; LLVM IR from robotics-upo/Heuristic_path_planners :: src/Planners (LazyThetaStar)

; 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::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, std::variant<std::__cxx11::basic_string<char>, Planners::utils::Vec3i, std::vector<Planners::utils::Vec3i>, double, unsigned long, int, bool, unsigned int>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::variant<std::__cxx11::basic_string<char>, Planners::utils::Vec3i, std::vector<Planners::utils::Vec3i>, double, unsigned long, int, bool, unsigned int>>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, std::variant<std::__cxx11::basic_string<char>, Planners::utils::Vec3i, std::vector<Planners::utils::Vec3i>, double, unsigned long, int, bool, unsigned int>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::variant<std::__cxx11::basic_string<char>, Planners::utils::Vec3i, std::vector<Planners::utils::Vec3i>, double, unsigned long, int, bool, unsigned int>>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"struct.std::_Rb_tree_header" = type { %"struct.std::_Rb_tree_node_base", i64 }
%"struct.std::_Rb_tree_node_base" = type { i32, ptr, ptr, ptr }
%"class.Planners::utils::Vec3i" = type { i32, i32, i32 }
%"class.Planners::utils::Clock" = type <{ %"class.std::chrono::duration", %"class.std::chrono::time_point", %"class.std::chrono::time_point", i8, i8, [6 x i8] }>
%"class.std::chrono::duration" = type { i64 }
%"class.std::chrono::time_point" = type { %"class.std::chrono::duration" }
%"class.boost::multi_index::multi_index_container" = type { [8 x i8], %"struct.boost::multi_index::detail::header_holder", %"class.boost::multi_index::detail::hashed_index", i64 }
%"struct.boost::multi_index::detail::header_holder" = type { ptr }
%"class.boost::multi_index::detail::hashed_index" = type { [8 x i8], %"class.boost::multi_index::detail::bucket_array", float, i64 }
%"class.boost::multi_index::detail::bucket_array" = type { i64, %"struct.boost::multi_index::detail::auto_space" }
%"struct.boost::multi_index::detail::auto_space" = type { [8 x i8], i64, ptr }
%"struct.std::pair" = type <{ %"class.boost::multi_index::detail::bidir_node_iterator", i8, [7 x i8] }>
%"class.boost::multi_index::detail::bidir_node_iterator" = type { ptr }
%"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.5" = type { i8 }
%"class.Planners::AlgorithmBase" = type { ptr, %"class.std::function", %"class.std::vector", %"class.Planners::utils::DiscreteWorld", i32, i8, double, i32, %"class.std::__cxx11::basic_string" }
%"class.std::function" = type { %"class.std::_Function_base", ptr }
%"class.std::_Function_base" = type { %"union.std::_Any_data", ptr }
%"union.std::_Any_data" = type { %"union.std::_Nocopy_types" }
%"union.std::_Nocopy_types" = type { { i64, i64 } }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<Planners::utils::Vec3i, std::allocator<Planners::utils::Vec3i>>::_Vector_impl" }
%"struct.std::_Vector_base<Planners::utils::Vec3i, std::allocator<Planners::utils::Vec3i>>::_Vector_impl" = type { %"struct.std::_Vector_base<Planners::utils::Vec3i, std::allocator<Planners::utils::Vec3i>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Planners::utils::Vec3i, std::allocator<Planners::utils::Vec3i>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Planners::utils::DiscreteWorld" = type { %"class.std::vector.0", i64, i32, i32, i32, double }
%"class.std::vector.0" = type { %"struct.std::_Vector_base.1" }
%"struct.std::_Vector_base.1" = type { %"struct.std::_Vector_base<Planners::utils::Node, std::allocator<Planners::utils::Node>>::_Vector_impl" }
%"struct.std::_Vector_base<Planners::utils::Node, std::allocator<Planners::utils::Node>>::_Vector_impl" = type { %"struct.std::_Vector_base<Planners::utils::Node, std::allocator<Planners::utils::Node>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Planners::utils::Node, std::allocator<Planners::utils::Node>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Planners::utils::Node" = type <{ ptr, %"class.Planners::utils::Vec3i", i32, i32, i32, i32, i32, double, i8, i8, i8, [5 x i8] }>
%"class.Planners::AStar" = type { %"class.Planners::AlgorithmBase", i32, %"class.std::vector.8", %"class.boost::multi_index::multi_index_container" }
%"class.std::vector.8" = type { %"struct.std::_Vector_base.9" }
%"struct.std::_Vector_base.9" = type { %"struct.std::_Vector_base<Planners::utils::Node *, std::allocator<Planners::utils::Node *>>::_Vector_impl" }
%"struct.std::_Vector_base<Planners::utils::Node *, std::allocator<Planners::utils::Node *>>::_Vector_impl" = type { %"struct.std::_Vector_base<Planners::utils::Node *, std::allocator<Planners::utils::Node *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Planners::utils::Node *, std::allocator<Planners::utils::Node *>>::_Vector_impl_data" = type { ptr, ptr, ptr }

@.str.1 = external hidden unnamed_addr constant [1 x i8], align 1

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

; Function Attrs: mustprogress nounwind uwtable
declare 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

declare i32 @__gxx_personality_v0(...)

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

; 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) #3

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN8Planners5utils13DiscreteWorld10getNodePtrERKNS0_5Vec3iE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 4 dereferenceable(12)) #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN8Planners13LazyThetaStar8findPathB5cxx11ERKNS_5utils5Vec3iES4_(ptr dead_on_unwind noalias writable sret(%"class.std::map") align 8 %0, ptr noundef nonnull align 8 dereferenceable(320) %1, ptr noundef nonnull align 4 dereferenceable(12) %2, ptr noundef nonnull align 4 dereferenceable(12) %3) unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca i8, align 1
  %11 = alloca %"class.Planners::utils::Vec3i", align 4
  %12 = alloca { i64, i32 }, align 4
  %13 = alloca ptr, align 8
  %14 = alloca i32, align 4
  %15 = alloca %"class.Planners::utils::Clock", align 8
  %16 = alloca %"class.boost::multi_index::multi_index_container", align 8
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca ptr, align 8
  %20 = alloca %"struct.std::pair", align 8
  %21 = alloca %"class.boost::multi_index::detail::bidir_node_iterator", align 8
  %22 = alloca %"class.boost::multi_index::detail::bidir_node_iterator", align 8
  %23 = alloca %"class.boost::multi_index::detail::bidir_node_iterator", align 8
  %24 = alloca i32, align 4
  %25 = alloca %"class.std::__cxx11::basic_string", align 8
  %26 = alloca %"class.std::allocator.5", align 1
  %27 = alloca i1, align 1
  store ptr %0, ptr %5, align 8
  store ptr %1, ptr %6, align 8, !tbaa !5
  store ptr %2, ptr %7, align 8, !tbaa !5
  store ptr %3, ptr %8, align 8, !tbaa !5
  %28 = load ptr, ptr %6, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #7
  store ptr null, ptr %9, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 1, ptr %10) #7
  store i8 0, ptr %10, align 1, !tbaa !9
  %29 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 56) #8
  %30 = load ptr, ptr %7, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %11, ptr align 4 %30, i64 12, i1 false), !tbaa.struct !11
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %12, ptr align 4 %11, i64 12, i1 false)
  %31 = getelementptr inbounds { i64, i32 }, ptr %12, i32 0, i32 0
  %32 = load i64, ptr %31, align 4
  %33 = getelementptr inbounds { i64, i32 }, ptr %12, i32 0, i32 1
  %34 = load i32, ptr %33, align 4
  invoke void @_ZN8Planners5utils4NodeC1ENS0_5Vec3iEPS1_(ptr noundef nonnull align 8 dereferenceable(51) %29, i64 %32, i32 %34, ptr noundef null)
          to label %35 unwind label %82

35:                                               ; preds = %4
  %36 = getelementptr inbounds %"class.Planners::AlgorithmBase", ptr %28, i32 0, i32 3
  %37 = load ptr, ptr %7, align 8, !tbaa !5
  %38 = call noundef ptr @_ZN8Planners5utils13DiscreteWorld10getNodePtrERKNS0_5Vec3iE(ptr noundef nonnull align 8 dereferenceable(56) %36, ptr noundef nonnull align 4 dereferenceable(12) %37)
  %39 = getelementptr inbounds %"class.Planners::utils::Node", ptr %38, i32 0, i32 0
  store ptr %29, ptr %39, align 8, !tbaa !14
  %40 = getelementptr inbounds %"class.Planners::AlgorithmBase", ptr %28, i32 0, i32 3
  %41 = load ptr, ptr %7, align 8, !tbaa !5
  call void @_ZN8Planners5utils13DiscreteWorld12setOpenValueERKNS0_5Vec3iEb(ptr noundef nonnull align 8 dereferenceable(56) %40, ptr noundef nonnull align 4 dereferenceable(12) %41, i1 noundef zeroext true)
  call void @llvm.lifetime.start.p0(i64 32, ptr %15) #7
  call void @_ZN8Planners5utils5ClockC2Eb(ptr noundef nonnull align 8 dereferenceable(26) %15, i1 noundef zeroext false)
  call void @_ZN8Planners5utils5Clock3ticEv(ptr noundef nonnull align 8 dereferenceable(26) %15)
  %42 = getelementptr inbounds %"class.Planners::AStar", ptr %28, i32 0, i32 1
  store i32 0, ptr %42, align 8, !tbaa !18
  call void @llvm.lifetime.start.p0(i64 80, ptr %16) #7
  call void @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(80) %16)
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #7
  %43 = call noundef nonnull align 1 dereferenceable(2) ptr @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EE3getISH_EERNSN_5indexIT_E4typeEv(ptr noundef nonnull align 8 dereferenceable(80) %16) #7
  store ptr %43, ptr %17, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #7
  %44 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EE3getIS9_EERNSN_5indexIT_E4typeEv(ptr noundef nonnull align 8 dereferenceable(80) %16) #7
  store ptr %44, ptr %18, align 8, !tbaa !5
  %45 = load ptr, ptr %17, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #7
  %46 = getelementptr inbounds %"class.Planners::AlgorithmBase", ptr %28, i32 0, i32 3
  %47 = load ptr, ptr %7, align 8, !tbaa !5
  %48 = invoke noundef ptr @_ZN8Planners5utils13DiscreteWorld10getNodePtrERKNS0_5Vec3iE(ptr noundef nonnull align 8 dereferenceable(56) %46, ptr noundef nonnull align 4 dereferenceable(12) %47)
          to label %49 unwind label %86

49:                                               ; preds = %35
  store ptr %48, ptr %19, align 8, !tbaa !5
  %50 = invoke { ptr, i8 } @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE6insertEOSB_(ptr noundef nonnull align 1 dereferenceable(2) %45, ptr noundef nonnull align 8 dereferenceable(8) %19)
          to label %51 unwind label %86

51:                                               ; preds = %49
  %52 = getelementptr inbounds { ptr, i8 }, ptr %20, i32 0, i32 0
  %53 = extractvalue { ptr, i8 } %50, 0
  store ptr %53, ptr %52, align 8
  %54 = getelementptr inbounds { ptr, i8 }, ptr %20, i32 0, i32 1
  %55 = extractvalue { ptr, i8 } %50, 1
  store i8 %55, ptr %54, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #7
  br label %56

56:                                               ; preds = %115, %51
  %57 = load ptr, ptr %17, align 8, !tbaa !5
  %58 = call noundef zeroext i1 @_ZNK5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5emptyEv(ptr noundef nonnull align 1 dereferenceable(2) %57) #7
  %59 = xor i1 %58, true
  br i1 %59, label %60, label %116

60:                                               ; preds = %56
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #7
  %61 = load ptr, ptr %17, align 8, !tbaa !5
  %62 = call ptr @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5beginEv(ptr noundef nonnull align 1 dereferenceable(2) %61) #7
  %63 = getelementptr inbounds %"class.boost::multi_index::detail::bidir_node_iterator", ptr %21, i32 0, i32 0
  store ptr %62, ptr %63, align 8
  %64 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5boost11multi_index6detail19bidir_node_iteratorINS1_18ordered_index_nodeINS1_19null_augment_policyENS1_15index_node_baseIPN8Planners5utils4NodeESaIS9_EEEEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %21)
          to label %65 unwind label %90

65:                                               ; preds = %60
  %66 = load ptr, ptr %64, align 8, !tbaa !5
  store ptr %66, ptr %9, align 8, !tbaa !5
  %67 = load ptr, ptr %17, align 8, !tbaa !5
  %68 = load ptr, ptr %17, align 8, !tbaa !5
  %69 = call ptr @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5beginEv(ptr noundef nonnull align 1 dereferenceable(2) %68) #7
  %70 = getelementptr inbounds %"class.boost::multi_index::detail::bidir_node_iterator", ptr %22, i32 0, i32 0
  store ptr %69, ptr %70, align 8
  %71 = getelementptr inbounds %"class.boost::multi_index::detail::bidir_node_iterator", ptr %22, i32 0, i32 0
  %72 = load ptr, ptr %71, align 8
  %73 = invoke ptr @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5eraseENS1_19bidir_node_iteratorINS1_18ordered_index_nodeISY_NS1_15index_node_baseISB_SQ_EEEEEE(ptr noundef nonnull align 1 dereferenceable(2) %67, ptr %72)
          to label %74 unwind label %90

74:                                               ; preds = %65
  %75 = getelementptr inbounds %"class.boost::multi_index::detail::bidir_node_iterator", ptr %23, i32 0, i32 0
  store ptr %73, ptr %75, align 8
  %76 = load ptr, ptr %9, align 8, !tbaa !5
  %77 = getelementptr inbounds %"class.Planners::utils::Node", ptr %76, i32 0, i32 1
  %78 = load ptr, ptr %8, align 8, !tbaa !5
  %79 = invoke noundef zeroext i1 @_ZN8Planners5utils5Vec3ieqERKS1_(ptr noundef nonnull align 4 dereferenceable(12) %77, ptr noundef nonnull align 4 dereferenceable(12) %78)
          to label %80 unwind label %90

80:                                               ; preds = %74
  br i1 %79, label %81, label %94

81:                                               ; preds = %80
  store i8 1, ptr %10, align 1, !tbaa !9
  store i32 3, ptr %24, align 4
  br label %113

82:                                               ; preds = %4
  %83 = landingpad { ptr, i32 }
          cleanup
  %84 = extractvalue { ptr, i32 } %83, 0
  store ptr %84, ptr %13, align 8
  %85 = extractvalue { ptr, i32 } %83, 1
  store i32 %85, ptr %14, align 4
  call void @_ZdlPvm(ptr noundef %29, i64 noundef 56) #9
  br label %164

86:                                               ; preds = %49, %35
  %87 = landingpad { ptr, i32 }
          cleanup
  %88 = extractvalue { ptr, i32 } %87, 0
  store ptr %88, ptr %13, align 8
  %89 = extractvalue { ptr, i32 } %87, 1
  store i32 %89, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #7
  br label %163

90:                                               ; preds = %105, %96, %94, %74, %65, %60
  %91 = landingpad { ptr, i32 }
          cleanup
  %92 = extractvalue { ptr, i32 } %91, 0
  store ptr %92, ptr %13, align 8
  %93 = extractvalue { ptr, i32 } %91, 1
  store i32 %93, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #7
  br label %163

94:                                               ; preds = %80
  %95 = getelementptr inbounds %"class.Planners::AStar", ptr %28, i32 0, i32 2
  invoke void @_ZNSt6vectorIPN8Planners5utils4NodeESaIS3_EE9push_backERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %95, ptr noundef nonnull align 8 dereferenceable(8) %9)
          to label %96 unwind label %90

96:                                               ; preds = %94
  %97 = load ptr, ptr %9, align 8, !tbaa !5
  %98 = getelementptr inbounds %"class.Planners::utils::Node", ptr %97, i32 0, i32 9
  store i8 0, ptr %98, align 1, !tbaa !55
  %99 = load ptr, ptr %9, align 8, !tbaa !5
  %100 = getelementptr inbounds %"class.Planners::utils::Node", ptr %99, i32 0, i32 10
  store i8 1, ptr %100, align 2, !tbaa !56
  %101 = load ptr, ptr %9, align 8, !tbaa !5
  %102 = load ptr, ptr %28, align 8, !tbaa !57
  %103 = getelementptr inbounds ptr, ptr %102, i64 9
  %104 = load ptr, ptr %103, align 8
  invoke void %104(ptr noundef nonnull align 8 dereferenceable(320) %28, ptr noundef %101)
          to label %105 unwind label %90

105:                                              ; preds = %96
  %106 = load ptr, ptr %9, align 8, !tbaa !5
  %107 = load ptr, ptr %8, align 8, !tbaa !5
  %108 = load ptr, ptr %18, align 8, !tbaa !5
  %109 = load ptr, ptr %28, align 8, !tbaa !57
  %110 = getelementptr inbounds ptr, ptr %109, i64 5
  %111 = load ptr, ptr %110, align 8
  invoke void %111(ptr noundef nonnull align 8 dereferenceable(320) %28, ptr noundef %106, ptr noundef nonnull align 4 dereferenceable(12) %107, ptr noundef nonnull align 8 dereferenceable(56) %108)
          to label %112 unwind label %90

112:                                              ; preds = %105
  store i32 0, ptr %24, align 4
  br label %113

113:                                              ; preds = %112, %81
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #7
  %114 = load i32, ptr %24, align 4
  switch i32 %114, label %170 [
    i32 0, label %115
    i32 3, label %116
  ]

115:                                              ; preds = %113
  br label %56, !llvm.loop !59

116:                                              ; preds = %113, %56
  call void @llvm.lifetime.start.p0(i64 32, ptr %25) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %26) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %26) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %25, ptr noundef @.str.1, ptr noundef nonnull align 1 dereferenceable(1) %26)
          to label %117 unwind label %144

117:                                              ; preds = %116
  invoke void @_ZN8Planners5utils5Clock3tocERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(26) %15, ptr noundef nonnull align 8 dereferenceable(32) %25)
          to label %118 unwind label %148

118:                                              ; preds = %117
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %25) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %26) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %25) #7
  store i1 false, ptr %27, align 1
  %119 = load ptr, ptr %9, align 8, !tbaa !5
  %120 = getelementptr inbounds %"class.Planners::AStar", ptr %28, i32 0, i32 2
  %121 = call noundef i64 @_ZNKSt6vectorIPN8Planners5utils4NodeESaIS3_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %120) #7
  %122 = load i8, ptr %10, align 1, !tbaa !9, !range !61, !noundef !62
  %123 = trunc i8 %122 to i1
  %124 = load ptr, ptr %7, align 8, !tbaa !5
  %125 = getelementptr inbounds %"class.Planners::AStar", ptr %28, i32 0, i32 1
  %126 = load i32, ptr %125, align 8, !tbaa !18
  %127 = load ptr, ptr %28, align 8, !tbaa !57
  %128 = getelementptr inbounds ptr, ptr %127, i64 4
  %129 = load ptr, ptr %128, align 8
  invoke void %129(ptr dead_on_unwind writable sret(%"class.std::map") align 8 %0, ptr noundef nonnull align 8 dereferenceable(176) %28, ptr noundef %119, ptr noundef nonnull align 8 dereferenceable(26) %15, i64 noundef %121, i1 noundef zeroext %123, ptr noundef nonnull align 4 dereferenceable(12) %124, i32 noundef %126)
          to label %130 unwind label %153

130:                                              ; preds = %118
  %131 = getelementptr inbounds %"class.Planners::AStar", ptr %28, i32 0, i32 2
  call void @_ZNSt6vectorIPN8Planners5utils4NodeESaIS3_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %131) #7
  %132 = getelementptr inbounds %"class.Planners::AlgorithmBase", ptr %28, i32 0, i32 3
  %133 = load ptr, ptr %7, align 8, !tbaa !5
  %134 = invoke noundef ptr @_ZN8Planners5utils13DiscreteWorld10getNodePtrERKNS0_5Vec3iE(ptr noundef nonnull align 8 dereferenceable(56) %132, ptr noundef nonnull align 4 dereferenceable(12) %133)
          to label %135 unwind label %157

135:                                              ; preds = %130
  %136 = getelementptr inbounds %"class.Planners::utils::Node", ptr %134, i32 0, i32 0
  %137 = load ptr, ptr %136, align 8, !tbaa !14
  %138 = icmp eq ptr %137, null
  br i1 %138, label %140, label %139

139:                                              ; preds = %135
  call void @_ZdlPvm(ptr noundef %137, i64 noundef 56) #9
  br label %140

140:                                              ; preds = %139, %135
  %141 = getelementptr inbounds %"class.Planners::AlgorithmBase", ptr %28, i32 0, i32 3
  invoke void @_ZN8Planners5utils13DiscreteWorld10resetWorldEv(ptr noundef nonnull align 8 dereferenceable(56) %141)
          to label %142 unwind label %157

142:                                              ; preds = %140
  store i1 true, ptr %27, align 1
  store i32 1, ptr %24, align 4
  %143 = load i1, ptr %27, align 1
  br i1 %143, label %162, label %161

144:                                              ; preds = %116
  %145 = landingpad { ptr, i32 }
          cleanup
  %146 = extractvalue { ptr, i32 } %145, 0
  store ptr %146, ptr %13, align 8
  %147 = extractvalue { ptr, i32 } %145, 1
  store i32 %147, ptr %14, align 4
  br label %152

148:                                              ; preds = %117
  %149 = landingpad { ptr, i32 }
          cleanup
  %150 = extractvalue { ptr, i32 } %149, 0
  store ptr %150, ptr %13, align 8
  %151 = extractvalue { ptr, i32 } %149, 1
  store i32 %151, ptr %14, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %25) #7
  br label %152

152:                                              ; preds = %148, %144
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %26) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %25) #7
  br label %163

153:                                              ; preds = %118
  %154 = landingpad { ptr, i32 }
          cleanup
  %155 = extractvalue { ptr, i32 } %154, 0
  store ptr %155, ptr %13, align 8
  %156 = extractvalue { ptr, i32 } %154, 1
  store i32 %156, ptr %14, align 4
  br label %163

157:                                              ; preds = %140, %130
  %158 = landingpad { ptr, i32 }
          cleanup
  %159 = extractvalue { ptr, i32 } %158, 0
  store ptr %159, ptr %13, align 8
  %160 = extractvalue { ptr, i32 } %158, 1
  store i32 %160, ptr %14, align 4
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt7variantIJS5_N8Planners5utils5Vec3iESt6vectorIS9_SaIS9_EEdmibjEESt4lessIS5_ESaISt4pairIKS5_SD_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %0) #7
  br label %163

161:                                              ; preds = %142
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt7variantIJS5_N8Planners5utils5Vec3iESt6vectorIS9_SaIS9_EEdmibjEESt4lessIS5_ESaISt4pairIKS5_SD_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %0) #7
  br label %162

162:                                              ; preds = %161, %142
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #7
  call void @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(80) %16) #7
  call void @llvm.lifetime.end.p0(i64 80, ptr %16) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %15) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #7
  ret void

163:                                              ; preds = %157, %153, %152, %90, %86
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #7
  call void @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(80) %16) #7
  call void @llvm.lifetime.end.p0(i64 80, ptr %16) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %15) #7
  br label %164

164:                                              ; preds = %163, %82
  call void @llvm.lifetime.end.p0(i64 1, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #7
  br label %165

165:                                              ; preds = %164
  %166 = load ptr, ptr %13, align 8
  %167 = load i32, ptr %14, align 4
  %168 = insertvalue { ptr, i32 } poison, ptr %166, 0
  %169 = insertvalue { ptr, i32 } %168, i32 %167, 1
  resume { ptr, i32 } %169

170:                                              ; preds = %113
  unreachable
}

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

declare void @_ZN8Planners5utils4NodeC1ENS0_5Vec3iEPS1_(ptr noundef nonnull align 8 dereferenceable(51), i64, i32, ptr noundef) unnamed_addr #5

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) #6

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8Planners5utils13DiscreteWorld12setOpenValueERKNS0_5Vec3iEb(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 4 dereferenceable(12), i1 noundef zeroext) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8Planners5utils5ClockC2Eb(ptr noundef nonnull align 8 dereferenceable(26), i1 noundef zeroext) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN8Planners5utils5Clock3ticEv(ptr noundef nonnull align 8 dereferenceable(26)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(80)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 1 dereferenceable(2) ptr @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EE3getISH_EERNSN_5indexIT_E4typeEv(ptr noundef nonnull align 8 dereferenceable(80)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EE3getIS9_EERNSN_5indexIT_E4typeEv(ptr noundef nonnull align 8 dereferenceable(80)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local { ptr, i8 } @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE6insertEOSB_(ptr noundef nonnull align 1 dereferenceable(2), ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5emptyEv(ptr noundef nonnull align 1 dereferenceable(2)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5beginEv(ptr noundef nonnull align 1 dereferenceable(2)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5boost11multi_index6detail19bidir_node_iteratorINS1_18ordered_index_nodeINS1_19null_augment_policyENS1_15index_node_baseIPN8Planners5utils4NodeESaIS9_EEEEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5eraseENS1_19bidir_node_iteratorINS1_18ordered_index_nodeISY_NS1_15index_node_baseISB_SQ_EEEEEE(ptr noundef nonnull align 1 dereferenceable(2), ptr) #2 align 2

declare noundef zeroext i1 @_ZN8Planners5utils5Vec3ieqERKS1_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIPN8Planners5utils4NodeESaIS3_EE9push_backERKS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8Planners5utils5Clock3tocERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(26), ptr noundef nonnull align 8 dereferenceable(32)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIPN8Planners5utils4NodeESaIS3_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIPN8Planners5utils4NodeESaIS3_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN8Planners5utils13DiscreteWorld10resetWorldEv(ptr noundef nonnull align 8 dereferenceable(56)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt7variantIJS5_N8Planners5utils5Vec3iESt6vectorIS9_SaIS9_EEdmibjEESt4lessIS5_ESaISt4pairIKS5_SD_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(80)) 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

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 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { 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 #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, !10, i64 0}
!10 = !{!"bool", !7, i64 0}
!11 = !{i64 0, i64 4, !12, i64 4, i64 4, !12, i64 8, i64 4, !12}
!12 = !{!13, !13, i64 0}
!13 = !{!"int", !7, i64 0}
!14 = !{!15, !6, i64 0}
!15 = !{!"_ZTSN8Planners5utils4NodeE", !6, i64 0, !16, i64 8, !13, i64 20, !13, i64 24, !13, i64 28, !13, i64 32, !13, i64 36, !17, i64 40, !10, i64 48, !10, i64 49, !10, i64 50}
!16 = !{!"_ZTSN8Planners5utils5Vec3iE", !13, i64 0, !13, i64 4, !13, i64 8}
!17 = !{!"double", !7, i64 0}
!18 = !{!19, !13, i64 176}
!19 = !{!"_ZTSN8Planners5AStarE", !20, i64 0, !13, i64 176, !35, i64 184, !39, i64 208}
!20 = !{!"_ZTSN8Planners13AlgorithmBaseE", !21, i64 8, !23, i64 40, !27, i64 64, !13, i64 120, !10, i64 124, !17, i64 128, !13, i64 136, !33, i64 144}
!21 = !{!"_ZTSSt8functionIFjN8Planners5utils5Vec3iES2_EE", !22, i64 0, !6, i64 24}
!22 = !{!"_ZTSSt14_Function_base", !7, i64 0, !6, i64 16}
!23 = !{!"_ZTSSt6vectorIN8Planners5utils5Vec3iESaIS2_EE", !24, i64 0}
!24 = !{!"_ZTSSt12_Vector_baseIN8Planners5utils5Vec3iESaIS2_EE", !25, i64 0}
!25 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils5Vec3iESaIS2_EE12_Vector_implE", !26, i64 0}
!26 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils5Vec3iESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!27 = !{!"_ZTSN8Planners5utils13DiscreteWorldE", !28, i64 0, !32, i64 24, !13, i64 32, !13, i64 36, !13, i64 40, !17, i64 48}
!28 = !{!"_ZTSSt6vectorIN8Planners5utils4NodeESaIS2_EE", !29, i64 0}
!29 = !{!"_ZTSSt12_Vector_baseIN8Planners5utils4NodeESaIS2_EE", !30, i64 0}
!30 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils4NodeESaIS2_EE12_Vector_implE", !31, i64 0}
!31 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils4NodeESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!32 = !{!"long", !7, i64 0}
!33 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !34, i64 0, !32, i64 8, !7, i64 16}
!34 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !6, i64 0}
!35 = !{!"_ZTSSt6vectorIPN8Planners5utils4NodeESaIS3_EE", !36, i64 0}
!36 = !{!"_ZTSSt12_Vector_baseIPN8Planners5utils4NodeESaIS3_EE", !37, i64 0}
!37 = !{!"_ZTSNSt12_Vector_baseIPN8Planners5utils4NodeESaIS3_EE12_Vector_implE", !38, i64 0}
!38 = !{!"_ZTSNSt12_Vector_baseIPN8Planners5utils4NodeESaIS3_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!39 = !{!"_ZTSN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EEE", !40, i64 0, !42, i64 8, !43, i64 16, !32, i64 72}
!40 = !{!"_ZTSN5boost16base_from_memberISaINS_11multi_index6detail17hashed_index_nodeINS2_18ordered_index_nodeINS2_19null_augment_policyENS2_15index_node_baseIPN8Planners5utils4NodeESaISA_EEEEEEEELi0EEE", !41, i64 0}
!41 = !{!"_ZTSSaIN5boost11multi_index6detail17hashed_index_nodeINS1_18ordered_index_nodeINS1_19null_augment_policyENS1_15index_node_baseIPN8Planners5utils4NodeESaIS9_EEEEEEEE"}
!42 = !{!"_ZTSN5boost11multi_index6detail13header_holderIPNS1_17hashed_index_nodeINS1_18ordered_index_nodeINS1_19null_augment_policyENS1_15index_node_baseIPN8Planners5utils4NodeESaISA_EEEEEEENS0_21multi_index_containerISA_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS8_20IndexByWorldPositionEN4mpl_2naESM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_EENS0_6memberIS9_jXadL_ZNS9_11world_indexEEEEESM_SM_EENS0_18ordered_non_uniqueINSJ_INS8_11IndexByCostESM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_EENSO_IS9_jXadL_ZNS9_6gplushEEEEESM_EESM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_EESB_EEEE", !6, i64 0}
!43 = !{!"_ZTSN5boost11multi_index6detail12hashed_indexINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_11world_indexEEEEENS_4hashIjEESt8equal_toIjENS1_9nth_layerILi1EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_EES7_SJ_SJ_EENS0_18ordered_non_uniqueINSG_INS5_11IndexByCostESJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_EENS3_IS6_jXadL_ZNS6_6gplushEEEEESJ_EESJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_EESaISD_EEENS_3mpl6v_itemISH_NSU_7vector0ISJ_EELi0EEENS1_17hashed_unique_tagEEE", !44, i64 0, !48, i64 2, !49, i64 3, !50, i64 4, !51, i64 8, !54, i64 40, !32, i64 48}
!44 = !{!"_ZTSN5boost11multi_index6detail13ordered_indexINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEEE", !45, i64 0}
!45 = !{!"_ZTSN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEEE", !46, i64 0, !47, i64 1}
!46 = !{!"_ZTSN5boost11multi_index6memberIN8Planners5utils4NodeEjXadL_ZNS4_6gplushEEEEE"}
!47 = !{!"_ZTSSt4lessIjE"}
!48 = !{!"_ZTSN5boost11multi_index6memberIN8Planners5utils4NodeEjXadL_ZNS4_11world_indexEEEEE"}
!49 = !{!"_ZTSN5boost4hashIjEE"}
!50 = !{!"_ZTSSt8equal_toIjE"}
!51 = !{!"_ZTSN5boost11multi_index6detail12bucket_arrayISaIPN8Planners5utils4NodeEEEE", !32, i64 0, !52, i64 8}
!52 = !{!"_ZTSN5boost11multi_index6detail10auto_spaceINS1_27hashed_index_base_node_implISaIcEEESaIPN8Planners5utils4NodeEEEE", !53, i64 0, !32, i64 8, !6, i64 16}
!53 = !{!"_ZTSSaIN5boost11multi_index6detail27hashed_index_base_node_implISaIcEEEE"}
!54 = !{!"float", !7, i64 0}
!55 = !{!15, !10, i64 49}
!56 = !{!15, !10, i64 50}
!57 = !{!58, !58, i64 0}
!58 = !{!"vtable pointer", !8, i64 0}
!59 = distinct !{!59, !60}
!60 = !{!"llvm.loop.mustprogress"}
!61 = !{i8 0, i8 2}
!62 = !{}


; 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::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, std::variant<std::__cxx11::basic_string<char>, Planners::utils::Vec3i, std::vector<Planners::utils::Vec3i>, double, unsigned long, int, bool, unsigned int>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::variant<std::__cxx11::basic_string<char>, Planners::utils::Vec3i, std::vector<Planners::utils::Vec3i>, double, unsigned long, int, bool, unsigned int>>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, std::variant<std::__cxx11::basic_string<char>, Planners::utils::Vec3i, std::vector<Planners::utils::Vec3i>, double, unsigned long, int, bool, unsigned int>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::variant<std::__cxx11::basic_string<char>, Planners::utils::Vec3i, std::vector<Planners::utils::Vec3i>, double, unsigned long, int, bool, unsigned int>>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"struct.std::_Rb_tree_header" = type { %"struct.std::_Rb_tree_node_base", i64 }
%"struct.std::_Rb_tree_node_base" = type { i32, ptr, ptr, ptr }
%"class.Planners::utils::Clock" = type <{ %"class.std::chrono::duration", %"class.std::chrono::time_point", %"class.std::chrono::time_point", i8, i8, [6 x i8] }>
%"class.std::chrono::duration" = type { i64 }
%"class.std::chrono::time_point" = type { %"class.std::chrono::duration" }
%"class.boost::multi_index::multi_index_container" = type { [8 x i8], %"struct.boost::multi_index::detail::header_holder", %"class.boost::multi_index::detail::hashed_index", i64 }
%"struct.boost::multi_index::detail::header_holder" = type { ptr }
%"class.boost::multi_index::detail::hashed_index" = type { [8 x i8], %"class.boost::multi_index::detail::bucket_array", float, i64 }
%"class.boost::multi_index::detail::bucket_array" = type { i64, %"struct.boost::multi_index::detail::auto_space" }
%"struct.boost::multi_index::detail::auto_space" = type { [8 x i8], i64, ptr }
%"class.boost::multi_index::detail::bidir_node_iterator" = type { ptr }
%"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.5" = type { i8 }

@.str.1 = external hidden unnamed_addr constant [1 x i8], align 1

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

; Function Attrs: mustprogress nounwind uwtable
declare 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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN8Planners5utils13DiscreteWorld10getNodePtrERKNS0_5Vec3iE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN8Planners13LazyThetaStar8findPathB5cxx11ERKNS_5utils5Vec3iES4_(ptr dead_on_unwind noalias writable sret(%"class.std::map") align 8 %0, ptr noundef nonnull align 8 dereferenceable(320) %1, ptr noundef nonnull align 4 dereferenceable(12) %2, ptr noundef nonnull align 4 dereferenceable(12) %3) unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca ptr, align 8
  %6 = alloca %"class.Planners::utils::Clock", align 8
  %7 = alloca %"class.boost::multi_index::multi_index_container", align 8
  %8 = alloca ptr, align 8
  %9 = alloca %"class.boost::multi_index::detail::bidir_node_iterator", align 8
  %10 = alloca %"class.std::__cxx11::basic_string", align 8
  %11 = alloca %"class.std::allocator.5", align 1
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #6
  store ptr null, ptr %5, align 8, !tbaa !5
  %12 = tail call noalias noundef nonnull dereferenceable(56) ptr @_Znwm(i64 noundef 56) #7
  %.sroa.012.0.copyload = load i64, ptr %2, align 4
  %.sroa.213.0..sroa_idx = getelementptr inbounds i8, ptr %2, i64 8
  %.sroa.213.0.copyload = load i32, ptr %.sroa.213.0..sroa_idx, align 4, !tbaa !9
  invoke void @_ZN8Planners5utils4NodeC1ENS0_5Vec3iEPS1_(ptr noundef nonnull align 8 dereferenceable(51) %12, i64 %.sroa.012.0.copyload, i32 %.sroa.213.0.copyload, ptr noundef null)
          to label %13 unwind label %36

13:                                               ; preds = %4
  %14 = getelementptr inbounds i8, ptr %1, i64 64
  %15 = tail call noundef ptr @_ZN8Planners5utils13DiscreteWorld10getNodePtrERKNS0_5Vec3iE(ptr noundef nonnull align 8 dereferenceable(56) %14, ptr noundef nonnull align 4 dereferenceable(12) %2)
  store ptr %12, ptr %15, align 8, !tbaa !11
  tail call void @_ZN8Planners5utils13DiscreteWorld12setOpenValueERKNS0_5Vec3iEb(ptr noundef nonnull align 8 dereferenceable(56) %14, ptr noundef nonnull align 4 dereferenceable(12) %2, i1 noundef zeroext true)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %6) #6
  call void @_ZN8Planners5utils5ClockC2Eb(ptr noundef nonnull align 8 dereferenceable(26) %6, i1 noundef zeroext false)
  call void @_ZN8Planners5utils5Clock3ticEv(ptr noundef nonnull align 8 dereferenceable(26) %6)
  %16 = getelementptr inbounds i8, ptr %1, i64 176
  store i32 0, ptr %16, align 8, !tbaa !16
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %7) #6
  call void @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(80) %7)
  %17 = call noundef nonnull align 1 dereferenceable(2) ptr @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EE3getISH_EERNSN_5indexIT_E4typeEv(ptr noundef nonnull align 8 dereferenceable(80) %7) #6
  %18 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EE3getIS9_EERNSN_5indexIT_E4typeEv(ptr noundef nonnull align 8 dereferenceable(80) %7) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #6
  %19 = invoke noundef ptr @_ZN8Planners5utils13DiscreteWorld10getNodePtrERKNS0_5Vec3iE(ptr noundef nonnull align 8 dereferenceable(56) %14, ptr noundef nonnull align 4 dereferenceable(12) %2)
          to label %20 unwind label %38

20:                                               ; preds = %13
  store ptr %19, ptr %8, align 8, !tbaa !5
  %21 = invoke { ptr, i8 } @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE6insertEOSB_(ptr noundef nonnull align 1 dereferenceable(2) %17, ptr noundef nonnull align 8 dereferenceable(8) %8)
          to label %22 unwind label %38

22:                                               ; preds = %20
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #6
  %23 = call noundef zeroext i1 @_ZNK5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5emptyEv(ptr noundef nonnull align 1 dereferenceable(2) %17) #6
  br i1 %23, label %.loopexit, label %.lr.ph

.lr.ph:                                           ; preds = %22
  %24 = getelementptr inbounds i8, ptr %1, i64 184
  br label %25

25:                                               ; preds = %.lr.ph, %55
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #6
  %26 = call ptr @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5beginEv(ptr noundef nonnull align 1 dereferenceable(2) %17) #6
  store ptr %26, ptr %9, align 8
  %27 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5boost11multi_index6detail19bidir_node_iteratorINS1_18ordered_index_nodeINS1_19null_augment_policyENS1_15index_node_baseIPN8Planners5utils4NodeESaIS9_EEEEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %9)
  %28 = load ptr, ptr %27, align 8, !tbaa !5
  store ptr %28, ptr %5, align 8, !tbaa !5
  %29 = call ptr @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5beginEv(ptr noundef nonnull align 1 dereferenceable(2) %17) #6
  %30 = invoke ptr @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5eraseENS1_19bidir_node_iteratorINS1_18ordered_index_nodeISY_NS1_15index_node_baseISB_SQ_EEEEEE(ptr noundef nonnull align 1 dereferenceable(2) %17, ptr %29)
          to label %31 unwind label %40

31:                                               ; preds = %25
  %32 = load ptr, ptr %5, align 8, !tbaa !5
  %33 = getelementptr inbounds i8, ptr %32, i64 8
  %34 = invoke noundef zeroext i1 @_ZN8Planners5utils5Vec3ieqERKS1_(ptr noundef nonnull align 4 dereferenceable(12) %33, ptr noundef nonnull align 4 dereferenceable(12) %3)
          to label %35 unwind label %40

35:                                               ; preds = %31
  br i1 %34, label %.thread, label %42

.thread:                                          ; preds = %35
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #6
  br label %.loopexit

36:                                               ; preds = %4
  %37 = landingpad { ptr, i32 }
          cleanup
  tail call void @_ZdlPvm(ptr noundef nonnull %12, i64 noundef 56) #8
  br label %83

38:                                               ; preds = %20, %13
  %39 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #6
  br label %82

40:                                               ; preds = %50, %43, %42, %31, %25
  %41 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #6
  br label %82

42:                                               ; preds = %35
  invoke void @_ZNSt6vectorIPN8Planners5utils4NodeESaIS3_EE9push_backERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %24, ptr noundef nonnull align 8 dereferenceable(8) %5)
          to label %43 unwind label %40

43:                                               ; preds = %42
  %44 = load ptr, ptr %5, align 8, !tbaa !5
  %45 = getelementptr inbounds i8, ptr %44, i64 49
  store i8 0, ptr %45, align 1, !tbaa !53
  %46 = getelementptr inbounds i8, ptr %44, i64 50
  store i8 1, ptr %46, align 2, !tbaa !54
  %47 = load ptr, ptr %1, align 8, !tbaa !55
  %48 = getelementptr inbounds i8, ptr %47, i64 72
  %49 = load ptr, ptr %48, align 8
  invoke void %49(ptr noundef nonnull align 8 dereferenceable(320) %1, ptr noundef nonnull %44)
          to label %50 unwind label %40

50:                                               ; preds = %43
  %51 = load ptr, ptr %5, align 8, !tbaa !5
  %52 = load ptr, ptr %1, align 8, !tbaa !55
  %53 = getelementptr inbounds i8, ptr %52, i64 40
  %54 = load ptr, ptr %53, align 8
  invoke void %54(ptr noundef nonnull align 8 dereferenceable(320) %1, ptr noundef %51, ptr noundef nonnull align 4 dereferenceable(12) %3, ptr noundef nonnull align 8 dereferenceable(56) %18)
          to label %55 unwind label %40

55:                                               ; preds = %50
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #6
  %56 = call noundef zeroext i1 @_ZNK5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5emptyEv(ptr noundef nonnull align 1 dereferenceable(2) %17) #6
  br i1 %56, label %.loopexit, label %25

.loopexit:                                        ; preds = %55, %22, %.thread
  %.2 = phi i1 [ true, %.thread ], [ false, %22 ], [ false, %55 ]
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %10) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %11) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %11) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %10, ptr noundef nonnull @.str.1, ptr noundef nonnull align 1 dereferenceable(1) %11)
          to label %57 unwind label %73

57:                                               ; preds = %.loopexit
  invoke void @_ZN8Planners5utils5Clock3tocERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(26) %6, ptr noundef nonnull align 8 dereferenceable(32) %10)
          to label %58 unwind label %75

58:                                               ; preds = %57
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %11) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %11) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %10) #6
  %59 = load ptr, ptr %5, align 8, !tbaa !5
  %60 = getelementptr inbounds i8, ptr %1, i64 184
  %61 = call noundef i64 @_ZNKSt6vectorIPN8Planners5utils4NodeESaIS3_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %60) #6
  %62 = load i32, ptr %16, align 8, !tbaa !16
  %63 = load ptr, ptr %1, align 8, !tbaa !55
  %64 = getelementptr inbounds i8, ptr %63, i64 32
  %65 = load ptr, ptr %64, align 8
  invoke void %65(ptr dead_on_unwind writable sret(%"class.std::map") align 8 %0, ptr noundef nonnull align 8 dereferenceable(176) %1, ptr noundef %59, ptr noundef nonnull align 8 dereferenceable(26) %6, i64 noundef %61, i1 noundef zeroext %.2, ptr noundef nonnull align 4 dereferenceable(12) %2, i32 noundef %62)
          to label %66 unwind label %78

66:                                               ; preds = %58
  call void @_ZNSt6vectorIPN8Planners5utils4NodeESaIS3_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %60) #6
  %67 = invoke noundef ptr @_ZN8Planners5utils13DiscreteWorld10getNodePtrERKNS0_5Vec3iE(ptr noundef nonnull align 8 dereferenceable(56) %14, ptr noundef nonnull align 4 dereferenceable(12) %2)
          to label %68 unwind label %80

68:                                               ; preds = %66
  %69 = load ptr, ptr %67, align 8, !tbaa !11
  %70 = icmp eq ptr %69, null
  br i1 %70, label %72, label %71

71:                                               ; preds = %68
  call void @_ZdlPvm(ptr noundef nonnull %69, i64 noundef 56) #8
  br label %72

72:                                               ; preds = %71, %68
  call void @_ZN8Planners5utils13DiscreteWorld10resetWorldEv(ptr noundef nonnull align 8 dereferenceable(56) %14)
  call void @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(80) %7) #6
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %7) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #6
  ret void

73:                                               ; preds = %.loopexit
  %74 = landingpad { ptr, i32 }
          cleanup
  br label %77

75:                                               ; preds = %57
  %76 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #6
  br label %77

77:                                               ; preds = %75, %73
  %.pn = phi { ptr, i32 } [ %76, %75 ], [ %74, %73 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %11) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %11) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %10) #6
  br label %82

78:                                               ; preds = %58
  %79 = landingpad { ptr, i32 }
          cleanup
  br label %82

80:                                               ; preds = %66
  %81 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt7variantIJS5_N8Planners5utils5Vec3iESt6vectorIS9_SaIS9_EEdmibjEESt4lessIS5_ESaISt4pairIKS5_SD_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %0) #6
  br label %82

82:                                               ; preds = %80, %78, %77, %40, %38
  %.pn33 = phi { ptr, i32 } [ %81, %80 ], [ %79, %78 ], [ %.pn, %77 ], [ %41, %40 ], [ %39, %38 ]
  call void @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(80) %7) #6
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %7) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #6
  br label %83

83:                                               ; preds = %82, %36
  %.pn33.pn = phi { ptr, i32 } [ %.pn33, %82 ], [ %37, %36 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #6
  resume { ptr, i32 } %.pn33.pn
}

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

declare void @_ZN8Planners5utils4NodeC1ENS0_5Vec3iEPS1_(ptr noundef nonnull align 8 dereferenceable(51), i64, i32, ptr noundef) unnamed_addr #4

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8Planners5utils13DiscreteWorld12setOpenValueERKNS0_5Vec3iEb(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 4 dereferenceable(12), i1 noundef zeroext) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8Planners5utils5ClockC2Eb(ptr noundef nonnull align 8 dereferenceable(26), i1 noundef zeroext) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN8Planners5utils5Clock3ticEv(ptr noundef nonnull align 8 dereferenceable(26)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(80)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 1 dereferenceable(2) ptr @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EE3getISH_EERNSN_5indexIT_E4typeEv(ptr noundef nonnull align 8 dereferenceable(80)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EE3getIS9_EERNSN_5indexIT_E4typeEv(ptr noundef nonnull align 8 dereferenceable(80)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local { ptr, i8 } @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE6insertEOSB_(ptr noundef nonnull align 1 dereferenceable(2), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5emptyEv(ptr noundef nonnull align 1 dereferenceable(2)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5beginEv(ptr noundef nonnull align 1 dereferenceable(2)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5boost11multi_index6detail19bidir_node_iteratorINS1_18ordered_index_nodeINS1_19null_augment_policyENS1_15index_node_baseIPN8Planners5utils4NodeESaIS9_EEEEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5eraseENS1_19bidir_node_iteratorINS1_18ordered_index_nodeISY_NS1_15index_node_baseISB_SQ_EEEEEE(ptr noundef nonnull align 1 dereferenceable(2), ptr) local_unnamed_addr #2 align 2

declare noundef zeroext i1 @_ZN8Planners5utils5Vec3ieqERKS1_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIPN8Planners5utils4NodeESaIS3_EE9push_backERKS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8Planners5utils5Clock3tocERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(26), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIPN8Planners5utils4NodeESaIS3_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIPN8Planners5utils4NodeESaIS3_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN8Planners5utils13DiscreteWorld10resetWorldEv(ptr noundef nonnull align 8 dereferenceable(56)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt7variantIJS5_N8Planners5utils5Vec3iESt6vectorIS9_SaIS9_EEdmibjEESt4lessIS5_ESaISt4pairIKS5_SD_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(80)) 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

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 = { "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 = { 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 #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, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !6, i64 0}
!12 = !{!"_ZTSN8Planners5utils4NodeE", !6, i64 0, !13, i64 8, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32, !10, i64 36, !14, i64 40, !15, i64 48, !15, i64 49, !15, i64 50}
!13 = !{!"_ZTSN8Planners5utils5Vec3iE", !10, i64 0, !10, i64 4, !10, i64 8}
!14 = !{!"double", !7, i64 0}
!15 = !{!"bool", !7, i64 0}
!16 = !{!17, !10, i64 176}
!17 = !{!"_ZTSN8Planners5AStarE", !18, i64 0, !10, i64 176, !33, i64 184, !37, i64 208}
!18 = !{!"_ZTSN8Planners13AlgorithmBaseE", !19, i64 8, !21, i64 40, !25, i64 64, !10, i64 120, !15, i64 124, !14, i64 128, !10, i64 136, !31, i64 144}
!19 = !{!"_ZTSSt8functionIFjN8Planners5utils5Vec3iES2_EE", !20, i64 0, !6, i64 24}
!20 = !{!"_ZTSSt14_Function_base", !7, i64 0, !6, i64 16}
!21 = !{!"_ZTSSt6vectorIN8Planners5utils5Vec3iESaIS2_EE", !22, i64 0}
!22 = !{!"_ZTSSt12_Vector_baseIN8Planners5utils5Vec3iESaIS2_EE", !23, i64 0}
!23 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils5Vec3iESaIS2_EE12_Vector_implE", !24, i64 0}
!24 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils5Vec3iESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!25 = !{!"_ZTSN8Planners5utils13DiscreteWorldE", !26, i64 0, !30, i64 24, !10, i64 32, !10, i64 36, !10, i64 40, !14, i64 48}
!26 = !{!"_ZTSSt6vectorIN8Planners5utils4NodeESaIS2_EE", !27, i64 0}
!27 = !{!"_ZTSSt12_Vector_baseIN8Planners5utils4NodeESaIS2_EE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils4NodeESaIS2_EE12_Vector_implE", !29, i64 0}
!29 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils4NodeESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!30 = !{!"long", !7, i64 0}
!31 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !32, i64 0, !30, i64 8, !7, i64 16}
!32 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !6, i64 0}
!33 = !{!"_ZTSSt6vectorIPN8Planners5utils4NodeESaIS3_EE", !34, i64 0}
!34 = !{!"_ZTSSt12_Vector_baseIPN8Planners5utils4NodeESaIS3_EE", !35, i64 0}
!35 = !{!"_ZTSNSt12_Vector_baseIPN8Planners5utils4NodeESaIS3_EE12_Vector_implE", !36, i64 0}
!36 = !{!"_ZTSNSt12_Vector_baseIPN8Planners5utils4NodeESaIS3_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!37 = !{!"_ZTSN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EEE", !38, i64 0, !40, i64 8, !41, i64 16, !30, i64 72}
!38 = !{!"_ZTSN5boost16base_from_memberISaINS_11multi_index6detail17hashed_index_nodeINS2_18ordered_index_nodeINS2_19null_augment_policyENS2_15index_node_baseIPN8Planners5utils4NodeESaISA_EEEEEEEELi0EEE", !39, i64 0}
!39 = !{!"_ZTSSaIN5boost11multi_index6detail17hashed_index_nodeINS1_18ordered_index_nodeINS1_19null_augment_policyENS1_15index_node_baseIPN8Planners5utils4NodeESaIS9_EEEEEEEE"}
!40 = !{!"_ZTSN5boost11multi_index6detail13header_holderIPNS1_17hashed_index_nodeINS1_18ordered_index_nodeINS1_19null_augment_policyENS1_15index_node_baseIPN8Planners5utils4NodeESaISA_EEEEEEENS0_21multi_index_containerISA_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS8_20IndexByWorldPositionEN4mpl_2naESM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_EENS0_6memberIS9_jXadL_ZNS9_11world_indexEEEEESM_SM_EENS0_18ordered_non_uniqueINSJ_INS8_11IndexByCostESM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_EENSO_IS9_jXadL_ZNS9_6gplushEEEEESM_EESM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_SM_EESB_EEEE", !6, i64 0}
!41 = !{!"_ZTSN5boost11multi_index6detail12hashed_indexINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_11world_indexEEEEENS_4hashIjEESt8equal_toIjENS1_9nth_layerILi1EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_EES7_SJ_SJ_EENS0_18ordered_non_uniqueINSG_INS5_11IndexByCostESJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_EENS3_IS6_jXadL_ZNS6_6gplushEEEEESJ_EESJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_SJ_EESaISD_EEENS_3mpl6v_itemISH_NSU_7vector0ISJ_EELi0EEENS1_17hashed_unique_tagEEE", !42, i64 0, !46, i64 2, !47, i64 3, !48, i64 4, !49, i64 8, !52, i64 40, !30, i64 48}
!42 = !{!"_ZTSN5boost11multi_index6detail13ordered_indexINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEEE", !43, i64 0}
!43 = !{!"_ZTSN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEEE", !44, i64 0, !45, i64 1}
!44 = !{!"_ZTSN5boost11multi_index6memberIN8Planners5utils4NodeEjXadL_ZNS4_6gplushEEEEE"}
!45 = !{!"_ZTSSt4lessIjE"}
!46 = !{!"_ZTSN5boost11multi_index6memberIN8Planners5utils4NodeEjXadL_ZNS4_11world_indexEEEEE"}
!47 = !{!"_ZTSN5boost4hashIjEE"}
!48 = !{!"_ZTSSt8equal_toIjE"}
!49 = !{!"_ZTSN5boost11multi_index6detail12bucket_arrayISaIPN8Planners5utils4NodeEEEE", !30, i64 0, !50, i64 8}
!50 = !{!"_ZTSN5boost11multi_index6detail10auto_spaceINS1_27hashed_index_base_node_implISaIcEEESaIPN8Planners5utils4NodeEEEE", !51, i64 0, !30, i64 8, !6, i64 16}
!51 = !{!"_ZTSSaIN5boost11multi_index6detail27hashed_index_base_node_implISaIcEEEE"}
!52 = !{!"float", !7, i64 0}
!53 = !{!12, !15, i64 49}
!54 = !{!12, !15, i64 50}
!55 = !{!56, !56, i64 0}
!56 = !{!"vtable pointer", !8, i64 0}


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