; LLVM IR from HiroIshida/tinyfk :: urdf_parser/src/joint.ll (ZN4urdf16exportJointMimicERNS_10JointMimicEP12TiXmlElement)

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

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

@.str.12 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.14 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.32 = 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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) #1

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) #2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

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

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

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

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

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

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

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf16exportJointMimicERNS_10JointMimicEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(48) %0, ptr noundef %1) #4 personality ptr @__gxx_personality_v0 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca i32, align 4
  %8 = alloca %"class.std::__cxx11::basic_string", align 8
  %9 = alloca %"class.std::allocator", align 1
  %10 = alloca %"class.std::__cxx11::basic_string", align 8
  %11 = alloca %"class.std::__cxx11::basic_string", align 8
  %12 = alloca %"class.std::allocator", align 1
  %13 = alloca %"class.std::__cxx11::basic_string", align 8
  %14 = alloca %"class.std::__cxx11::basic_string", align 8
  %15 = alloca %"class.std::allocator", align 1
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %16 = load ptr, ptr %3, align 8, !tbaa !5
  %17 = getelementptr inbounds %"class.urdf::JointMimic", ptr %16, i32 0, i32 2
  %18 = call noundef zeroext i1 @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(32) %17) #6
  br i1 %18, label %86, label %19

19:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #6
  %20 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 216) #7
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %20, ptr noundef @.str.32)
          to label %21 unwind label %44

21:                                               ; preds = %19
  store ptr %20, ptr %5, align 8, !tbaa !5
  %22 = load ptr, ptr %5, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %8) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %9) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %8, ptr noundef @.str.14, ptr noundef nonnull align 1 dereferenceable(1) %9)
          to label %23 unwind label %48

23:                                               ; preds = %21
  call void @llvm.lifetime.start.p0(i64 32, ptr %10) #6
  %24 = load ptr, ptr %3, align 8, !tbaa !5
  %25 = getelementptr inbounds %"class.urdf::JointMimic", ptr %24, i32 0, i32 0
  %26 = load double, ptr %25, align 8, !tbaa !9
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %10, double noundef %26)
          to label %27 unwind label %52

27:                                               ; preds = %23
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %22, ptr noundef nonnull align 8 dereferenceable(32) %8, ptr noundef nonnull align 8 dereferenceable(32) %10)
          to label %28 unwind label %56

28:                                               ; preds = %27
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %10) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %9) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %8) #6
  %29 = load ptr, ptr %5, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %11) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %12) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %12) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %11, ptr noundef @.str.13, ptr noundef nonnull align 1 dereferenceable(1) %12)
          to label %30 unwind label %62

30:                                               ; preds = %28
  call void @llvm.lifetime.start.p0(i64 32, ptr %13) #6
  %31 = load ptr, ptr %3, align 8, !tbaa !5
  %32 = getelementptr inbounds %"class.urdf::JointMimic", ptr %31, i32 0, i32 1
  %33 = load double, ptr %32, align 8, !tbaa !15
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %13, double noundef %33)
          to label %34 unwind label %66

34:                                               ; preds = %30
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %29, ptr noundef nonnull align 8 dereferenceable(32) %11, ptr noundef nonnull align 8 dereferenceable(32) %13)
          to label %35 unwind label %70

35:                                               ; preds = %34
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %13) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %12) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %12) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %11) #6
  %36 = load ptr, ptr %5, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %14) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %15) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %15) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %14, ptr noundef @.str.12, ptr noundef nonnull align 1 dereferenceable(1) %15)
          to label %37 unwind label %76

37:                                               ; preds = %35
  %38 = load ptr, ptr %3, align 8, !tbaa !5
  %39 = getelementptr inbounds %"class.urdf::JointMimic", ptr %38, i32 0, i32 2
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %36, ptr noundef nonnull align 8 dereferenceable(32) %14, ptr noundef nonnull align 8 dereferenceable(32) %39)
          to label %40 unwind label %80

40:                                               ; preds = %37
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %14) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %15) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %15) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %14) #6
  %41 = load ptr, ptr %4, align 8, !tbaa !5
  %42 = load ptr, ptr %5, align 8, !tbaa !5
  %43 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %41, ptr noundef %42)
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #6
  br label %86

44:                                               ; preds = %19
  %45 = landingpad { ptr, i32 }
          cleanup
  %46 = extractvalue { ptr, i32 } %45, 0
  store ptr %46, ptr %6, align 8
  %47 = extractvalue { ptr, i32 } %45, 1
  store i32 %47, ptr %7, align 4
  call void @_ZdlPvm(ptr noundef %20, i64 noundef 216) #8
  br label %85

48:                                               ; preds = %21
  %49 = landingpad { ptr, i32 }
          cleanup
  %50 = extractvalue { ptr, i32 } %49, 0
  store ptr %50, ptr %6, align 8
  %51 = extractvalue { ptr, i32 } %49, 1
  store i32 %51, ptr %7, align 4
  br label %61

52:                                               ; preds = %23
  %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 %60

56:                                               ; preds = %27
  %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
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #6
  br label %60

60:                                               ; preds = %56, %52
  call void @llvm.lifetime.end.p0(i64 32, ptr %10) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #6
  br label %61

61:                                               ; preds = %60, %48
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %9) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %8) #6
  br label %85

62:                                               ; preds = %28
  %63 = landingpad { ptr, i32 }
          cleanup
  %64 = extractvalue { ptr, i32 } %63, 0
  store ptr %64, ptr %6, align 8
  %65 = extractvalue { ptr, i32 } %63, 1
  store i32 %65, ptr %7, align 4
  br label %75

66:                                               ; preds = %30
  %67 = landingpad { ptr, i32 }
          cleanup
  %68 = extractvalue { ptr, i32 } %67, 0
  store ptr %68, ptr %6, align 8
  %69 = extractvalue { ptr, i32 } %67, 1
  store i32 %69, ptr %7, align 4
  br label %74

70:                                               ; preds = %34
  %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
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #6
  br label %74

74:                                               ; preds = %70, %66
  call void @llvm.lifetime.end.p0(i64 32, ptr %13) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #6
  br label %75

75:                                               ; preds = %74, %62
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %12) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %12) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %11) #6
  br label %85

76:                                               ; preds = %35
  %77 = landingpad { ptr, i32 }
          cleanup
  %78 = extractvalue { ptr, i32 } %77, 0
  store ptr %78, ptr %6, align 8
  %79 = extractvalue { ptr, i32 } %77, 1
  store i32 %79, ptr %7, align 4
  br label %84

80:                                               ; preds = %37
  %81 = landingpad { ptr, i32 }
          cleanup
  %82 = extractvalue { ptr, i32 } %81, 0
  store ptr %82, ptr %6, align 8
  %83 = extractvalue { ptr, i32 } %81, 1
  store i32 %83, ptr %7, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %14) #6
  br label %84

84:                                               ; preds = %80, %76
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %15) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %15) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %14) #6
  br label %85

85:                                               ; preds = %84, %75, %61, %44
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #6
  br label %87

86:                                               ; preds = %40, %2
  ret i1 true

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

; Function Attrs: mustprogress nounwind uwtable
declare noundef zeroext i1 @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(32)) #3 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nounwind }
attributes #7 = { builtin allocsize(0) }
attributes #8 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !11, i64 0}
!10 = !{!"_ZTSN4urdf10JointMimicE", !11, i64 0, !11, i64 8, !12, i64 16}
!11 = !{!"double", !7, i64 0}
!12 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !13, i64 0, !14, i64 8, !7, i64 16}
!13 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !6, i64 0}
!14 = !{!"long", !7, i64 0}
!15 = !{!10, !11, i64 8}


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

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

@.str.12 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.14 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.32 = 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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) local_unnamed_addr #1

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) local_unnamed_addr #2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

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

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

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

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

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

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

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf16exportJointMimicERNS_10JointMimicEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(48) %0, ptr noundef %1) local_unnamed_addr #4 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.std::__cxx11::basic_string", align 8
  %4 = alloca %"class.std::allocator", align 1
  %5 = alloca %"class.std::__cxx11::basic_string", align 8
  %6 = alloca %"class.std::__cxx11::basic_string", align 8
  %7 = alloca %"class.std::allocator", align 1
  %8 = alloca %"class.std::__cxx11::basic_string", align 8
  %9 = alloca %"class.std::__cxx11::basic_string", align 8
  %10 = alloca %"class.std::allocator", align 1
  %11 = getelementptr inbounds i8, ptr %0, i64 16
  %12 = tail call noundef zeroext i1 @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(32) %11) #6
  br i1 %12, label %52, label %13

13:                                               ; preds = %2
  %14 = tail call noalias noundef nonnull dereferenceable(216) ptr @_Znwm(i64 noundef 216) #7
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %14, ptr noundef nonnull @.str.32)
          to label %15 unwind label %28

15:                                               ; preds = %13
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %3) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %4) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %3, ptr noundef nonnull @.str.14, ptr noundef nonnull align 1 dereferenceable(1) %4)
          to label %16 unwind label %30

16:                                               ; preds = %15
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %5) #6
  %17 = load double, ptr %0, align 8, !tbaa !5
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %5, double noundef %17)
          to label %18 unwind label %32

18:                                               ; preds = %16
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %14, ptr noundef nonnull align 8 dereferenceable(32) %3, ptr noundef nonnull align 8 dereferenceable(32) %5)
          to label %19 unwind label %34

19:                                               ; preds = %18
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %3) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %6) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %7) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %6, ptr noundef nonnull @.str.13, ptr noundef nonnull align 1 dereferenceable(1) %7)
          to label %20 unwind label %38

20:                                               ; preds = %19
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %8) #6
  %21 = getelementptr inbounds i8, ptr %0, i64 8
  %22 = load double, ptr %21, align 8, !tbaa !14
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %8, double noundef %22)
          to label %23 unwind label %40

23:                                               ; preds = %20
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %14, ptr noundef nonnull align 8 dereferenceable(32) %6, ptr noundef nonnull align 8 dereferenceable(32) %8)
          to label %24 unwind label %42

24:                                               ; preds = %23
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %7) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %9) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %10) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %10) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %9, ptr noundef nonnull @.str.12, ptr noundef nonnull align 1 dereferenceable(1) %10)
          to label %25 unwind label %46

25:                                               ; preds = %24
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %14, ptr noundef nonnull align 8 dereferenceable(32) %9, ptr noundef nonnull align 8 dereferenceable(32) %11)
          to label %26 unwind label %48

26:                                               ; preds = %25
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %10) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %10) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %9) #6
  %27 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %1, ptr noundef nonnull %14)
  br label %52

28:                                               ; preds = %13
  %29 = landingpad { ptr, i32 }
          cleanup
  tail call void @_ZdlPvm(ptr noundef nonnull %14, i64 noundef 216) #8
  br label %51

30:                                               ; preds = %15
  %31 = landingpad { ptr, i32 }
          cleanup
  br label %37

32:                                               ; preds = %16
  %33 = landingpad { ptr, i32 }
          cleanup
  br label %36

34:                                               ; preds = %18
  %35 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #6
  br label %36

36:                                               ; preds = %34, %32
  %.pn = phi { ptr, i32 } [ %35, %34 ], [ %33, %32 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #6
  br label %37

37:                                               ; preds = %36, %30
  %.pn.pn = phi { ptr, i32 } [ %.pn, %36 ], [ %31, %30 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %3) #6
  br label %51

38:                                               ; preds = %19
  %39 = landingpad { ptr, i32 }
          cleanup
  br label %45

40:                                               ; preds = %20
  %41 = landingpad { ptr, i32 }
          cleanup
  br label %44

42:                                               ; preds = %23
  %43 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #6
  br label %44

44:                                               ; preds = %42, %40
  %.pn18 = phi { ptr, i32 } [ %43, %42 ], [ %41, %40 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #6
  br label %45

45:                                               ; preds = %44, %38
  %.pn18.pn = phi { ptr, i32 } [ %.pn18, %44 ], [ %39, %38 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %7) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #6
  br label %51

46:                                               ; preds = %24
  %47 = landingpad { ptr, i32 }
          cleanup
  br label %50

48:                                               ; preds = %25
  %49 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #6
  br label %50

50:                                               ; preds = %48, %46
  %.pn21 = phi { ptr, i32 } [ %49, %48 ], [ %47, %46 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %10) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %10) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %9) #6
  br label %51

51:                                               ; preds = %50, %45, %37, %28
  %.pn21.pn = phi { ptr, i32 } [ %.pn21, %50 ], [ %.pn18.pn, %45 ], [ %.pn.pn, %37 ], [ %29, %28 ]
  resume { ptr, i32 } %.pn21.pn

52:                                               ; preds = %26, %2
  ret i1 true
}

; Function Attrs: mustprogress nounwind uwtable
declare noundef zeroext i1 @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #3 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nounwind }
attributes #7 = { builtin allocsize(0) }
attributes #8 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !7, i64 0}
!6 = !{!"_ZTSN4urdf10JointMimicE", !7, i64 0, !7, i64 8, !10, i64 16}
!7 = !{!"double", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !11, i64 0, !13, i64 8, !8, i64 16}
!11 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !12, i64 0}
!12 = !{!"any pointer", !8, i64 0}
!13 = !{!"long", !8, i64 0}
!14 = !{!6, !7, i64 8}


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