptr inbounds %"class.urdf::Material", ptr %46, i32 0, i32 0
  %48 = load ptr, ptr %5, align 8, !tbaa !5
  %49 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf6VisualELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %48) #4
  %50 = getelementptr inbounds %"class.urdf::Visual", ptr %49, i32 0, i32 3
  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 %10, ptr noundef nonnull align 8 dereferenceable(32) %47, ptr noundef nonnull align 8 dereferenceable(16) %50)
          to label %51 unwind label %58

51:                                               ; preds = %39
  %52 = 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) %42, ptr noundef nonnull align 8 dereferenceable(48) %10)
          to label %53 unwind label %62

53:                                               ; preds = %51
  %54 = getelementptr inbounds { ptr, i8 }, ptr %13, i32 0, i32 0
  %55 = extractvalue { ptr, i8 } %52, 0
  store ptr %55, ptr %54, align 8
  %56 = getelementptr inbounds { ptr, i8 }, ptr %13, i32 0, i32 1
  %57 = extractvalue { ptr, i8 } %52, 1
  store i8 %57, ptr %56, align 8
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf8MaterialEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %10) #4
  call void @llvm.lifetime.end.p0(i64 48, ptr %10) #4
  br label %68

58:                                               ; preds = %39
  %59 = landingpad { ptr, i32 }
          cleanup
  %60 = extractvalue { ptr, i32 } %59, 0
  store ptr %60, ptr %11, align 8
  %61 = extractvalue { ptr, i32 } %59, 1
  store i32 %61, ptr %12, align 4
  br label %66

62:                                               ; preds = %51
  %63 = landingpad { ptr, i32 }
          cleanup
  %64 = extractvalue { ptr, i32 } %63, 0
  store ptr %64, ptr %11, align 8
  %65 = extractvalue { ptr, i32 } %63, 1
  store i32 %65, ptr %12, align 4
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf8MaterialEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %10) #4
  br label %66

66:                                               ; preds = %62, %58
  call void @llvm.lifetime.end.p0(i64 48, ptr %10) #4
  call void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %9) #4
  call void @llvm.lifetime.end.p0(i64 16, ptr %9) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #4
  br label %73

67:                                               ; preds = %34
  store i1 false, ptr %4, align 1
  store i32 1, ptr %14, align 4
  br label %70

68:                                               ; preds = %53
  br label %69

69:                                               ; preds = %68, %28
  store i1 true, ptr %4, align 1
  store i32 1, ptr %14, align 4
  br label %70

70:                                               ; preds = %69, %67
  call void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %9) #4
  call void @llvm.lifetime.end.p0(i64 16, ptr %9) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #4
  br label %71

71:                                               ; preds = %70, %19
  %72 = load i1, ptr %4, align 1
  ret i1 %72

73:                                               ; preds = %66
  %74 = load ptr, ptr %11, align 8
  %75 = load i32, ptr %12, align 4
  %76 = insertvalue { ptr, i32 } poison, ptr %74, 0
  %77 = insertvalue { ptr, i32 } %76, i32 %75, 1
  resume { ptr, i32 } %77
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf6VisualELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare noundef zeroext i1 @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(32)) #2 align 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)) #2 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)) #1 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)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZNSt10shared_ptrIN4urdf8MaterialEEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) #2 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)) #1 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)) #1

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

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

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

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


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

%"class.std::shared_ptr.7" = type { %"class.std::__shared_ptr.8" }
%"class.std::__shared_ptr.8" = type { ptr, %"class.std::__shared_count" }
%"class.std::__shared_count" = type { ptr }
%"struct.std::pair.26" = type { %"class.std::__cxx11::basic_string", %"class.std::shared_ptr.7" }
%"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] }

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf14assignMaterialERKSt10shared_ptrINS_6VisualEERS0_INS_14ModelInterfaceEEPKc(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr nocapture noundef readnone %2) local_unnamed_addr #1 personality ptr @__gxx_personality_v0 {
  %4 = alloca %"class.std::shared_ptr.7", align 8
  %5 = alloca %"struct.std::pair.26", align 8
  %6 = tail call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf6VisualELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #4
  %7 = getelementptr inbounds i8, ptr %6, i64 72
  %8 = tail call noundef zeroext i1 @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(32) %7) #4
  br i1 %8, label %37, label %9

9:                                                ; preds = %3
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %4) #4
  %10 = tail call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %1) #4
  %11 = tail call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf6VisualELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #4
  %12 = getelementptr inbounds i8, ptr %11, i64 72
  call void @_ZNK4urdf14ModelInterface11getMaterialERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind nonnull writable sret(%"class.std::shared_ptr.7") align 8 %4, ptr noundef nonnull align 8 dereferenceable(192) %10, ptr noundef nonnull align 8 dereferenceable(32) %12)
  %13 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %4) #4
  %14 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf6VisualELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #4
  %15 = getelementptr inbounds i8, ptr %14, i64 104
  br i1 %13, label %16, label %18

16:                                               ; preds = %9
  %17 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZNSt10shared_ptrIN4urdf8MaterialEEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(16) %15, ptr noundef nonnull align 8 dereferenceable(16) %4) #4
  br label %36

18:                                               ; preds = %9
  %19 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %15) #4
  br i1 %19, label %20, label %36

20:                                               ; preds = %18
  %21 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %1) #4
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %5) #4
  %22 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf6VisualELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #4
  %23 = getelementptr inbounds i8, ptr %22, i64 104
  %24 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %23) #4
  %25 = call noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf6VisualELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #4
  %26 = getelementptr inbounds i8, ptr %25, i64 104
  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 %5, ptr noundef nonnull align 8 dereferenceable(32) %24, ptr noundef nonnull align 8 dereferenceable(16) %26)
          to label %27 unwind label %31

27:                                               ; preds = %20
  %28 = getelementptr inbounds i8, ptr %21, i64 96
  %29 = 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) %28, ptr noundef nonnull align 8 dereferenceable(48) %5)
          to label %30 unwind label %33

30:                                               ; preds = %27
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf8MaterialEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %5) #4
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %5) #4
  br label %36

31:                                               ; preds = %20
  %32 = landingpad { ptr, i32 }
          cleanup
  br label %35

33:                                               ; preds = %27
  %34 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrIN4urdf8MaterialEEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %5) #4
  br label %35

35:                                               ; preds = %33, %31
  %.pn = phi { ptr, i32 } [ %34, %33 ], [ %32, %31 ]
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %5) #4
  call void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %4) #4
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %4) #4
  resume { ptr, i32 } %.pn

36:                                               ; preds = %16, %30, %18
  %.0 = phi i1 [ false, %18 ], [ true, %30 ], [ true, %16 ]
  call void @_ZNSt12__shared_ptrIN4urdf8MaterialELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %4) #4
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %4) #4
  br label %37

37:                                               ; preds = %3, %36
  %.1 = phi i1 [ %.0, %36 ], [ true, %3 ]
  ret i1 %.1
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt19__shared_ptr_accessIN4urdf6VisualELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare noundef zeroext i1 @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5emptyEv(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_accessIN4urdf14ModelInterfaceELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 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 #1 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 #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZNSt10shared_ptrIN4urdf8MaterialEEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2 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 #1 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 #1

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

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}


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