; LLVM IR from HiroIshida/tinyfk :: urdf_parser/src/joint.ll (ZN4urdf11exportJointERNS_5JointEP12TiXmlElement)

; 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::Vector3" = type { double, double, double }
%"class.urdf::Joint" = type { %"class.std::__cxx11::basic_string", i32, %"class.urdf::Vector3", i32, %"class.std::__cxx11::basic_string", %"class.std::__cxx11::basic_string", %"class.urdf::Pose", %"class.std::shared_ptr.0", %"class.std::shared_ptr.3", %"class.std::shared_ptr.6", %"class.std::shared_ptr.9", %"class.std::shared_ptr.12", %"class.std::weak_ptr" }
%"class.urdf::Pose" = type { %"class.urdf::Vector3", %"class.urdf::Rotation" }
%"class.urdf::Rotation" = type { double, double, double, double }
%"class.std::shared_ptr.0" = type { %"class.std::__shared_ptr.1" }
%"class.std::__shared_ptr.1" = type { ptr, %"class.std::__shared_count" }
%"class.std::__shared_count" = type { ptr }
%"class.std::shared_ptr.3" = type { %"class.std::__shared_ptr.4" }
%"class.std::__shared_ptr.4" = type { ptr, %"class.std::__shared_count" }
%"class.std::shared_ptr.6" = type { %"class.std::__shared_ptr.7" }
%"class.std::__shared_ptr.7" = type { ptr, %"class.std::__shared_count" }
%"class.std::shared_ptr.9" = type { %"class.std::__shared_ptr.10" }
%"class.std::__shared_ptr.10" = type { ptr, %"class.std::__shared_count" }
%"class.std::shared_ptr.12" = type { %"class.std::__shared_ptr.13" }
%"class.std::__shared_ptr.13" = type { ptr, %"class.std::__shared_count" }
%"class.std::weak_ptr" = type { %"class.std::__weak_ptr" }
%"class.std::__weak_ptr" = type { ptr, %"class.std::__weak_count" }
%"class.std::__weak_count" = type { ptr }

@.str.12 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.15 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.27 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.28 = external hidden unnamed_addr constant [4 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

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZNKSt19__shared_ptr_accessIN4urdf11JointLimitsELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZNKSt19__shared_ptr_accessIN4urdf11JointSafetyELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZNKSt19__shared_ptr_accessIN4urdf16JointCalibrationELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(48) ptr @_ZNKSt19__shared_ptr_accessIN4urdf10JointMimicELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZNKSt19__shared_ptr_accessIN4urdf13JointDynamicsELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf19exportJointDynamicsERNS_13JointDynamicsEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) #4

declare void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef) unnamed_addr #6

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)) #6

declare noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104), ptr noundef) #6

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf17exportJointLimitsERNS_11JointLimitsEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf17exportJointSafetyERNS_11JointSafetyEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf22exportJointCalibrationERNS_16JointCalibrationEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef) #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf16exportJointMimicERNS_10JointMimicEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef) #4

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf11exportJointERNS_5JointEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(288) %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 ptr, 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.urdf::Vector3", align 8
  %15 = alloca ptr, align 8
  %16 = alloca %"class.std::__cxx11::basic_string", align 8
  %17 = alloca %"class.std::allocator", align 1
  %18 = alloca ptr, align 8
  %19 = alloca %"class.std::__cxx11::basic_string", align 8
  %20 = alloca %"class.std::allocator", align 1
  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) #7
  %21 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 216) #8
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %21, ptr noundef @.str.12)
          to label %22 unwind label %34

22:                                               ; preds = %2
  store ptr %21, ptr %5, align 8, !tbaa !5
  %23 = load ptr, ptr %5, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %8) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %9) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %8, ptr noundef @.str.15, ptr noundef nonnull align 1 dereferenceable(1) %9)
          to label %24 unwind label %38

24:                                               ; preds = %22
  %25 = load ptr, ptr %3, align 8, !tbaa !5
  %26 = getelementptr inbounds %"class.urdf::Joint", ptr %25, i32 0, i32 0
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %23, ptr noundef nonnull align 8 dereferenceable(32) %8, ptr noundef nonnull align 8 dereferenceable(32) %26)
          to label %27 unwind label %42

27:                                               ; preds = %24
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %9) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %8) #7
  %28 = load ptr, ptr %3, align 8, !tbaa !5
  %29 = getelementptr inbounds %"class.urdf::Joint", ptr %28, i32 0, i32 1
  %30 = load i32, ptr %29, align 8, !tbaa !9
  %31 = icmp eq i32 %30, 5
  br i1 %31, label %32, label %47

32:                                               ; preds = %27
  %33 = load ptr, ptr %5, align 8, !tbaa !5
  call void @_ZN12TiXmlElement12SetAttributeEPKcS1_(ptr noundef nonnull align 8 dereferenceable(216) %33, ptr noundef @.str.20, ptr noundef @.str.21)
  br label %92

34:                                               ; preds = %2
  %35 = landingpad { ptr, i32 }
          cleanup
  %36 = extractvalue { ptr, i32 } %35, 0
  store ptr %36, ptr %6, align 8
  %37 = extractvalue { ptr, i32 } %35, 1
  store i32 %37, ptr %7, align 4
  call void @_ZdlPvm(ptr noundef %21, i64 noundef 216) #9
  br label %224

38:                                               ; preds = %22
  %39 = landingpad { ptr, i32 }
          cleanup
  %40 = extractvalue { ptr, i32 } %39, 0
  store ptr %40, ptr %6, align 8
  %41 = extractvalue { ptr, i32 } %39, 1
  store i32 %41, ptr %7, align 4
  br label %46

42:                                               ; preds = %24
  %43 = landingpad { ptr, i32 }
          cleanup
  %44 = extractvalue { ptr, i32 } %43, 0
  store ptr %44, ptr %6, align 8
  %45 = extractvalue { ptr, i32 } %43, 1
  store i32 %45, ptr %7, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #7
  br label %46

46:                                               ; preds = %42, %38
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %9) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %8) #7
  br label %224

47:                                               ; preds = %27
  %48 = load ptr, ptr %3, align 8, !tbaa !5
  %49 = getelementptr inbounds %"class.urdf::Joint", ptr %48, i32 0, i32 1
  %50 = load i32, ptr %49, align 8, !tbaa !9
  %51 = icmp eq i32 %50, 4
  br i1 %51, label %52, label %54

52:                                               ; preds = %47
  %53 = load ptr, ptr %5, align 8, !tbaa !5
  call void @_ZN12TiXmlElement12SetAttributeEPKcS1_(ptr noundef nonnull align 8 dereferenceable(216) %53, ptr noundef @.str.20, ptr noundef @.str.22)
  br label %91

54:                                               ; preds = %47
  %55 = load ptr, ptr %3, align 8, !tbaa !5
  %56 = getelementptr inbounds %"class.urdf::Joint", ptr %55, i32 0, i32 1
  %57 = load i32, ptr %56, align 8, !tbaa !9
  %58 = icmp eq i32 %57, 1
  br i1 %58, label %59, label %61

59:                                               ; preds = %54
  %60 = load ptr, ptr %5, align 8, !tbaa !5
  call void @_ZN12TiXmlElement12SetAttributeEPKcS1_(ptr noundef nonnull align 8 dereferenceable(216) %60, ptr noundef @.str.20, ptr noundef @.str.23)
  br label %90

61:                                               ; preds = %54
  %62 = load ptr, ptr %3, align 8, !tbaa !5
  %63 = getelementptr inbounds %"class.urdf::Joint", ptr %62, i32 0, i32 1
  %64 = load i32, ptr %63, align 8, !tbaa !9
  %65 = icmp eq i32 %64, 2
  br i1 %65, label %66, label %68

66:                                               ; preds = %61
  %67 = load ptr, ptr %5, align 8, !tbaa !5
  call void @_ZN12TiXmlElement12SetAttributeEPKcS1_(ptr noundef nonnull align 8 dereferenceable(216) %67, ptr noundef @.str.20, ptr noundef @.str.24)
  br label %89

68:                                               ; preds = %61
  %69 = load ptr, ptr %3, align 8, !tbaa !5
  %70 = getelementptr inbounds %"class.urdf::Joint", ptr %69, i32 0, i32 1
  %71 = load i32, ptr %70, align 8, !tbaa !9
  %72 = icmp eq i32 %71, 3
  br i1 %72, label %73, label %75

73:                                               ; preds = %68
  %74 = load ptr, ptr %5, align 8, !tbaa !5
  call void @_ZN12TiXmlElement12SetAttributeEPKcS1_(ptr noundef nonnull align 8 dereferenceable(216) %74, ptr noundef @.str.20, ptr noundef @.str.25)
  br label %88

75:                                               ; preds = %68
  %76 = load ptr, ptr %3, align 8, !tbaa !5
  %77 = getelementptr inbounds %"class.urdf::Joint", ptr %76, i32 0, i32 1
  %78 = load i32, ptr %77, align 8, !tbaa !9
  %79 = icmp eq i32 %78, 6
  br i1 %79, label %80, label %82

80:                                               ; preds = %75
  %81 = load ptr, ptr %5, align 8, !tbaa !5
  call void @_ZN12TiXmlElement12SetAttributeEPKcS1_(ptr noundef nonnull align 8 dereferenceable(216) %81, ptr noundef @.str.20, ptr noundef @.str.26)
  br label %87

82:                                               ; preds = %75
  %83 = load ptr, ptr %3, align 8, !tbaa !5
  %84 = getelementptr inbounds %"class.urdf::Joint", ptr %83, i32 0, i32 6
  %85 = load ptr, ptr %5, align 8, !tbaa !5
  %86 = call noundef zeroext i1 @_ZN4urdf10exportPoseERNS_4PoseEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(56) %84, ptr noundef %85)
  br label %87

87:                                               ; preds = %82, %80
  br label %88

88:                                               ; preds = %87, %73
  br label %89

89:                                               ; preds = %88, %66
  br label %90

90:                                               ; preds = %89, %59
  br label %91

91:                                               ; preds = %90, %52
  br label %92

92:                                               ; preds = %91, %32
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #7
  %93 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 216) #8
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %93, ptr noundef @.str.27)
          to label %94 unwind label %133

94:                                               ; preds = %92
  store ptr %93, ptr %10, align 8, !tbaa !5
  %95 = load ptr, ptr %10, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %11) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %12) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %12) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %11, ptr noundef @.str.28, ptr noundef nonnull align 1 dereferenceable(1) %12)
          to label %96 unwind label %137

96:                                               ; preds = %94
  call void @llvm.lifetime.start.p0(i64 32, ptr %13) #7
  %97 = load ptr, ptr %3, align 8, !tbaa !5
  %98 = getelementptr inbounds %"class.urdf::Joint", ptr %97, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %14, ptr align 8 %98, i64 24, i1 false), !tbaa.struct !34
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11EN4urdf7Vector3E(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %13, ptr noundef byval(%"class.urdf::Vector3") align 8 %14)
          to label %99 unwind label %141

99:                                               ; preds = %96
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %95, ptr noundef nonnull align 8 dereferenceable(32) %11, ptr noundef nonnull align 8 dereferenceable(32) %13)
          to label %100 unwind label %145

100:                                              ; preds = %99
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %13) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %12) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %11) #7
  %101 = load ptr, ptr %5, align 8, !tbaa !5
  %102 = load ptr, ptr %10, align 8, !tbaa !5
  %103 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %101, ptr noundef %102)
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #7
  %104 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 216) #8
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %104, ptr noundef @.str.17)
          to label %105 unwind label %151

105:                                              ; preds = %100
  store ptr %104, ptr %15, align 8, !tbaa !5
  %106 = load ptr, ptr %15, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %16) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %17) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %17) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %16, ptr noundef @.str.18, ptr noundef nonnull align 1 dereferenceable(1) %17)
          to label %107 unwind label %155

107:                                              ; preds = %105
  %108 = load ptr, ptr %3, align 8, !tbaa !5
  %109 = getelementptr inbounds %"class.urdf::Joint", ptr %108, i32 0, i32 5
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %106, ptr noundef nonnull align 8 dereferenceable(32) %16, ptr noundef nonnull align 8 dereferenceable(32) %109)
          to label %110 unwind label %159

110:                                              ; preds = %107
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %17) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %17) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %16) #7
  %111 = load ptr, ptr %5, align 8, !tbaa !5
  %112 = load ptr, ptr %15, align 8, !tbaa !5
  %113 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %111, ptr noundef %112)
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #7
  %114 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 216) #8
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %114, ptr noundef @.str.19)
          to label %115 unwind label %164

115:                                              ; preds = %110
  store ptr %114, ptr %18, align 8, !tbaa !5
  %116 = load ptr, ptr %18, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %19) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %20) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %20) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %19, ptr noundef @.str.18, ptr noundef nonnull align 1 dereferenceable(1) %20)
          to label %117 unwind label %168

117:                                              ; preds = %115
  %118 = load ptr, ptr %3, align 8, !tbaa !5
  %119 = getelementptr inbounds %"class.urdf::Joint", ptr %118, i32 0, i32 4
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %116, ptr noundef nonnull align 8 dereferenceable(32) %19, ptr noundef nonnull align 8 dereferenceable(32) %119)
          to label %120 unwind label %172

120:                                              ; preds = %117
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %20) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %20) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %19) #7
  %121 = load ptr, ptr %5, align 8, !tbaa !5
  %122 = load ptr, ptr %18, align 8, !tbaa !5
  %123 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %121, ptr noundef %122)
  %124 = load ptr, ptr %3, align 8, !tbaa !5
  %125 = getelementptr inbounds %"class.urdf::Joint", ptr %124, i32 0, i32 7
  %126 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf13JointDynamicsELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %125) #7
  br i1 %126, label %127, label %177

127:                                              ; preds = %120
  %128 = load ptr, ptr %3, align 8, !tbaa !5
  %129 = getelementptr inbounds %"class.urdf::Joint", ptr %128, i32 0, i32 7
  %130 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZNKSt19__shared_ptr_accessIN4urdf13JointDynamicsELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %129) #7
  %131 = load ptr, ptr %5, align 8, !tbaa !5
  %132 = call noundef zeroext i1 @_ZN4urdf19exportJointDynamicsERNS_13JointDynamicsEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(16) %130, ptr noundef %131)
  br label %177

133:                                              ; preds = %92
  %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 @_ZdlPvm(ptr noundef %93, i64 noundef 216) #9
  br label %223

137:                                              ; preds = %94
  %138 = landingpad { ptr, i32 }
          cleanup
  %139 = extractvalue { ptr, i32 } %138, 0
  store ptr %139, ptr %6, align 8
  %140 = extractvalue { ptr, i32 } %138, 1
  store i32 %140, ptr %7, align 4
  br label %150

141:                                              ; preds = %96
  %142 = landingpad { ptr, i32 }
          cleanup
  %143 = extractvalue { ptr, i32 } %142, 0
  store ptr %143, ptr %6, align 8
  %144 = extractvalue { ptr, i32 } %142, 1
  store i32 %144, ptr %7, align 4
  br label %149

145:                                              ; preds = %99
  %146 = landingpad { ptr, i32 }
          cleanup
  %147 = extractvalue { ptr, i32 } %146, 0
  store ptr %147, ptr %6, align 8
  %148 = extractvalue { ptr, i32 } %146, 1
  store i32 %148, ptr %7, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #7
  br label %149

149:                                              ; preds = %145, %141
  call void @llvm.lifetime.end.p0(i64 32, ptr %13) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #7
  br label %150

150:                                              ; preds = %149, %137
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %12) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %11) #7
  br label %223

151:                                              ; preds = %100
  %152 = landingpad { ptr, i32 }
          cleanup
  %153 = extractvalue { ptr, i32 } %152, 0
  store ptr %153, ptr %6, align 8
  %154 = extractvalue { ptr, i32 } %152, 1
  store i32 %154, ptr %7, align 4
  call void @_ZdlPvm(ptr noundef %104, i64 noundef 216) #9
  br label %222

155:                                              ; preds = %105
  %156 = landingpad { ptr, i32 }
          cleanup
  %157 = extractvalue { ptr, i32 } %156, 0
  store ptr %157, ptr %6, align 8
  %158 = extractvalue { ptr, i32 } %156, 1
  store i32 %158, ptr %7, align 4
  br label %163

159:                                              ; preds = %107
  %160 = landingpad { ptr, i32 }
          cleanup
  %161 = extractvalue { ptr, i32 } %160, 0
  store ptr %161, ptr %6, align 8
  %162 = extractvalue { ptr, i32 } %160, 1
  store i32 %162, ptr %7, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #7
  br label %163

163:                                              ; preds = %159, %155
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %17) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %17) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %16) #7
  br label %222

164:                                              ; preds = %110
  %165 = landingpad { ptr, i32 }
          cleanup
  %166 = extractvalue { ptr, i32 } %165, 0
  store ptr %166, ptr %6, align 8
  %167 = extractvalue { ptr, i32 } %165, 1
  store i32 %167, ptr %7, align 4
  call void @_ZdlPvm(ptr noundef %114, i64 noundef 216) #9
  br label %221

168:                                              ; preds = %115
  %169 = landingpad { ptr, i32 }
          cleanup
  %170 = extractvalue { ptr, i32 } %169, 0
  store ptr %170, ptr %6, align 8
  %171 = extractvalue { ptr, i32 } %169, 1
  store i32 %171, ptr %7, align 4
  br label %176

172:                                              ; preds = %117
  %173 = landingpad { ptr, i32 }
          cleanup
  %174 = extractvalue { ptr, i32 } %173, 0
  store ptr %174, ptr %6, align 8
  %175 = extractvalue { ptr, i32 } %173, 1
  store i32 %175, ptr %7, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #7
  br label %176

176:                                              ; preds = %172, %168
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %20) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %20) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %19) #7
  br label %221

177:                                              ; preds = %127, %120
  %178 = load ptr, ptr %3, align 8, !tbaa !5
  %179 = getelementptr inbounds %"class.urdf::Joint", ptr %178, i32 0, i32 8
  %180 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf11JointLimitsELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %179) #7
  br i1 %180, label %181, label %187

181:                                              ; preds = %177
  %182 = load ptr, ptr %3, align 8, !tbaa !5
  %183 = getelementptr inbounds %"class.urdf::Joint", ptr %182, i32 0, i32 8
  %184 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNKSt19__shared_ptr_accessIN4urdf11JointLimitsELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %183) #7
  %185 = load ptr, ptr %5, align 8, !tbaa !5
  %186 = call noundef zeroext i1 @_ZN4urdf17exportJointLimitsERNS_11JointLimitsEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(32) %184, ptr noundef %185)
  br label %187

187:                                              ; preds = %181, %177
  %188 = load ptr, ptr %3, align 8, !tbaa !5
  %189 = getelementptr inbounds %"class.urdf::Joint", ptr %188, i32 0, i32 9
  %190 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf11JointSafetyELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %189) #7
  br i1 %190, label %191, label %197

191:                                              ; preds = %187
  %192 = load ptr, ptr %3, align 8, !tbaa !5
  %193 = getelementptr inbounds %"class.urdf::Joint", ptr %192, i32 0, i32 9
  %194 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNKSt19__shared_ptr_accessIN4urdf11JointSafetyELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %193) #7
  %195 = load ptr, ptr %5, align 8, !tbaa !5
  %196 = call noundef zeroext i1 @_ZN4urdf17exportJointSafetyERNS_11JointSafetyEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(32) %194, ptr noundef %195)
  br label %197

197:                                              ; preds = %191, %187
  %198 = load ptr, ptr %3, align 8, !tbaa !5
  %199 = getelementptr inbounds %"class.urdf::Joint", ptr %198, i32 0, i32 10
  %200 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf16JointCalibrationELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %199) #7
  br i1 %200, label %201, label %207

201:                                              ; preds = %197
  %202 = load ptr, ptr %3, align 8, !tbaa !5
  %203 = getelementptr inbounds %"class.urdf::Joint", ptr %202, i32 0, i32 10
  %204 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNKSt19__shared_ptr_accessIN4urdf16JointCalibrationELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %203) #7
  %205 = load ptr, ptr %5, align 8, !tbaa !5
  %206 = call noundef zeroext i1 @_ZN4urdf22exportJointCalibrationERNS_16JointCalibrationEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(40) %204, ptr noundef %205)
  br label %207

207:                                              ; preds = %201, %197
  %208 = load ptr, ptr %3, align 8, !tbaa !5
  %209 = getelementptr inbounds %"class.urdf::Joint", ptr %208, i32 0, i32 11
  %210 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf10JointMimicELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %209) #7
  br i1 %210, label %211, label %217

211:                                              ; preds = %207
  %212 = load ptr, ptr %3, align 8, !tbaa !5
  %213 = getelementptr inbounds %"class.urdf::Joint", ptr %212, i32 0, i32 11
  %214 = call noundef nonnull align 8 dereferenceable(48) ptr @_ZNKSt19__shared_ptr_accessIN4urdf10JointMimicELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %213) #7
  %215 = load ptr, ptr %5, align 8, !tbaa !5
  %216 = call noundef zeroext i1 @_ZN4urdf16exportJointMimicERNS_10JointMimicEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(48) %214, ptr noundef %215)
  br label %217

217:                                              ; preds = %211, %207
  %218 = load ptr, ptr %4, align 8, !tbaa !5
  %219 = load ptr, ptr %5, align 8, !tbaa !5
  %220 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %218, ptr noundef %219)
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #7
  ret i1 true

221:                                              ; preds = %176, %164
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #7
  br label %222

222:                                              ; preds = %221, %163, %151
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #7
  br label %223

223:                                              ; preds = %222, %150, %133
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #7
  br label %224

224:                                              ; preds = %223, %46, %34
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #7
  br label %225

225:                                              ; preds = %224
  %226 = load ptr, ptr %6, align 8
  %227 = load i32, ptr %7, align 4
  %228 = insertvalue { ptr, i32 } poison, ptr %226, 0
  %229 = insertvalue { ptr, i32 } %228, i32 %227, 1
  resume { ptr, i32 } %229
}

declare void @_ZN12TiXmlElement12SetAttributeEPKcS1_(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef, ptr noundef) #6

declare noundef zeroext i1 @_ZN4urdf10exportPoseERNS_4PoseEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef) #6

declare void @_ZN19urdf_export_helpers10values2strB5cxx11EN4urdf7Vector3E(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef byval(%"class.urdf::Vector3") align 8) #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf13JointDynamicsELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf11JointLimitsELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf11JointSafetyELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf16JointCalibrationELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf10JointMimicELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) #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 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #6 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nounwind }
attributes #8 = { builtin allocsize(0) }
attributes #9 = { 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, !14, i64 32}
!10 = !{!"_ZTSN4urdf5JointE", !11, i64 0, !14, i64 32, !15, i64 40, !17, i64 64, !11, i64 72, !11, i64 104, !18, i64 136, !20, i64 192, !23, i64 208, !25, i64 224, !27, i64 240, !29, i64 256, !31, i64 272}
!11 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !12, i64 0, !13, i64 8, !7, i64 16}
!12 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !6, i64 0}
!13 = !{!"long", !7, i64 0}
!14 = !{!"_ZTSN4urdf5JointUt_E", !7, i64 0}
!15 = !{!"_ZTSN4urdf7Vector3E", !16, i64 0, !16, i64 8, !16, i64 16}
!16 = !{!"double", !7, i64 0}
!17 = !{!"int", !7, i64 0}
!18 = !{!"_ZTSN4urdf4PoseE", !15, i64 0, !19, i64 24}
!19 = !{!"_ZTSN4urdf8RotationE", !16, i64 0, !16, i64 8, !16, i64 16, !16, i64 24}
!20 = !{!"_ZTSSt10shared_ptrIN4urdf13JointDynamicsEE", !21, i64 0}
!21 = !{!"_ZTSSt12__shared_ptrIN4urdf13JointDynamicsELN9__gnu_cxx12_Lock_policyE2EE", !6, i64 0, !22, i64 8}
!22 = !{!"_ZTSSt14__shared_countILN9__gnu_cxx12_Lock_policyE2EE", !6, i64 0}
!23 = !{!"_ZTSSt10shared_ptrIN4urdf11JointLimitsEE", !24, i64 0}
!24 = !{!"_ZTSSt12__shared_ptrIN4urdf11JointLimitsELN9__gnu_cxx12_Lock_policyE2EE", !6, i64 0, !22, i64 8}
!25 = !{!"_ZTSSt10shared_ptrIN4urdf11JointSafetyEE", !26, i64 0}
!26 = !{!"_ZTSSt12__shared_ptrIN4urdf11JointSafetyELN9__gnu_cxx12_Lock_policyE2EE", !6, i64 0, !22, i64 8}
!27 = !{!"_ZTSSt10shared_ptrIN4urdf16JointCalibrationEE", !28, i64 0}
!28 = !{!"_ZTSSt12__shared_ptrIN4urdf16JointCalibrationELN9__gnu_cxx12_Lock_policyE2EE", !6, i64 0, !22, i64 8}
!29 = !{!"_ZTSSt10shared_ptrIN4urdf10JointMimicEE", !30, i64 0}
!30 = !{!"_ZTSSt12__shared_ptrIN4urdf10JointMimicELN9__gnu_cxx12_Lock_policyE2EE", !6, i64 0, !22, i64 8}
!31 = !{!"_ZTSSt8weak_ptrIN4urdf4LinkEE", !32, i64 0}
!32 = !{!"_ZTSSt10__weak_ptrIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EE", !6, i64 0, !33, i64 8}
!33 = !{!"_ZTSSt12__weak_countILN9__gnu_cxx12_Lock_policyE2EE", !6, i64 0}
!34 = !{i64 0, i64 8, !35, i64 8, i64 8, !35, i64 16, i64 8, !35}
!35 = !{!16, !16, i64 0}


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

%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator" = type { i8 }
%"class.urdf::Vector3" = type { double, double, double }

@.str.12 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.15 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.27 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.28 = external hidden unnamed_addr constant [4 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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZNKSt19__shared_ptr_accessIN4urdf11JointLimitsELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZNKSt19__shared_ptr_accessIN4urdf11JointSafetyELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZNKSt19__shared_ptr_accessIN4urdf16JointCalibrationELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(48) ptr @_ZNKSt19__shared_ptr_accessIN4urdf10JointMimicELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZNKSt19__shared_ptr_accessIN4urdf13JointDynamicsELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf19exportJointDynamicsERNS_13JointDynamicsEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(16), ptr 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

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf17exportJointLimitsERNS_11JointLimitsEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf17exportJointSafetyERNS_11JointSafetyEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf22exportJointCalibrationERNS_16JointCalibrationEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf16exportJointMimicERNS_10JointMimicEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf11exportJointERNS_5JointEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(288) %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::allocator", align 1
  %7 = alloca %"class.std::__cxx11::basic_string", align 8
  %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::allocator", align 1
  %12 = tail call noalias noundef nonnull dereferenceable(216) ptr @_Znwm(i64 noundef 216) #6
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %12, ptr noundef nonnull @.str.12)
          to label %13 unwind label %19

13:                                               ; preds = %2
  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.15, ptr noundef nonnull align 1 dereferenceable(1) %4)
          to label %14 unwind label %21

14:                                               ; preds = %13
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %12, ptr noundef nonnull align 8 dereferenceable(32) %3, ptr noundef nonnull align 8 dereferenceable(32) %0)
          to label %15 unwind label %23

15:                                               ; preds = %14
  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
  %16 = getelementptr inbounds i8, ptr %0, i64 32
  %17 = load i32, ptr %16, align 8, !tbaa !5
  switch i32 %17, label %31 [
    i32 5, label %18
    i32 4, label %26
    i32 1, label %27
    i32 2, label %28
    i32 3, label %29
    i32 6, label %30
  ]

18:                                               ; preds = %15
  call void @_ZN12TiXmlElement12SetAttributeEPKcS1_(ptr noundef nonnull align 8 dereferenceable(216) %12, ptr noundef nonnull @.str.20, ptr noundef nonnull @.str.21)
  br label %34

19:                                               ; preds = %2
  %20 = landingpad { ptr, i32 }
          cleanup
  tail call void @_ZdlPvm(ptr noundef nonnull %12, i64 noundef 216) #8
  br label %109

21:                                               ; preds = %13
  %22 = landingpad { ptr, i32 }
          cleanup
  br label %25

23:                                               ; preds = %14
  %24 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #7
  br label %25

25:                                               ; preds = %23, %21
  %.pn = phi { ptr, i32 } [ %24, %23 ], [ %22, %21 ]
  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 %109

26:                                               ; preds = %15
  call void @_ZN12TiXmlElement12SetAttributeEPKcS1_(ptr noundef nonnull align 8 dereferenceable(216) %12, ptr noundef nonnull @.str.20, ptr noundef nonnull @.str.22)
  br label %34

27:                                               ; preds = %15
  call void @_ZN12TiXmlElement12SetAttributeEPKcS1_(ptr noundef nonnull align 8 dereferenceable(216) %12, ptr noundef nonnull @.str.20, ptr noundef nonnull @.str.23)
  br label %34

28:                                               ; preds = %15
  call void @_ZN12TiXmlElement12SetAttributeEPKcS1_(ptr noundef nonnull align 8 dereferenceable(216) %12, ptr noundef nonnull @.str.20, ptr noundef nonnull @.str.24)
  br label %34

29:                                               ; preds = %15
  call void @_ZN12TiXmlElement12SetAttributeEPKcS1_(ptr noundef nonnull align 8 dereferenceable(216) %12, ptr noundef nonnull @.str.20, ptr noundef nonnull @.str.25)
  br label %34

30:                                               ; preds = %15
  call void @_ZN12TiXmlElement12SetAttributeEPKcS1_(ptr noundef nonnull align 8 dereferenceable(216) %12, ptr noundef nonnull @.str.20, ptr noundef nonnull @.str.26)
  br label %34

31:                                               ; preds = %15
  %32 = getelementptr inbounds i8, ptr %0, i64 136
  %33 = call noundef zeroext i1 @_ZN4urdf10exportPoseERNS_4PoseEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(56) %32, ptr noundef nonnull %12)
  br label %34

34:                                               ; preds = %26, %28, %30, %31, %29, %27, %18
  %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.27)
          to label %36 unwind label %59

36:                                               ; preds = %34
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %5) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %6) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %5, ptr noundef nonnull @.str.28, ptr noundef nonnull align 1 dereferenceable(1) %6)
          to label %37 unwind label %61

37:                                               ; preds = %36
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %7) #7
  %38 = getelementptr inbounds i8, ptr %0, i64 40
  invoke void @_ZN19urdf_export_helpers10values2strB5cxx11EN4urdf7Vector3E(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %7, ptr noundef nonnull byval(%"class.urdf::Vector3") align 8 %38)
          to label %39 unwind label %63

39:                                               ; preds = %37
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %35, ptr noundef nonnull align 8 dereferenceable(32) %5, ptr noundef nonnull align 8 dereferenceable(32) %7)
          to label %40 unwind label %65

40:                                               ; preds = %39
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %7) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %6) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #7
  %41 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %12, ptr noundef nonnull %35)
  %42 = call noalias noundef nonnull dereferenceable(216) ptr @_Znwm(i64 noundef 216) #6
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %42, ptr noundef nonnull @.str.17)
          to label %43 unwind label %69

43:                                               ; preds = %40
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %8) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %9) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %8, ptr noundef nonnull @.str.18, ptr noundef nonnull align 1 dereferenceable(1) %9)
          to label %44 unwind label %71

44:                                               ; preds = %43
  %45 = getelementptr inbounds i8, ptr %0, i64 104
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %42, ptr noundef nonnull align 8 dereferenceable(32) %8, ptr noundef nonnull align 8 dereferenceable(32) %45)
          to label %46 unwind label %73

46:                                               ; preds = %44
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %9) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #7
  %47 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %12, ptr noundef nonnull %42)
  %48 = call noalias noundef nonnull dereferenceable(216) ptr @_Znwm(i64 noundef 216) #6
  invoke void @_ZN12TiXmlElementC1EPKc(ptr noundef nonnull align 8 dereferenceable(216) %48, ptr noundef nonnull @.str.19)
          to label %49 unwind label %76

49:                                               ; preds = %46
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %10) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %11) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %11) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %10, ptr noundef nonnull @.str.18, ptr noundef nonnull align 1 dereferenceable(1) %11)
          to label %50 unwind label %78

50:                                               ; preds = %49
  %51 = getelementptr inbounds i8, ptr %0, i64 72
  invoke void @_ZN12TiXmlElement12SetAttributeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_(ptr noundef nonnull align 8 dereferenceable(216) %48, ptr noundef nonnull align 8 dereferenceable(32) %10, ptr noundef nonnull align 8 dereferenceable(32) %51)
          to label %52 unwind label %80

52:                                               ; preds = %50
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %11) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %11) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %10) #7
  %53 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %12, ptr noundef nonnull %48)
  %54 = getelementptr inbounds i8, ptr %0, i64 192
  %55 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf13JointDynamicsELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %54) #7
  br i1 %55, label %56, label %83

56:                                               ; preds = %52
  %57 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZNKSt19__shared_ptr_accessIN4urdf13JointDynamicsELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %54) #7
  %58 = call noundef zeroext i1 @_ZN4urdf19exportJointDynamicsERNS_13JointDynamicsEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(16) %57, ptr noundef nonnull %12)
  br label %83

59:                                               ; preds = %34
  %60 = landingpad { ptr, i32 }
          cleanup
  call void @_ZdlPvm(ptr noundef nonnull %35, i64 noundef 216) #8
  br label %109

61:                                               ; preds = %36
  %62 = landingpad { ptr, i32 }
          cleanup
  br label %68

63:                                               ; preds = %37
  %64 = landingpad { ptr, i32 }
          cleanup
  br label %67

65:                                               ; preds = %39
  %66 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #7
  br label %67

67:                                               ; preds = %65, %63
  %.pn57 = phi { ptr, i32 } [ %66, %65 ], [ %64, %63 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %7) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #7
  br label %68

68:                                               ; preds = %67, %61
  %.pn57.pn = phi { ptr, i32 } [ %.pn57, %67 ], [ %62, %61 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %6) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #7
  br label %109

69:                                               ; preds = %40
  %70 = landingpad { ptr, i32 }
          cleanup
  call void @_ZdlPvm(ptr noundef nonnull %42, i64 noundef 216) #8
  br label %109

71:                                               ; preds = %43
  %72 = landingpad { ptr, i32 }
          cleanup
  br label %75

73:                                               ; preds = %44
  %74 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #7
  br label %75

75:                                               ; preds = %73, %71
  %.pn60 = phi { ptr, i32 } [ %74, %73 ], [ %72, %71 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %9) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #7
  br label %109

76:                                               ; preds = %46
  %77 = landingpad { ptr, i32 }
          cleanup
  call void @_ZdlPvm(ptr noundef nonnull %48, i64 noundef 216) #8
  br label %109

78:                                               ; preds = %49
  %79 = landingpad { ptr, i32 }
          cleanup
  br label %82

80:                                               ; preds = %50
  %81 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #7
  br label %82

82:                                               ; preds = %80, %78
  %.pn62 = phi { ptr, i32 } [ %81, %80 ], [ %79, %78 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %11) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %11) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %10) #7
  br label %109

83:                                               ; preds = %56, %52
  %84 = getelementptr inbounds i8, ptr %0, i64 208
  %85 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf11JointLimitsELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %84) #7
  br i1 %85, label %86, label %89

86:                                               ; preds = %83
  %87 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNKSt19__shared_ptr_accessIN4urdf11JointLimitsELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %84) #7
  %88 = call noundef zeroext i1 @_ZN4urdf17exportJointLimitsERNS_11JointLimitsEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(32) %87, ptr noundef nonnull %12)
  br label %89

89:                                               ; preds = %86, %83
  %90 = getelementptr inbounds i8, ptr %0, i64 224
  %91 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf11JointSafetyELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %90) #7
  br i1 %91, label %92, label %95

92:                                               ; preds = %89
  %93 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNKSt19__shared_ptr_accessIN4urdf11JointSafetyELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %90) #7
  %94 = call noundef zeroext i1 @_ZN4urdf17exportJointSafetyERNS_11JointSafetyEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(32) %93, ptr noundef nonnull %12)
  br label %95

95:                                               ; preds = %92, %89
  %96 = getelementptr inbounds i8, ptr %0, i64 240
  %97 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf16JointCalibrationELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %96) #7
  br i1 %97, label %98, label %101

98:                                               ; preds = %95
  %99 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNKSt19__shared_ptr_accessIN4urdf16JointCalibrationELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %96) #7
  %100 = call noundef zeroext i1 @_ZN4urdf22exportJointCalibrationERNS_16JointCalibrationEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(40) %99, ptr noundef nonnull %12)
  br label %101

101:                                              ; preds = %98, %95
  %102 = getelementptr inbounds i8, ptr %0, i64 256
  %103 = call noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf10JointMimicELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %102) #7
  br i1 %103, label %104, label %107

104:                                              ; preds = %101
  %105 = call noundef nonnull align 8 dereferenceable(48) ptr @_ZNKSt19__shared_ptr_accessIN4urdf10JointMimicELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %102) #7
  %106 = call noundef zeroext i1 @_ZN4urdf16exportJointMimicERNS_10JointMimicEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(48) %105, ptr noundef nonnull %12)
  br label %107

107:                                              ; preds = %104, %101
  %108 = call noundef ptr @_ZN9TiXmlNode12LinkEndChildEPS_(ptr noundef nonnull align 8 dereferenceable(104) %1, ptr noundef nonnull %12)
  ret i1 true

109:                                              ; preds = %59, %68, %76, %82, %75, %69, %25, %19
  %.pn62.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn, %25 ], [ %20, %19 ], [ %.pn57.pn, %68 ], [ %60, %59 ], [ %.pn60, %75 ], [ %70, %69 ], [ %.pn62, %82 ], [ %77, %76 ]
  resume { ptr, i32 } %.pn62.pn.pn.pn.pn
}

declare void @_ZN12TiXmlElement12SetAttributeEPKcS1_(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef, ptr noundef) local_unnamed_addr #5

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

declare void @_ZN19urdf_export_helpers10values2strB5cxx11EN4urdf7Vector3E(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef byval(%"class.urdf::Vector3") align 8) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf13JointDynamicsELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf11JointLimitsELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf11JointSafetyELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf16JointCalibrationELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt12__shared_ptrIN4urdf10JointMimicELN9__gnu_cxx12_Lock_policyE2EEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) 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 = { 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, !13, i64 32}
!6 = !{!"_ZTSN4urdf5JointE", !7, i64 0, !13, i64 32, !14, i64 40, !16, i64 64, !7, i64 72, !7, i64 104, !17, i64 136, !19, i64 192, !22, i64 208, !24, i64 224, !26, i64 240, !28, i64 256, !30, i64 272}
!7 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !8, i64 0, !12, i64 8, !10, i64 16}
!8 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !9, i64 0}
!9 = !{!"any pointer", !10, i64 0}
!10 = !{!"omnipotent char", !11, i64 0}
!11 = !{!"Simple C++ TBAA"}
!12 = !{!"long", !10, i64 0}
!13 = !{!"_ZTSN4urdf5JointUt_E", !10, i64 0}
!14 = !{!"_ZTSN4urdf7Vector3E", !15, i64 0, !15, i64 8, !15, i64 16}
!15 = !{!"double", !10, i64 0}
!16 = !{!"int", !10, i64 0}
!17 = !{!"_ZTSN4urdf4PoseE", !14, i64 0, !18, i64 24}
!18 = !{!"_ZTSN4urdf8RotationE", !15, i64 0, !15, i64 8, !15, i64 16, !15, i64 24}
!19 = !{!"_ZTSSt10shared_ptrIN4urdf13JointDynamicsEE", !20, i64 0}
!20 = !{!"_ZTSSt12__shared_ptrIN4urdf13JointDynamicsELN9__gnu_cxx12_Lock_policyE2EE", !9, i64 0, !21, i64 8}
!21 = !{!"_ZTSSt14__shared_countILN9__gnu_cxx12_Lock_policyE2EE", !9, i64 0}
!22 = !{!"_ZTSSt10shared_ptrIN4urdf11JointLimitsEE", !23, i64 0}
!23 = !{!"_ZTSSt12__shared_ptrIN4urdf11JointLimitsELN9__gnu_cxx12_Lock_policyE2EE", !9, i64 0, !21, i64 8}
!24 = !{!"_ZTSSt10shared_ptrIN4urdf11JointSafetyEE", !25, i64 0}
!25 = !{!"_ZTSSt12__shared_ptrIN4urdf11JointSafetyELN9__gnu_cxx12_Lock_policyE2EE", !9, i64 0, !21, i64 8}
!26 = !{!"_ZTSSt10shared_ptrIN4urdf16JointCalibrationEE", !27, i64 0}
!27 = !{!"_ZTSSt12__shared_ptrIN4urdf16JointCalibrationELN9__gnu_cxx12_Lock_policyE2EE", !9, i64 0, !21, i64 8}
!28 = !{!"_ZTSSt10shared_ptrIN4urdf10JointMimicEE", !29, i64 0}
!29 = !{!"_ZTSSt12__shared_ptrIN4urdf10JointMimicELN9__gnu_cxx12_Lock_policyE2EE", !9, i64 0, !21, i64 8}
!30 = !{!"_ZTSSt8weak_ptrIN4urdf4LinkEE", !31, i64 0}
!31 = !{!"_ZTSSt10__weak_ptrIN4urdf4LinkELN9__gnu_cxx12_Lock_policyE2EE", !9, i64 0, !32, i64 8}
!32 = !{!"_ZTSSt12__weak_countILN9__gnu_cxx12_Lock_policyE2EE", !9, i64 0}


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