; LLVM IR from HiroIshida/tinyfk :: urdf_parser/src/link.ll (ZN4urdf14exportInertialERNS_8InertialEP12TiXmlElement)

; 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::Inertial" = type { %"class.urdf::Pose", double, double, double, double, double, double, double }
%"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 }

@.str.17 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.27 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.34 = external hidden unnamed_addr constant [9 x i8], align 1

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

declare i32 @__gxx_personality_v0(...)

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

; 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 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: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) #3

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) #4

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

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

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf14exportInertialERNS_8InertialEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(112) %0, ptr noundef %1) #2 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 ptr, align 8
  %9 = alloca %"class.std::__cxx11::basic_string", align 8
  %10 = alloca %"class.std::allocator", align 1
  %11 = alloca %"class.std::__cxx11::basic_string", align 8
  %12 = alloca ptr, align 8
  %13 = alloca %"class.std::__cxx11::basic_string", align 8
  %14 = alloca %"class.std::allocator", align 1
  %15 = alloca %"class.std::__cxx11::basic_string", align 8
  %16 = alloca %"class.std::__cxx11::basic_string", align 8
  %17 = alloca %"class.std::allocator", align 1
  %18 = alloca %"class.std::__cxx11::basic_string", align 8
  %19 = alloca %"class.std::__cxx11::basic_string", align 8
  %20 = alloca %"class.std::allocator", align 1
  %21 = alloca %"class.std::__cxx11::basic_string", align 8
  %22 = alloca %"class.std::__cxx11::basic_string", align 8
  %23 = alloca %"class.std::allocator", align 1
  %24 = alloca %"class.std::__cxx11::basic_string", align 8
  %25 = alloca %"class.std::__cxx11::basic_string", align 8
  %26 = alloca %"class.std::allocator", align 1
  %27 = alloca %"class.std::__cxx11::basic_string", align 8
  %28 = alloca %"class.std::__cxx11::basic_string", align 8
  %29 = alloca %"class.std::allocator", align 1
  %30 = alloca %"class.std::__cxx11::basic_string", align 8
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #6
  %31 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 216) #7
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %31, ptr noundef @.str.34)
          to label %32 unwind label %99

32:                                               ; preds = %2
  store ptr %31, ptr %5, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #6
  %33 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 216) #7
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %33, ptr noundef @.str.17)
          to label %34 unwind label %103

34:                                               ; preds = %32
  store ptr %33, ptr %8, align 8, !tbaa !5
  %35 = load ptr, ptr %8, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %9) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %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 @.str.18, ptr noundef nonnull align 1 dereferenceable(1) %10)
          to label %36 unwind label %107

36:                                               ; preds = %34
  call void @llvm.lifetime.start.p0(i64 32, ptr %11) #6
  %37 = load ptr, ptr %3, align 8, !tbaa !5
  %38 = getelementptr inbounds %"class.urdf::Inertial", ptr %37, i32 0, i32 1
  %39 = load double, ptr %38, align 8, !tbaa !9
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %11, double noundef %39)
          to label %40 unwind label %111

40:                                               ; preds = %36
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %35, ptr noundef nonnull align 8 dereferenceable(32) %9, ptr noundef nonnull align 8 dereferenceable(32) %11)
          to label %41 unwind label %115

41:                                               ; preds = %40
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %11) #6
  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 %10) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %9) #6
  %42 = load ptr, ptr %5, align 8, !tbaa !5
  %43 = load ptr, ptr %8, align 8, !tbaa !5
  %44 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %42, ptr noundef %43)
  %45 = load ptr, ptr %3, align 8, !tbaa !5
  %46 = getelementptr inbounds %"class.urdf::Inertial", ptr %45, i32 0, i32 0
  %47 = load ptr, ptr %5, align 8, !tbaa !5
  %48 = call noundef zeroext i1 @_ZN4urdf10exportPoseERNS_4PoseEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(56) %46, ptr noundef %47)
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #6
  %49 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 216) #7
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %49, ptr noundef @.str.21)
          to label %50 unwind label %121

50:                                               ; preds = %41
  store ptr %49, ptr %12, align 8, !tbaa !5
  %51 = load ptr, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %13) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %14) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %14) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %13, ptr noundef @.str.22, ptr noundef nonnull align 1 dereferenceable(1) %14)
          to label %52 unwind label %125

52:                                               ; preds = %50
  call void @llvm.lifetime.start.p0(i64 32, ptr %15) #6
  %53 = load ptr, ptr %3, align 8, !tbaa !5
  %54 = getelementptr inbounds %"class.urdf::Inertial", ptr %53, i32 0, i32 2
  %55 = load double, ptr %54, align 8, !tbaa !15
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %15, double noundef %55)
          to label %56 unwind label %129

56:                                               ; preds = %52
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %51, ptr noundef nonnull align 8 dereferenceable(32) %13, ptr noundef nonnull align 8 dereferenceable(32) %15)
          to label %57 unwind label %133

57:                                               ; preds = %56
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %15) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %14) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %13) #6
  %58 = load ptr, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %16) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %17) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %17) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %16, ptr noundef @.str.23, ptr noundef nonnull align 1 dereferenceable(1) %17)
          to label %59 unwind label %139

59:                                               ; preds = %57
  call void @llvm.lifetime.start.p0(i64 32, ptr %18) #6
  %60 = load ptr, ptr %3, align 8, !tbaa !5
  %61 = getelementptr inbounds %"class.urdf::Inertial", ptr %60, i32 0, i32 3
  %62 = load double, ptr %61, align 8, !tbaa !16
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %18, double noundef %62)
          to label %63 unwind label %143

63:                                               ; preds = %59
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %58, ptr noundef nonnull align 8 dereferenceable(32) %16, ptr noundef nonnull align 8 dereferenceable(32) %18)
          to label %64 unwind label %147

64:                                               ; preds = %63
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %18) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %18) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %17) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %17) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %16) #6
  %65 = load ptr, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %19) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %20) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %20) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %19, ptr noundef @.str.24, ptr noundef nonnull align 1 dereferenceable(1) %20)
          to label %66 unwind label %153

66:                                               ; preds = %64
  call void @llvm.lifetime.start.p0(i64 32, ptr %21) #6
  %67 = load ptr, ptr %3, align 8, !tbaa !5
  %68 = getelementptr inbounds %"class.urdf::Inertial", ptr %67, i32 0, i32 4
  %69 = load double, ptr %68, align 8, !tbaa !17
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %21, double noundef %69)
          to label %70 unwind label %157

70:                                               ; preds = %66
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %65, ptr noundef nonnull align 8 dereferenceable(32) %19, ptr noundef nonnull align 8 dereferenceable(32) %21)
          to label %71 unwind label %161

71:                                               ; preds = %70
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %21) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %20) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %20) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %19) #6
  %72 = load ptr, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %22) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %23) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %23) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %22, ptr noundef @.str.25, ptr noundef nonnull align 1 dereferenceable(1) %23)
          to label %73 unwind label %167

73:                                               ; preds = %71
  call void @llvm.lifetime.start.p0(i64 32, ptr %24) #6
  %74 = load ptr, ptr %3, align 8, !tbaa !5
  %75 = getelementptr inbounds %"class.urdf::Inertial", ptr %74, i32 0, i32 5
  %76 = load double, ptr %75, align 8, !tbaa !18
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %24, double noundef %76)
          to label %77 unwind label %171

77:                                               ; preds = %73
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %72, ptr noundef nonnull align 8 dereferenceable(32) %22, ptr noundef nonnull align 8 dereferenceable(32) %24)
          to label %78 unwind label %175

78:                                               ; preds = %77
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %24) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %24) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %22) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %23) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %23) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %22) #6
  %79 = load ptr, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %25) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %26) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %26) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %25, ptr noundef @.str.26, ptr noundef nonnull align 1 dereferenceable(1) %26)
          to label %80 unwind label %181

80:                                               ; preds = %78
  call void @llvm.lifetime.start.p0(i64 32, ptr %27) #6
  %81 = load ptr, ptr %3, align 8, !tbaa !5
  %82 = getelementptr inbounds %"class.urdf::Inertial", ptr %81, i32 0, i32 6
  %83 = load double, ptr %82, align 8, !tbaa !19
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %27, double noundef %83)
          to label %84 unwind label %185

84:                                               ; preds = %80
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %79, ptr noundef nonnull align 8 dereferenceable(32) %25, ptr noundef nonnull align 8 dereferenceable(32) %27)
          to label %85 unwind label %189

85:                                               ; preds = %84
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %27) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %27) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %25) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %26) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %26) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %25) #6
  %86 = load ptr, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %28) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %29) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %29) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %28, ptr noundef @.str.27, ptr noundef nonnull align 1 dereferenceable(1) %29)
          to label %87 unwind label %195

87:                                               ; preds = %85
  call void @llvm.lifetime.start.p0(i64 32, ptr %30) #6
  %88 = load ptr, ptr %3, align 8, !tbaa !5
  %89 = getelementptr inbounds %"class.urdf::Inertial", ptr %88, i32 0, i32 7
  %90 = load double, ptr %89, align 8, !tbaa !20
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %30, double noundef %90)
          to label %91 unwind label %199

91:                                               ; preds = %87
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %86, ptr noundef nonnull align 8 dereferenceable(32) %28, ptr noundef nonnull align 8 dereferenceable(32) %30)
          to label %92 unwind label %203

92:                                               ; preds = %91
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %30) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %30) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %28) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %29) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %29) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %28) #6
  %93 = load ptr, ptr %5, align 8, !tbaa !5
  %94 = load ptr, ptr %12, align 8, !tbaa !5
  %95 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %93, ptr noundef %94)
  %96 = load ptr, ptr %4, align 8, !tbaa !5
  %97 = load ptr, ptr %5, align 8, !tbaa !5
  %98 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %96, ptr noundef %97)
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #6
  ret i1 true

99:                                               ; preds = %2
  %100 = landingpad { ptr, i32 }
          cleanup
  %101 = extractvalue { ptr, i32 } %100, 0
  store ptr %101, ptr %6, align 8
  %102 = extractvalue { ptr, i32 } %100, 1
  store i32 %102, ptr %7, align 4
  call void @_ZdlPvm(ptr noundef %31, i64 noundef 216) #8
  br label %211

103:                                              ; preds = %32
  %104 = landingpad { ptr, i32 }
          cleanup
  %105 = extractvalue { ptr, i32 } %104, 0
  store ptr %105, ptr %6, align 8
  %106 = extractvalue { ptr, i32 } %104, 1
  store i32 %106, ptr %7, align 4
  call void @_ZdlPvm(ptr noundef %33, i64 noundef 216) #8
  br label %210

107:                                              ; preds = %34
  %108 = landingpad { ptr, i32 }
          cleanup
  %109 = extractvalue { ptr, i32 } %108, 0
  store ptr %109, ptr %6, align 8
  %110 = extractvalue { ptr, i32 } %108, 1
  store i32 %110, ptr %7, align 4
  br label %120

111:                                              ; preds = %36
  %112 = landingpad { ptr, i32 }
          cleanup
  %113 = extractvalue { ptr, i32 } %112, 0
  store ptr %113, ptr %6, align 8
  %114 = extractvalue { ptr, i32 } %112, 1
  store i32 %114, ptr %7, align 4
  br label %119

115:                                              ; preds = %40
  %116 = landingpad { ptr, i32 }
          cleanup
  %117 = extractvalue { ptr, i32 } %116, 0
  store ptr %117, ptr %6, align 8
  %118 = extractvalue { ptr, i32 } %116, 1
  store i32 %118, ptr %7, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #6
  br label %119

119:                                              ; preds = %115, %111
  call void @llvm.lifetime.end.p0(i64 32, ptr %11) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #6
  br label %120

120:                                              ; preds = %119, %107
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %10) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %10) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %9) #6
  br label %210

121:                                              ; preds = %41
  %122 = landingpad { ptr, i32 }
          cleanup
  %123 = extractvalue { ptr, i32 } %122, 0
  store ptr %123, ptr %6, align 8
  %124 = extractvalue { ptr, i32 } %122, 1
  store i32 %124, ptr %7, align 4
  call void @_ZdlPvm(ptr noundef %49, i64 noundef 216) #8
  br label %209

125:                                              ; preds = %50
  %126 = landingpad { ptr, i32 }
          cleanup
  %127 = extractvalue { ptr, i32 } %126, 0
  store ptr %127, ptr %6, align 8
  %128 = extractvalue { ptr, i32 } %126, 1
  store i32 %128, ptr %7, align 4
  br label %138

129:                                              ; preds = %52
  %130 = landingpad { ptr, i32 }
          cleanup
  %131 = extractvalue { ptr, i32 } %130, 0
  store ptr %131, ptr %6, align 8
  %132 = extractvalue { ptr, i32 } %130, 1
  store i32 %132, ptr %7, align 4
  br label %137

133:                                              ; preds = %56
  %134 = landingpad { ptr, i32 }
          cleanup
  %135 = extractvalue { ptr, i32 } %134, 0
  store ptr %135, ptr %6, align 8
  %136 = extractvalue { ptr, i32 } %134, 1
  store i32 %136, ptr %7, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #6
  br label %137

137:                                              ; preds = %133, %129
  call void @llvm.lifetime.end.p0(i64 32, ptr %15) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #6
  br label %138

138:                                              ; preds = %137, %125
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %14) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %13) #6
  br label %209

139:                                              ; preds = %57
  %140 = landingpad { ptr, i32 }
          cleanup
  %141 = extractvalue { ptr, i32 } %140, 0
  store ptr %141, ptr %6, align 8
  %142 = extractvalue { ptr, i32 } %140, 1
  store i32 %142, ptr %7, align 4
  br label %152

143:                                              ; preds = %59
  %144 = landingpad { ptr, i32 }
          cleanup
  %145 = extractvalue { ptr, i32 } %144, 0
  store ptr %145, ptr %6, align 8
  %146 = extractvalue { ptr, i32 } %144, 1
  store i32 %146, ptr %7, align 4
  br label %151

147:                                              ; preds = %63
  %148 = landingpad { ptr, i32 }
          cleanup
  %149 = extractvalue { ptr, i32 } %148, 0
  store ptr %149, ptr %6, align 8
  %150 = extractvalue { ptr, i32 } %148, 1
  store i32 %150, ptr %7, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %18) #6
  br label %151

151:                                              ; preds = %147, %143
  call void @llvm.lifetime.end.p0(i64 32, ptr %18) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #6
  br label %152

152:                                              ; preds = %151, %139
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %17) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %17) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %16) #6
  br label %209

153:                                              ; preds = %64
  %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 %166

157:                                              ; preds = %66
  %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
  br label %165

161:                                              ; preds = %70
  %162 = landingpad { ptr, i32 }
          cleanup
  %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
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #6
  br label %165

165:                                              ; preds = %161, %157
  call void @llvm.lifetime.end.p0(i64 32, ptr %21) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #6
  br label %166

166:                                              ; preds = %165, %153
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %20) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %20) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %19) #6
  br label %209

167:                                              ; preds = %71
  %168 = landingpad { ptr, i32 }
          cleanup
  %169 = extractvalue { ptr, i32 } %168, 0
  store ptr %169, ptr %6, align 8
  %170 = extractvalue { ptr, i32 } %168, 1
  store i32 %170, ptr %7, align 4
  br label %180

171:                                              ; preds = %73
  %172 = landingpad { ptr, i32 }
          cleanup
  %173 = extractvalue { ptr, i32 } %172, 0
  store ptr %173, ptr %6, align 8
  %174 = extractvalue { ptr, i32 } %172, 1
  store i32 %174, ptr %7, align 4
  br label %179

175:                                              ; preds = %77
  %176 = landingpad { ptr, i32 }
          cleanup
  %177 = extractvalue { ptr, i32 } %176, 0
  store ptr %177, ptr %6, align 8
  %178 = extractvalue { ptr, i32 } %176, 1
  store i32 %178, ptr %7, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %24) #6
  br label %179

179:                                              ; preds = %175, %171
  call void @llvm.lifetime.end.p0(i64 32, ptr %24) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %22) #6
  br label %180

180:                                              ; preds = %179, %167
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %23) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %23) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %22) #6
  br label %209

181:                                              ; preds = %78
  %182 = landingpad { ptr, i32 }
          cleanup
  %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 %194

185:                                              ; preds = %80
  %186 = landingpad { ptr, i32 }
          cleanup
  %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
  br label %193

189:                                              ; preds = %84
  %190 = landingpad { ptr, i32 }
          cleanup
  %191 = extractvalue { ptr, i32 } %190, 0
  store ptr %191, ptr %6, align 8
  %192 = extractvalue { ptr, i32 } %190, 1
  store i32 %192, ptr %7, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %27) #6
  br label %193

193:                                              ; preds = %189, %185
  call void @llvm.lifetime.end.p0(i64 32, ptr %27) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %25) #6
  br label %194

194:                                              ; preds = %193, %181
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %26) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %26) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %25) #6
  br label %209

195:                                              ; preds = %85
  %196 = landingpad { ptr, i32 }
          cleanup
  %197 = extractvalue { ptr, i32 } %196, 0
  store ptr %197, ptr %6, align 8
  %198 = extractvalue { ptr, i32 } %196, 1
  store i32 %198, ptr %7, align 4
  br label %208

199:                                              ; preds = %87
  %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
  br label %207

203:                                              ; preds = %91
  %204 = landingpad { ptr, i32 }
          cleanup
  %205 = extractvalue { ptr, i32 } %204, 0
  store ptr %205, ptr %6, align 8
  %206 = extractvalue { ptr, i32 } %204, 1
  store i32 %206, ptr %7, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %30) #6
  br label %207

207:                                              ; preds = %203, %199
  call void @llvm.lifetime.end.p0(i64 32, ptr %30) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %28) #6
  br label %208

208:                                              ; preds = %207, %195
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %29) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %29) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %28) #6
  br label %209

209:                                              ; preds = %208, %194, %180, %166, %152, %138, %121
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #6
  br label %210

210:                                              ; preds = %209, %120, %103
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #6
  br label %211

211:                                              ; preds = %210, %99
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #6
  br label %212

212:                                              ; preds = %211
  %213 = load ptr, ptr %6, align 8
  %214 = load i32, ptr %7, align 4
  %215 = insertvalue { ptr, i32 } poison, ptr %213, 0
  %216 = insertvalue { ptr, i32 } %215, i32 %214, 1
  resume { ptr, i32 } %216
}

declare noundef zeroext i1 @_ZN4urdf10exportPoseERNS_4PoseEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef) #5

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 = { 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 #4 = { 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 #5 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nounwind }
attributes #7 = { builtin allocsize(0) }
attributes #8 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !13, i64 56}
!10 = !{!"_ZTSN4urdf8InertialE", !11, i64 0, !13, i64 56, !13, i64 64, !13, i64 72, !13, i64 80, !13, i64 88, !13, i64 96, !13, i64 104}
!11 = !{!"_ZTSN4urdf4PoseE", !12, i64 0, !14, i64 24}
!12 = !{!"_ZTSN4urdf7Vector3E", !13, i64 0, !13, i64 8, !13, i64 16}
!13 = !{!"double", !7, i64 0}
!14 = !{!"_ZTSN4urdf8RotationE", !13, i64 0, !13, i64 8, !13, i64 16, !13, i64 24}
!15 = !{!10, !13, i64 64}
!16 = !{!10, !13, i64 72}
!17 = !{!10, !13, i64 80}
!18 = !{!10, !13, i64 88}
!19 = !{!10, !13, i64 96}
!20 = !{!10, !13, i64 104}


; 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.17 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.27 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.34 = external hidden unnamed_addr constant [9 x i8], align 1

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

declare i32 @__gxx_personality_v0(...)

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

; 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 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: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) local_unnamed_addr #3

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) local_unnamed_addr #4

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

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf14exportInertialERNS_8InertialEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(112) %0, ptr noundef %1) local_unnamed_addr #2 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 = alloca %"class.std::__cxx11::basic_string", align 8
  %12 = alloca %"class.std::__cxx11::basic_string", align 8
  %13 = alloca %"class.std::allocator", align 1
  %14 = alloca %"class.std::__cxx11::basic_string", align 8
  %15 = alloca %"class.std::__cxx11::basic_string", align 8
  %16 = alloca %"class.std::allocator", align 1
  %17 = alloca %"class.std::__cxx11::basic_string", align 8
  %18 = alloca %"class.std::__cxx11::basic_string", align 8
  %19 = alloca %"class.std::allocator", align 1
  %20 = alloca %"class.std::__cxx11::basic_string", align 8
  %21 = alloca %"class.std::__cxx11::basic_string", align 8
  %22 = alloca %"class.std::allocator", align 1
  %23 = alloca %"class.std::__cxx11::basic_string", align 8
  %24 = tail call noalias noundef nonnull dereferenceable(216) ptr @_Znwm(i64 noundef 216) #6
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %24, ptr noundef nonnull @.str.34)
          to label %25 unwind label %69

25:                                               ; preds = %2
  %26 = tail call noalias noundef nonnull dereferenceable(216) ptr @_Znwm(i64 noundef 216) #6
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %26, ptr noundef nonnull @.str.17)
          to label %27 unwind label %71

27:                                               ; preds = %25
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %3) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %4) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %3, ptr noundef nonnull @.str.18, ptr noundef nonnull align 1 dereferenceable(1) %4)
          to label %28 unwind label %73

28:                                               ; preds = %27
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %5) #7
  %29 = getelementptr inbounds i8, ptr %0, i64 56
  %30 = load double, ptr %29, 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 %30)
          to label %31 unwind label %75

31:                                               ; preds = %28
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %26, ptr noundef nonnull align 8 dereferenceable(32) %3, ptr noundef nonnull align 8 dereferenceable(32) %5)
          to label %32 unwind label %77

32:                                               ; preds = %31
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %3) #7
  %33 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %24, ptr noundef nonnull %26)
  %34 = call noundef zeroext i1 @_ZN4urdf10exportPoseERNS_4PoseEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(56) %0, ptr noundef nonnull %24)
  %35 = call noalias noundef nonnull dereferenceable(216) ptr @_Znwm(i64 noundef 216) #6
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %35, ptr noundef nonnull @.str.21)
          to label %36 unwind label %81

36:                                               ; preds = %32
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %6) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %7) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %6, ptr noundef nonnull @.str.22, ptr noundef nonnull align 1 dereferenceable(1) %7)
          to label %37 unwind label %83

37:                                               ; preds = %36
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %8) #7
  %38 = getelementptr inbounds i8, ptr %0, i64 64
  %39 = load double, ptr %38, align 8, !tbaa !13
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %8, double noundef %39)
          to label %40 unwind label %85

40:                                               ; preds = %37
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %35, ptr noundef nonnull align 8 dereferenceable(32) %6, ptr noundef nonnull align 8 dereferenceable(32) %8)
          to label %41 unwind label %87

41:                                               ; preds = %40
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %7) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #7
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %9) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %10) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %10) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %9, ptr noundef nonnull @.str.23, ptr noundef nonnull align 1 dereferenceable(1) %10)
          to label %42 unwind label %91

42:                                               ; preds = %41
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %11) #7
  %43 = getelementptr inbounds i8, ptr %0, i64 72
  %44 = load double, ptr %43, align 8, !tbaa !14
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %11, double noundef %44)
          to label %45 unwind label %93

45:                                               ; preds = %42
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %35, ptr noundef nonnull align 8 dereferenceable(32) %9, ptr noundef nonnull align 8 dereferenceable(32) %11)
          to label %46 unwind label %95

46:                                               ; preds = %45
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %11) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %10) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %10) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %9) #7
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %12) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %13) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %13) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %12, ptr noundef nonnull @.str.24, ptr noundef nonnull align 1 dereferenceable(1) %13)
          to label %47 unwind label %99

47:                                               ; preds = %46
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %14) #7
  %48 = getelementptr inbounds i8, ptr %0, i64 80
  %49 = load double, ptr %48, align 8, !tbaa !15
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %14, double noundef %49)
          to label %50 unwind label %101

50:                                               ; preds = %47
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %35, ptr noundef nonnull align 8 dereferenceable(32) %12, ptr noundef nonnull align 8 dereferenceable(32) %14)
          to label %51 unwind label %103

51:                                               ; preds = %50
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %14) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %14) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %13) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %13) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %12) #7
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %15) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %16) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %16) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %15, ptr noundef nonnull @.str.25, ptr noundef nonnull align 1 dereferenceable(1) %16)
          to label %52 unwind label %107

52:                                               ; preds = %51
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %17) #7
  %53 = getelementptr inbounds i8, ptr %0, i64 88
  %54 = load double, ptr %53, align 8, !tbaa !16
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %17, double noundef %54)
          to label %55 unwind label %109

55:                                               ; preds = %52
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %35, ptr noundef nonnull align 8 dereferenceable(32) %15, ptr noundef nonnull align 8 dereferenceable(32) %17)
          to label %56 unwind label %111

56:                                               ; preds = %55
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %17) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %17) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %16) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %16) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %15) #7
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %18) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %19) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %19) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %18, ptr noundef nonnull @.str.26, ptr noundef nonnull align 1 dereferenceable(1) %19)
          to label %57 unwind label %115

57:                                               ; preds = %56
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %20) #7
  %58 = getelementptr inbounds i8, ptr %0, i64 96
  %59 = load double, ptr %58, align 8, !tbaa !17
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %20, double noundef %59)
          to label %60 unwind label %117

60:                                               ; preds = %57
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %35, ptr noundef nonnull align 8 dereferenceable(32) %18, ptr noundef nonnull align 8 dereferenceable(32) %20)
          to label %61 unwind label %119

61:                                               ; preds = %60
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %20) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %18) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %19) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %19) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %18) #7
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %21) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %22) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %22) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %21, ptr noundef nonnull @.str.27, ptr noundef nonnull align 1 dereferenceable(1) %22)
          to label %62 unwind label %123

62:                                               ; preds = %61
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %23) #7
  %63 = getelementptr inbounds i8, ptr %0, i64 104
  %64 = load double, ptr %63, align 8, !tbaa !18
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11Ed(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %23, double noundef %64)
          to label %65 unwind label %125

65:                                               ; preds = %62
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %35, ptr noundef nonnull align 8 dereferenceable(32) %21, ptr noundef nonnull align 8 dereferenceable(32) %23)
          to label %66 unwind label %127

66:                                               ; preds = %65
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %23) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %23) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %22) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %22) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %21) #7
  %67 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %24, ptr noundef nonnull %35)
  %68 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %1, ptr noundef nonnull %24)
  ret i1 true

69:                                               ; preds = %2
  %70 = landingpad { ptr, i32 }
          cleanup
  tail call void @_ZdlPvm(ptr noundef nonnull %24, i64 noundef 216) #8
  br label %131

71:                                               ; preds = %25
  %72 = landingpad { ptr, i32 }
          cleanup
  tail call void @_ZdlPvm(ptr noundef nonnull %26, i64 noundef 216) #8
  br label %131

73:                                               ; preds = %27
  %74 = landingpad { ptr, i32 }
          cleanup
  br label %80

75:                                               ; preds = %28
  %76 = landingpad { ptr, i32 }
          cleanup
  br label %79

77:                                               ; preds = %31
  %78 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #7
  br label %79

79:                                               ; preds = %77, %75
  %.pn = phi { ptr, i32 } [ %78, %77 ], [ %76, %75 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #7
  br label %80

80:                                               ; preds = %79, %73
  %.pn.pn = phi { ptr, i32 } [ %.pn, %79 ], [ %74, %73 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %3) #7
  br label %131

81:                                               ; preds = %32
  %82 = landingpad { ptr, i32 }
          cleanup
  call void @_ZdlPvm(ptr noundef nonnull %35, i64 noundef 216) #8
  br label %131

83:                                               ; preds = %36
  %84 = landingpad { ptr, i32 }
          cleanup
  br label %90

85:                                               ; preds = %37
  %86 = landingpad { ptr, i32 }
          cleanup
  br label %89

87:                                               ; preds = %40
  %88 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #7
  br label %89

89:                                               ; preds = %87, %85
  %.pn42 = phi { ptr, i32 } [ %88, %87 ], [ %86, %85 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #7
  br label %90

90:                                               ; preds = %89, %83
  %.pn42.pn = phi { ptr, i32 } [ %.pn42, %89 ], [ %84, %83 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %7) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #7
  br label %131

91:                                               ; preds = %41
  %92 = landingpad { ptr, i32 }
          cleanup
  br label %98

93:                                               ; preds = %42
  %94 = landingpad { ptr, i32 }
          cleanup
  br label %97

95:                                               ; preds = %45
  %96 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #7
  br label %97

97:                                               ; preds = %95, %93
  %.pn45 = phi { ptr, i32 } [ %96, %95 ], [ %94, %93 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %11) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #7
  br label %98

98:                                               ; preds = %97, %91
  %.pn45.pn = phi { ptr, i32 } [ %.pn45, %97 ], [ %92, %91 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %10) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %10) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %9) #7
  br label %131

99:                                               ; preds = %46
  %100 = landingpad { ptr, i32 }
          cleanup
  br label %106

101:                                              ; preds = %47
  %102 = landingpad { ptr, i32 }
          cleanup
  br label %105

103:                                              ; preds = %50
  %104 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %14) #7
  br label %105

105:                                              ; preds = %103, %101
  %.pn48 = phi { ptr, i32 } [ %104, %103 ], [ %102, %101 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %14) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #7
  br label %106

106:                                              ; preds = %105, %99
  %.pn48.pn = phi { ptr, i32 } [ %.pn48, %105 ], [ %100, %99 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %13) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %13) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %12) #7
  br label %131

107:                                              ; preds = %51
  %108 = landingpad { ptr, i32 }
          cleanup
  br label %114

109:                                              ; preds = %52
  %110 = landingpad { ptr, i32 }
          cleanup
  br label %113

111:                                              ; preds = %55
  %112 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %17) #7
  br label %113

113:                                              ; preds = %111, %109
  %.pn51 = phi { ptr, i32 } [ %112, %111 ], [ %110, %109 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %17) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #7
  br label %114

114:                                              ; preds = %113, %107
  %.pn51.pn = phi { ptr, i32 } [ %.pn51, %113 ], [ %108, %107 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %16) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %16) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %15) #7
  br label %131

115:                                              ; preds = %56
  %116 = landingpad { ptr, i32 }
          cleanup
  br label %122

117:                                              ; preds = %57
  %118 = landingpad { ptr, i32 }
          cleanup
  br label %121

119:                                              ; preds = %60
  %120 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20) #7
  br label %121

121:                                              ; preds = %119, %117
  %.pn54 = phi { ptr, i32 } [ %120, %119 ], [ %118, %117 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %20) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %18) #7
  br label %122

122:                                              ; preds = %121, %115
  %.pn54.pn = phi { ptr, i32 } [ %.pn54, %121 ], [ %116, %115 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %19) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %19) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %18) #7
  br label %131

123:                                              ; preds = %61
  %124 = landingpad { ptr, i32 }
          cleanup
  br label %130

125:                                              ; preds = %62
  %126 = landingpad { ptr, i32 }
          cleanup
  br label %129

127:                                              ; preds = %65
  %128 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %23) #7
  br label %129

129:                                              ; preds = %127, %125
  %.pn57 = phi { ptr, i32 } [ %128, %127 ], [ %126, %125 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %23) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #7
  br label %130

130:                                              ; preds = %129, %123
  %.pn57.pn = phi { ptr, i32 } [ %.pn57, %129 ], [ %124, %123 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %22) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %22) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %21) #7
  br label %131

131:                                              ; preds = %71, %80, %130, %122, %114, %106, %98, %90, %81, %69
  %.pn57.pn.pn.pn.pn = phi { ptr, i32 } [ %70, %69 ], [ %.pn.pn, %80 ], [ %72, %71 ], [ %.pn57.pn, %130 ], [ %.pn54.pn, %122 ], [ %.pn51.pn, %114 ], [ %.pn48.pn, %106 ], [ %.pn45.pn, %98 ], [ %.pn42.pn, %90 ], [ %82, %81 ]
  resume { ptr, i32 } %.pn57.pn.pn.pn.pn
}

declare noundef zeroext i1 @_ZN4urdf10exportPoseERNS_4PoseEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef) local_unnamed_addr #5

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 = { 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 #4 = { 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 #5 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { builtin allocsize(0) }
attributes #7 = { nounwind }
attributes #8 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !9, i64 56}
!6 = !{!"_ZTSN4urdf8InertialE", !7, i64 0, !9, i64 56, !9, i64 64, !9, i64 72, !9, i64 80, !9, i64 88, !9, i64 96, !9, i64 104}
!7 = !{!"_ZTSN4urdf4PoseE", !8, i64 0, !12, i64 24}
!8 = !{!"_ZTSN4urdf7Vector3E", !9, i64 0, !9, i64 8, !9, i64 16}
!9 = !{!"double", !10, i64 0}
!10 = !{!"omnipotent char", !11, i64 0}
!11 = !{!"Simple C++ TBAA"}
!12 = !{!"_ZTSN4urdf8RotationE", !9, i64 0, !9, i64 8, !9, i64 16, !9, i64 24}
!13 = !{!6, !9, i64 64}
!14 = !{!6, !9, i64 72}
!15 = !{!6, !9, i64 80}
!16 = !{!6, !9, i64 88}
!17 = !{!6, !9, i64 96}
!18 = !{!6, !9, i64 104}


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