; LLVM IR from robotics-upo/Heuristic_path_planners :: src/Planners/LazyThetaStarM2.ll (ZN8Planners15LazyThetaStarM29SetVertexEPNS_5utils4NodeE)

; 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.__gnu_cxx::__normal_iterator" = type { ptr }
%"class.Planners::utils::Vec3i" = type { i32, i32, i32 }
%"class.Planners::LazyThetaStarM2" = type <{ %"class.Planners::ThetaStarM2", i8, [7 x i8] }>
%"class.Planners::ThetaStarM2" = type { %"class.Planners::ThetaStar" }
%"class.Planners::ThetaStar" = type { %"class.Planners::AStar", %"class.std::shared_ptr", %"class.std::shared_ptr" }
%"class.Planners::AStar" = type { %"class.Planners::AlgorithmBase", i32, %"class.std::vector.8", %"class.boost::multi_index::multi_index_container" }
%"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.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::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 }
%"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.std::shared_ptr" = type { %"class.std::__shared_ptr" }
%"class.std::__shared_ptr" = type { ptr, %"class.std::__shared_count" }
%"class.std::__shared_count" = type { ptr }
%"class.Planners::utils::Node" = type <{ ptr, %"class.Planners::utils::Vec3i", i32, i32, i32, i32, i32, double, i8, i8, i8, [5 x i8] }>

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN8Planners15LazyThetaStarM29SetVertexEPNS_5utils4NodeE(ptr noundef nonnull align 8 dereferenceable(321) %0, ptr noundef %1) unnamed_addr #1 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca i32, align 4
  %6 = alloca i32, align 4
  %7 = alloca ptr, align 8
  %8 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %9 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %10 = alloca i32, align 4
  %11 = alloca ptr, align 8
  %12 = alloca %"class.Planners::utils::Vec3i", align 4
  %13 = alloca { i64, i32 }, align 8
  %14 = alloca ptr, align 8
  %15 = alloca i32, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %16 = load ptr, ptr %3, align 8
  %17 = getelementptr inbounds %"class.Planners::LazyThetaStarM2", ptr %16, i32 0, i32 1
  %18 = load i8, ptr %17, align 8, !tbaa !9, !range !55, !noundef !56
  %19 = trunc i8 %18 to i1
  br i1 %19, label %114, label %20

20:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #6
  %21 = call noundef i32 @_ZNSt14numeric_limitsIjE3maxEv() #6
  store i32 %21, ptr %5, align 4, !tbaa !57
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #6
  %22 = getelementptr inbounds %"class.Planners::AlgorithmBase", ptr %16, i32 0, i32 2
  store ptr %22, ptr %7, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #6
  %23 = load ptr, ptr %7, align 8, !tbaa !5
  %24 = call ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %23) #6
  %25 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %8, i32 0, i32 0
  store ptr %24, ptr %25, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #6
  %26 = load ptr, ptr %7, align 8, !tbaa !5
  %27 = call ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %26) #6
  %28 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %9, i32 0, i32 0
  store ptr %27, ptr %28, align 8
  br label %29

29:                                               ; preds = %111, %20
  %30 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %8, ptr noundef nonnull align 8 dereferenceable(8) %9) #6
  br i1 %30, label %32, label %31

31:                                               ; preds = %29
  store i32 2, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #6
  br label %113

32:                                               ; preds = %29
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #6
  %33 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %8) #6
  store ptr %33, ptr %11, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 12, ptr %12) #6
  %34 = load ptr, ptr %4, align 8, !tbaa !5
  %35 = getelementptr inbounds %"class.Planners::utils::Node", ptr %34, i32 0, i32 1
  %36 = load ptr, ptr %11, align 8, !tbaa !5
  %37 = call { i64, i32 } @_ZNK8Planners5utils5Vec3iplERKS1_(ptr noundef nonnull align 4 dereferenceable(12) %35, ptr noundef nonnull align 4 dereferenceable(12) %36)
  store { i64, i32 } %37, ptr %13, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %12, ptr align 8 %13, i64 12, i1 false)
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #6
  %38 = getelementptr inbounds %"class.Planners::AlgorithmBase", ptr %16, i32 0, i32 3
  %39 = call noundef ptr @_ZN8Planners5utils13DiscreteWorld10getNodePtrERKNS0_5Vec3iE(ptr noundef nonnull align 8 dereferenceable(56) %38, ptr noundef nonnull align 4 dereferenceable(12) %12)
  store ptr %39, ptr %14, align 8, !tbaa !5
  %40 = load ptr, ptr %14, align 8, !tbaa !5
  %41 = icmp eq ptr %40, null
  br i1 %41, label %47, label %42

42:                                               ; preds = %32
  %43 = load ptr, ptr %14, align 8, !tbaa !5
  %44 = getelementptr inbounds %"class.Planners::utils::Node", ptr %43, i32 0, i32 8
  %45 = load i8, ptr %44, align 8, !tbaa !58, !range !55, !noundef !56
  %46 = trunc i8 %45 to i1
  br i1 %46, label %47, label %48

47:                                               ; preds = %42, %32
  store i32 3, ptr %10, align 4
  br label %105

48:                                               ; preds = %42
  %49 = load ptr, ptr %14, align 8, !tbaa !5
  %50 = getelementptr inbounds %"class.Planners::utils::Node", ptr %49, i32 0, i32 10
  %51 = load i8, ptr %50, align 2, !tbaa !61, !range !55, !noundef !56
  %52 = trunc i8 %51 to i1
  br i1 %52, label %53, label %104

53:                                               ; preds = %48
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #6
  %54 = load ptr, ptr %14, align 8, !tbaa !5
  %55 = load ptr, ptr %4, align 8, !tbaa !5
  %56 = call noundef i32 @_ZN8Planners5utils8geometry21distanceBetween2NodesEPKNS0_4NodeES4_(ptr noundef %54, ptr noundef %55)
  store i32 %56, ptr %15, align 4, !tbaa !57
  %57 = load ptr, ptr %14, align 8, !tbaa !5
  %58 = getelementptr inbounds %"class.Planners::utils::Node", ptr %57, i32 0, i32 2
  %59 = load i32, ptr %58, align 4, !tbaa !62
  %60 = load i32, ptr %15, align 4, !tbaa !57
  %61 = add i32 %59, %60
  %62 = uitofp i32 %61 to double
  %63 = load ptr, ptr %4, align 8, !tbaa !5
  %64 = getelementptr inbounds %"class.Planners::utils::Node", ptr %63, i32 0, i32 7
  %65 = load double, ptr %64, align 8, !tbaa !63
  %66 = load ptr, ptr %14, align 8, !tbaa !5
  %67 = getelementptr inbounds %"class.Planners::utils::Node", ptr %66, i32 0, i32 7
  %68 = load double, ptr %67, align 8, !tbaa !63
  %69 = fadd double %65, %68
  %70 = fdiv double %69, 2.000000e+00
  %71 = fadd double %62, %70
  %72 = fptoui double %71 to i32
  store i32 %72, ptr %6, align 4, !tbaa !57
  %73 = load i32, ptr %6, align 4, !tbaa !57
  %74 = load i32, ptr %5, align 4, !tbaa !57
  %75 = icmp ult i32 %73, %74
  br i1 %75, label %76, label %103

76:                                               ; preds = %53
  %77 = load ptr, ptr %14, align 8, !tbaa !5
  %78 = load ptr, ptr %4, align 8, !tbaa !5
  %79 = getelementptr inbounds %"class.Planners::utils::Node", ptr %78, i32 0, i32 0
  store ptr %77, ptr %79, align 8, !tbaa !64
  %80 = load i32, ptr %6, align 4, !tbaa !57
  %81 = load ptr, ptr %4, align 8, !tbaa !5
  %82 = getelementptr inbounds %"class.Planners::utils::Node", ptr %81, i32 0, i32 2
  store i32 %80, ptr %82, align 4, !tbaa !62
  %83 = load ptr, ptr %4, align 8, !tbaa !5
  %84 = getelementptr inbounds %"class.Planners::utils::Node", ptr %83, i32 0, i32 7
  %85 = load double, ptr %84, align 8, !tbaa !63
  %86 = load ptr, ptr %14, align 8, !tbaa !5
  %87 = getelementptr inbounds %"class.Planners::utils::Node", ptr %86, i32 0, i32 7
  %88 = load double, ptr %87, align 8, !tbaa !63
  %89 = fadd double %85, %88
  %90 = fdiv double %89, 2.000000e+00
  %91 = fptoui double %90 to i32
  %92 = load ptr, ptr %4, align 8, !tbaa !5
  %93 = getelementptr inbounds %"class.Planners::utils::Node", ptr %92, i32 0, i32 4
  store i32 %91, ptr %93, align 4, !tbaa !65
  %94 = load ptr, ptr %4, align 8, !tbaa !5
  %95 = getelementptr inbounds %"class.Planners::utils::Node", ptr %94, i32 0, i32 2
  %96 = load i32, ptr %95, align 4, !tbaa !62
  %97 = load ptr, ptr %4, align 8, !tbaa !5
  %98 = getelementptr inbounds %"class.Planners::utils::Node", ptr %97, i32 0, i32 3
  %99 = load i32, ptr %98, align 8, !tbaa !66
  %100 = add i32 %96, %99
  %101 = load ptr, ptr %4, align 8, !tbaa !5
  %102 = getelementptr inbounds %"class.Planners::utils::Node", ptr %101, i32 0, i32 5
  store i32 %100, ptr %102, align 8, !tbaa !67
  br label %103

103:                                              ; preds = %76, %53
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #6
  br label %104

104:                                              ; preds = %103, %48
  store i32 0, ptr %10, align 4
  br label %105

105:                                              ; preds = %104, %47
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %12) #6
  %106 = load i32, ptr %10, align 4
  switch i32 %106, label %108 [
    i32 0, label %107
  ]

107:                                              ; preds = %105
  store i32 0, ptr %10, align 4
  br label %108

108:                                              ; preds = %107, %105
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #6
  %109 = load i32, ptr %10, align 4
  switch i32 %109, label %116 [
    i32 0, label %110
    i32 3, label %111
  ]

110:                                              ; preds = %108
  br label %111

111:                                              ; preds = %110, %108
  %112 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %8) #6
  br label %29

113:                                              ; preds = %31
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #6
  br label %114

114:                                              ; preds = %113, %2
  %115 = getelementptr inbounds %"class.Planners::LazyThetaStarM2", ptr %16, i32 0, i32 1
  store i8 0, ptr %115, align 8, !tbaa !9
  ret void

116:                                              ; preds = %108
  unreachable
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNSt14numeric_limitsIjE3maxEv() #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local { i64, i32 } @_ZNK8Planners5utils5Vec3iplERKS1_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) #2 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) #4

; 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)) #1 align 2

declare noundef i32 @_ZN8Planners5utils8geometry21distanceBetween2NodesEPKNS0_4NodeES4_(ptr noundef, ptr noundef) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

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

!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, !29, i64 320}
!10 = !{!"_ZTSN8Planners15LazyThetaStarM2E", !11, i64 0, !29, i64 320}
!11 = !{!"_ZTSN8Planners11ThetaStarM2E", !12, i64 0}
!12 = !{!"_ZTSN8Planners9ThetaStarE", !13, i64 0, !52, i64 288, !52, i64 304}
!13 = !{!"_ZTSN8Planners5AStarE", !14, i64 0, !27, i64 176, !32, i64 184, !36, i64 208}
!14 = !{!"_ZTSN8Planners13AlgorithmBaseE", !15, i64 8, !17, i64 40, !21, i64 64, !27, i64 120, !29, i64 124, !28, i64 128, !27, i64 136, !30, i64 144}
!15 = !{!"_ZTSSt8functionIFjN8Planners5utils5Vec3iES2_EE", !16, i64 0, !6, i64 24}
!16 = !{!"_ZTSSt14_Function_base", !7, i64 0, !6, i64 16}
!17 = !{!"_ZTSSt6vectorIN8Planners5utils5Vec3iESaIS2_EE", !18, i64 0}
!18 = !{!"_ZTSSt12_Vector_baseIN8Planners5utils5Vec3iESaIS2_EE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils5Vec3iESaIS2_EE12_Vector_implE", !20, i64 0}
!20 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils5Vec3iESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!21 = !{!"_ZTSN8Planners5utils13DiscreteWorldE", !22, i64 0, !26, i64 24, !27, i64 32, !27, i64 36, !27, i64 40, !28, i64 48}
!22 = !{!"_ZTSSt6vectorIN8Planners5utils4NodeESaIS2_EE", !23, i64 0}
!23 = !{!"_ZTSSt12_Vector_baseIN8Planners5utils4NodeESaIS2_EE", !24, i64 0}
!24 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils4NodeESaIS2_EE12_Vector_implE", !25, i64 0}
!25 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils4NodeESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!26 = !{!"long", !7, i64 0}
!27 = !{!"int", !7, i64 0}
!28 = !{!"double", !7, i64 0}
!29 = !{!"bool", !7, i64 0}
!30 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !31, i64 0, !26, i64 8, !7, i64 16}
!31 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !6, i64 0}
!32 = !{!"_ZTSSt6vectorIPN8Planners5utils4NodeESaIS3_EE", !33, i64 0}
!33 = !{!"_ZTSSt12_Vector_baseIPN8Planners5utils4NodeESaIS3_EE", !34, i64 0}
!34 = !{!"_ZTSNSt12_Vector_baseIPN8Planners5utils4NodeESaIS3_EE12_Vector_implE", !35, i64 0}
!35 = !{!"_ZTSNSt12_Vector_baseIPN8Planners5utils4NodeESaIS3_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!36 = !{!"_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", !37, i64 0, !39, i64 8, !40, i64 16, !26, i64 72}
!37 = !{!"_ZTSN5boost16base_from_memberISaINS_11multi_index6detail17hashed_index_nodeINS2_18ordered_index_nodeINS2_19null_augment_policyENS2_15index_node_baseIPN8Planners5utils4NodeESaISA_EEEEEEEELi0EEE", !38, i64 0}
!38 = !{!"_ZTSSaIN5boost11multi_index6detail17hashed_index_nodeINS1_18ordered_index_nodeINS1_19null_augment_policyENS1_15index_node_baseIPN8Planners5utils4NodeESaIS9_EEEEEEEE"}
!39 = !{!"_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}
!40 = !{!"_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", !41, i64 0, !45, i64 2, !46, i64 3, !47, i64 4, !48, i64 8, !51, i64 40, !26, i64 48}
!41 = !{!"_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", !42, i64 0}
!42 = !{!"_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", !43, i64 0, !44, i64 1}
!43 = !{!"_ZTSN5boost11multi_index6memberIN8Planners5utils4NodeEjXadL_ZNS4_6gplushEEEEE"}
!44 = !{!"_ZTSSt4lessIjE"}
!45 = !{!"_ZTSN5boost11multi_index6memberIN8Planners5utils4NodeEjXadL_ZNS4_11world_indexEEEEE"}
!46 = !{!"_ZTSN5boost4hashIjEE"}
!47 = !{!"_ZTSSt8equal_toIjE"}
!48 = !{!"_ZTSN5boost11multi_index6detail12bucket_arrayISaIPN8Planners5utils4NodeEEEE", !26, i64 0, !49, i64 8}
!49 = !{!"_ZTSN5boost11multi_index6detail10auto_spaceINS1_27hashed_index_base_node_implISaIcEEESaIPN8Planners5utils4NodeEEEE", !50, i64 0, !26, i64 8, !6, i64 16}
!50 = !{!"_ZTSSaIN5boost11multi_index6detail27hashed_index_base_node_implISaIcEEEE"}
!51 = !{!"float", !7, i64 0}
!52 = !{!"_ZTSSt10shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EEE", !53, i64 0}
!53 = !{!"_ZTSSt12__shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2EE", !6, i64 0, !54, i64 8}
!54 = !{!"_ZTSSt14__shared_countILN9__gnu_cxx12_Lock_policyE2EE", !6, i64 0}
!55 = !{i8 0, i8 2}
!56 = !{}
!57 = !{!27, !27, i64 0}
!58 = !{!59, !29, i64 48}
!59 = !{!"_ZTSN8Planners5utils4NodeE", !6, i64 0, !60, i64 8, !27, i64 20, !27, i64 24, !27, i64 28, !27, i64 32, !27, i64 36, !28, i64 40, !29, i64 48, !29, i64 49, !29, i64 50}
!60 = !{!"_ZTSN8Planners5utils5Vec3iE", !27, i64 0, !27, i64 4, !27, i64 8}
!61 = !{!59, !29, i64 50}
!62 = !{!59, !27, i64 20}
!63 = !{!59, !28, i64 40}
!64 = !{!59, !6, i64 0}
!65 = !{!59, !27, i64 28}
!66 = !{!59, !27, i64 24}
!67 = !{!59, !27, i64 32}


; 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.__gnu_cxx::__normal_iterator" = type { ptr }
%"class.Planners::utils::Vec3i" = type { i32, i32, i32 }

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN8Planners15LazyThetaStarM29SetVertexEPNS_5utils4NodeE(ptr noundef nonnull align 8 dereferenceable(321) %0, ptr noundef %1) unnamed_addr #1 align 2 {
  %3 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %4 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %5 = alloca %"class.Planners::utils::Vec3i", align 8
  %6 = getelementptr inbounds i8, ptr %0, i64 320
  %7 = load i8, ptr %6, align 8, !tbaa !5, !range !54, !noundef !55
  %8 = trunc nuw i8 %7 to i1
  br i1 %8, label %56, label %9

9:                                                ; preds = %2
  %10 = tail call noundef i32 @_ZNSt14numeric_limitsIjE3maxEv() #5
  %11 = getelementptr inbounds i8, ptr %0, i64 40
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #5
  %12 = tail call ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #5
  store ptr %12, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #5
  %13 = tail call ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #5
  store ptr %13, ptr %4, align 8
  %14 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %3, ptr noundef nonnull align 8 dereferenceable(8) %4) #5
  br i1 %14, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %9
  %15 = getelementptr inbounds i8, ptr %1, i64 8
  %.sroa.2.0..sroa_idx = getelementptr inbounds i8, ptr %5, i64 8
  %16 = getelementptr inbounds i8, ptr %0, i64 64
  %17 = getelementptr inbounds i8, ptr %1, i64 40
  %18 = getelementptr inbounds i8, ptr %1, i64 20
  %19 = getelementptr inbounds i8, ptr %1, i64 28
  %20 = getelementptr inbounds i8, ptr %1, i64 24
  %21 = getelementptr inbounds i8, ptr %1, i64 32
  br label %22

._crit_edge:                                      ; preds = %53, %9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #5
  br label %56

22:                                               ; preds = %.lr.ph, %53
  %23 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %3) #5
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %5) #5
  %24 = call { i64, i32 } @_ZNK8Planners5utils5Vec3iplERKS1_(ptr noundef nonnull align 4 dereferenceable(12) %15, ptr noundef nonnull align 4 dereferenceable(12) %23)
  %.fca.0.extract = extractvalue { i64, i32 } %24, 0
  %.fca.1.extract = extractvalue { i64, i32 } %24, 1
  store i64 %.fca.0.extract, ptr %5, align 8
  store i32 %.fca.1.extract, ptr %.sroa.2.0..sroa_idx, align 8
  %25 = call noundef ptr @_ZN8Planners5utils13DiscreteWorld10getNodePtrERKNS0_5Vec3iE(ptr noundef nonnull align 8 dereferenceable(56) %16, ptr noundef nonnull align 4 dereferenceable(12) %5)
  %26 = icmp eq ptr %25, null
  br i1 %26, label %53, label %27

27:                                               ; preds = %22
  %28 = getelementptr inbounds i8, ptr %25, i64 48
  %29 = load i8, ptr %28, align 8, !tbaa !56, !range !54, !noundef !55
  %30 = trunc nuw i8 %29 to i1
  br i1 %30, label %53, label %31

31:                                               ; preds = %27
  %32 = getelementptr inbounds i8, ptr %25, i64 50
  %33 = load i8, ptr %32, align 2, !tbaa !59, !range !54, !noundef !55
  %34 = trunc nuw i8 %33 to i1
  br i1 %34, label %35, label %53

35:                                               ; preds = %31
  %36 = call noundef i32 @_ZN8Planners5utils8geometry21distanceBetween2NodesEPKNS0_4NodeES4_(ptr noundef nonnull %25, ptr noundef %1)
  %37 = getelementptr inbounds i8, ptr %25, i64 20
  %38 = load i32, ptr %37, align 4, !tbaa !60
  %39 = add i32 %38, %36
  %40 = uitofp i32 %39 to double
  %41 = load double, ptr %17, align 8, !tbaa !61
  %42 = getelementptr inbounds i8, ptr %25, i64 40
  %43 = load double, ptr %42, align 8, !tbaa !61
  %44 = fadd double %41, %43
  %45 = fmul double %44, 5.000000e-01
  %46 = fadd double %45, %40
  %47 = fptoui double %46 to i32
  %48 = icmp ugt i32 %10, %47
  br i1 %48, label %49, label %53

49:                                               ; preds = %35
  store ptr %25, ptr %1, align 8, !tbaa !62
  store i32 %47, ptr %18, align 4, !tbaa !60
  %50 = fptoui double %45 to i32
  store i32 %50, ptr %19, align 4, !tbaa !63
  %51 = load i32, ptr %20, align 8, !tbaa !64
  %52 = add i32 %51, %47
  store i32 %52, ptr %21, align 8, !tbaa !65
  br label %53

53:                                               ; preds = %31, %49, %35, %22, %27
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %5) #5
  %54 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %3) #5
  %55 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %3, ptr noundef nonnull align 8 dereferenceable(8) %4) #5
  br i1 %55, label %22, label %._crit_edge

56:                                               ; preds = %._crit_edge, %2
  store i8 0, ptr %6, align 8, !tbaa !5
  ret void
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNSt14numeric_limitsIjE3maxEv() local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local { i64, i32 } @_ZNK8Planners5utils5Vec3iplERKS1_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #2 align 2

; 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 #1 align 2

declare noundef i32 @_ZN8Planners5utils8geometry21distanceBetween2NodesEPKNS0_4NodeES4_(ptr noundef, ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { "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 = { 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, !28, i64 320}
!6 = !{!"_ZTSN8Planners15LazyThetaStarM2E", !7, i64 0, !28, i64 320}
!7 = !{!"_ZTSN8Planners11ThetaStarM2E", !8, i64 0}
!8 = !{!"_ZTSN8Planners9ThetaStarE", !9, i64 0, !51, i64 288, !51, i64 304}
!9 = !{!"_ZTSN8Planners5AStarE", !10, i64 0, !26, i64 176, !31, i64 184, !35, i64 208}
!10 = !{!"_ZTSN8Planners13AlgorithmBaseE", !11, i64 8, !16, i64 40, !20, i64 64, !26, i64 120, !28, i64 124, !27, i64 128, !26, i64 136, !29, i64 144}
!11 = !{!"_ZTSSt8functionIFjN8Planners5utils5Vec3iES2_EE", !12, i64 0, !15, i64 24}
!12 = !{!"_ZTSSt14_Function_base", !13, i64 0, !15, i64 16}
!13 = !{!"omnipotent char", !14, i64 0}
!14 = !{!"Simple C++ TBAA"}
!15 = !{!"any pointer", !13, i64 0}
!16 = !{!"_ZTSSt6vectorIN8Planners5utils5Vec3iESaIS2_EE", !17, i64 0}
!17 = !{!"_ZTSSt12_Vector_baseIN8Planners5utils5Vec3iESaIS2_EE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils5Vec3iESaIS2_EE12_Vector_implE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils5Vec3iESaIS2_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!20 = !{!"_ZTSN8Planners5utils13DiscreteWorldE", !21, i64 0, !25, i64 24, !26, i64 32, !26, i64 36, !26, i64 40, !27, i64 48}
!21 = !{!"_ZTSSt6vectorIN8Planners5utils4NodeESaIS2_EE", !22, i64 0}
!22 = !{!"_ZTSSt12_Vector_baseIN8Planners5utils4NodeESaIS2_EE", !23, i64 0}
!23 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils4NodeESaIS2_EE12_Vector_implE", !24, i64 0}
!24 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils4NodeESaIS2_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!25 = !{!"long", !13, i64 0}
!26 = !{!"int", !13, i64 0}
!27 = !{!"double", !13, i64 0}
!28 = !{!"bool", !13, i64 0}
!29 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !30, i64 0, !25, i64 8, !13, i64 16}
!30 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !15, i64 0}
!31 = !{!"_ZTSSt6vectorIPN8Planners5utils4NodeESaIS3_EE", !32, i64 0}
!32 = !{!"_ZTSSt12_Vector_baseIPN8Planners5utils4NodeESaIS3_EE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseIPN8Planners5utils4NodeESaIS3_EE12_Vector_implE", !34, i64 0}
!34 = !{!"_ZTSNSt12_Vector_baseIPN8Planners5utils4NodeESaIS3_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!35 = !{!"_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", !36, i64 0, !38, i64 8, !39, i64 16, !25, i64 72}
!36 = !{!"_ZTSN5boost16base_from_memberISaINS_11multi_index6detail17hashed_index_nodeINS2_18ordered_index_nodeINS2_19null_augment_policyENS2_15index_node_baseIPN8Planners5utils4NodeESaISA_EEEEEEEELi0EEE", !37, i64 0}
!37 = !{!"_ZTSSaIN5boost11multi_index6detail17hashed_index_nodeINS1_18ordered_index_nodeINS1_19null_augment_policyENS1_15index_node_baseIPN8Planners5utils4NodeESaIS9_EEEEEEEE"}
!38 = !{!"_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", !15, i64 0}
!39 = !{!"_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", !40, i64 0, !44, i64 2, !45, i64 3, !46, i64 4, !47, i64 8, !50, i64 40, !25, i64 48}
!40 = !{!"_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", !41, i64 0}
!41 = !{!"_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", !42, i64 0, !43, i64 1}
!42 = !{!"_ZTSN5boost11multi_index6memberIN8Planners5utils4NodeEjXadL_ZNS4_6gplushEEEEE"}
!43 = !{!"_ZTSSt4lessIjE"}
!44 = !{!"_ZTSN5boost11multi_index6memberIN8Planners5utils4NodeEjXadL_ZNS4_11world_indexEEEEE"}
!45 = !{!"_ZTSN5boost4hashIjEE"}
!46 = !{!"_ZTSSt8equal_toIjE"}
!47 = !{!"_ZTSN5boost11multi_index6detail12bucket_arrayISaIPN8Planners5utils4NodeEEEE", !25, i64 0, !48, i64 8}
!48 = !{!"_ZTSN5boost11multi_index6detail10auto_spaceINS1_27hashed_index_base_node_implISaIcEEESaIPN8Planners5utils4NodeEEEE", !49, i64 0, !25, i64 8, !15, i64 16}
!49 = !{!"_ZTSSaIN5boost11multi_index6detail27hashed_index_base_node_implISaIcEEEE"}
!50 = !{!"float", !13, i64 0}
!51 = !{!"_ZTSSt10shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EEE", !52, i64 0}
!52 = !{!"_ZTSSt12__shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2EE", !15, i64 0, !53, i64 8}
!53 = !{!"_ZTSSt14__shared_countILN9__gnu_cxx12_Lock_policyE2EE", !15, i64 0}
!54 = !{i8 0, i8 2}
!55 = !{}
!56 = !{!57, !28, i64 48}
!57 = !{!"_ZTSN8Planners5utils4NodeE", !15, i64 0, !58, i64 8, !26, i64 20, !26, i64 24, !26, i64 28, !26, i64 32, !26, i64 36, !27, i64 40, !28, i64 48, !28, i64 49, !28, i64 50}
!58 = !{!"_ZTSN8Planners5utils5Vec3iE", !26, i64 0, !26, i64 4, !26, i64 8}
!59 = !{!57, !28, i64 50}
!60 = !{!57, !26, i64 20}
!61 = !{!57, !27, i64 40}
!62 = !{!57, !15, i64 0}
!63 = !{!57, !26, i64 28}
!64 = !{!57, !26, i64 24}
!65 = !{!57, !26, i64 32}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,IPSCCPPass,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,ReassociatePass,SROAPass,SimplifyCFGPass,TailCallElimPass