; LLVM IR from robotics-upo/Heuristic_path_planners :: src/utils (geometry_utils)

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

; 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 dso_local noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #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) #2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN8Planners5utils8geometry15getAdjacentPathERKSt6vectorINS0_5Vec3iESaIS3_EERKNS0_13DiscreteWorldE(ptr dead_on_unwind noalias writable sret(%"class.std::vector") align 8 %0, ptr noundef nonnull align 8 dereferenceable(24) %1, ptr noundef nonnull align 8 dereferenceable(56) %2) #3 personality ptr @__gxx_personality_v0 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca i1, align 1
  %8 = alloca ptr, align 8
  %9 = alloca i32, align 4
  %10 = alloca %"class.std::shared_ptr", align 8
  %11 = alloca i64, align 8
  %12 = alloca i32, align 4
  %13 = alloca %"class.Planners::utils::Vec3i", align 4
  %14 = alloca %"class.Planners::utils::Vec3i", align 4
  %15 = alloca %"class.std::shared_ptr", align 8
  %16 = alloca { i64, i32 }, align 4
  %17 = alloca { i64, i32 }, align 4
  %18 = alloca ptr, align 8
  %19 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %20 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %21 = alloca ptr, align 8
  store ptr %0, ptr %4, align 8
  store ptr %1, ptr %5, align 8, !tbaa !5
  store ptr %2, ptr %6, align 8, !tbaa !5
  %22 = load ptr, ptr %5, align 8, !tbaa !5
  %23 = call noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %22) #8
  %24 = icmp eq i64 %23, 0
  br i1 %24, label %25, label %26

25:                                               ; preds = %3
  call void @llvm.memset.p0.i64(ptr align 8 %0, i8 0, i64 24, i1 false)
  call void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #8
  br label %123

26:                                               ; preds = %3
  store i1 false, ptr %7, align 1
  call void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #8
  %27 = load ptr, ptr %5, align 8, !tbaa !5
  %28 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %27, i64 noundef 0) #8
  invoke void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE9push_backERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 4 dereferenceable(12) %28)
          to label %29 unwind label %40

29:                                               ; preds = %26
  call void @llvm.lifetime.start.p0(i64 16, ptr %10) #8
  call void @_ZNSt10shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %10) #8
  %30 = invoke noalias noundef nonnull ptr @_Znwm(i64 noundef 24) #9
          to label %31 unwind label %44

31:                                               ; preds = %29
  call void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %30) #8
  invoke void @_ZNSt12__shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2EE5resetIS5_EENSt9enable_ifIXsr21__sp_is_constructibleIS5_T_EE5valueEvE4typeEPSB_(ptr noundef nonnull align 8 dereferenceable(16) %10, ptr noundef %30)
          to label %32 unwind label %44

32:                                               ; preds = %31
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #8
  store i64 0, ptr %11, align 8, !tbaa !9
  br label %33

33:                                               ; preds = %113, %32
  %34 = load i64, ptr %11, align 8, !tbaa !9
  %35 = load ptr, ptr %5, align 8, !tbaa !5
  %36 = call noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %35) #8
  %37 = sub i64 %36, 1
  %38 = icmp ult i64 %34, %37
  br i1 %38, label %48, label %39

39:                                               ; preds = %33
  store i32 2, ptr %12, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #8
  br label %117

40:                                               ; preds = %26
  %41 = landingpad { ptr, i32 }
          cleanup
  %42 = extractvalue { ptr, i32 } %41, 0
  store ptr %42, ptr %8, align 8
  %43 = extractvalue { ptr, i32 } %41, 1
  store i32 %43, ptr %9, align 4
  br label %122

44:                                               ; preds = %31, %29
  %45 = landingpad { ptr, i32 }
          cleanup
  %46 = extractvalue { ptr, i32 } %45, 0
  store ptr %46, ptr %8, align 8
  %47 = extractvalue { ptr, i32 } %45, 1
  store i32 %47, ptr %9, align 4
  br label %119

48:                                               ; preds = %33
  %49 = load ptr, ptr %5, align 8, !tbaa !5
  %50 = load i64, ptr %11, align 8, !tbaa !9
  %51 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %49, i64 noundef %50) #8
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %13, ptr align 4 %51, i64 12, i1 false), !tbaa.struct !11
  %52 = load ptr, ptr %5, align 8, !tbaa !5
  %53 = load i64, ptr %11, align 8, !tbaa !9
  %54 = add i64 %53, 1
  %55 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %52, i64 noundef %54) #8
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %14, ptr align 4 %55, i64 12, i1 false), !tbaa.struct !11
  %56 = load ptr, ptr %6, align 8, !tbaa !5
  call void @_ZNSt10shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EEEC2ERKS6_(ptr noundef nonnull align 8 dereferenceable(16) %15, ptr noundef nonnull align 8 dereferenceable(16) %10) #8
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %16, ptr align 4 %13, i64 12, i1 false)
  %57 = getelementptr inbounds { i64, i32 }, ptr %16, i32 0, i32 0
  %58 = load i64, ptr %57, align 4
  %59 = getelementptr inbounds { i64, i32 }, ptr %16, i32 0, i32 1
  %60 = load i32, ptr %59, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %14, i64 12, i1 false)
  %61 = getelementptr inbounds { i64, i32 }, ptr %17, i32 0, i32 0
  %62 = load i64, ptr %61, align 4
  %63 = getelementptr inbounds { i64, i32 }, ptr %17, i32 0, i32 1
  %64 = load i32, ptr %63, align 4
  %65 = invoke noundef zeroext i1 @_ZN8Planners5utils11LineOfSight11bresenham3DENS0_5Vec3iES2_RKNS0_13DiscreteWorldESt10shared_ptrISt6vectorIS2_SaIS2_EEE(i64 %58, i32 %60, i64 %62, i32 %64, ptr noundef nonnull align 8 dereferenceable(56) %56, ptr noundef %15)
          to label %66 unwind label %81

66:                                               ; preds = %48
  call void @_ZNSt12__shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %15) #8
  %67 = call noundef ptr @_ZNKSt19__shared_ptr_accessISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %10) #8
  %68 = call noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %67) #8
  %69 = icmp ugt i64 %68, 0
  br i1 %69, label %70, label %96

70:                                               ; preds = %66
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #8
  %71 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt19__shared_ptr_accessISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %10) #8
  store ptr %71, ptr %18, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #8
  %72 = load ptr, ptr %18, align 8, !tbaa !5
  %73 = call ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %72) #8
  %74 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %19, i32 0, i32 0
  store ptr %73, ptr %74, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #8
  %75 = load ptr, ptr %18, align 8, !tbaa !5
  %76 = call ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %75) #8
  %77 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %20, i32 0, i32 0
  store ptr %76, ptr %77, align 8
  br label %78

78:                                               ; preds = %89, %70
  %79 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %19, ptr noundef nonnull align 8 dereferenceable(8) %20) #8
  br i1 %79, label %85, label %80

80:                                               ; preds = %78
  store i32 5, ptr %12, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #8
  br label %95

81:                                               ; preds = %48
  %82 = landingpad { ptr, i32 }
          cleanup
  %83 = extractvalue { ptr, i32 } %82, 0
  store ptr %83, ptr %8, align 8
  %84 = extractvalue { ptr, i32 } %82, 1
  store i32 %84, ptr %9, align 4
  call void @_ZNSt12__shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %15) #8
  br label %116

85:                                               ; preds = %78
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #8
  %86 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %19) #8
  store ptr %86, ptr %21, align 8, !tbaa !5
  %87 = load ptr, ptr %21, align 8, !tbaa !5
  invoke void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE9push_backERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 4 dereferenceable(12) %87)
          to label %88 unwind label %91

88:                                               ; preds = %85
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #8
  br label %89

89:                                               ; preds = %88
  %90 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %19) #8
  br label %78

91:                                               ; preds = %85
  %92 = landingpad { ptr, i32 }
          cleanup
  %93 = extractvalue { ptr, i32 } %92, 0
  store ptr %93, ptr %8, align 8
  %94 = extractvalue { ptr, i32 } %92, 1
  store i32 %94, ptr %9, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #8
  br label %116

95:                                               ; preds = %80
  br label %109

96:                                               ; preds = %66
  %97 = load i64, ptr %11, align 8, !tbaa !9
  %98 = icmp ne i64 %97, 0
  br i1 %98, label %99, label %108

99:                                               ; preds = %96
  %100 = load ptr, ptr %5, align 8, !tbaa !5
  %101 = load i64, ptr %11, align 8, !tbaa !9
  %102 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %100, i64 noundef %101) #8
  invoke void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE9push_backERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 4 dereferenceable(12) %102)
          to label %103 unwind label %104

103:                                              ; preds = %99
  br label %108

104:                                              ; preds = %111, %109, %99
  %105 = landingpad { ptr, i32 }
          cleanup
  %106 = extractvalue { ptr, i32 } %105, 0
  store ptr %106, ptr %8, align 8
  %107 = extractvalue { ptr, i32 } %105, 1
  store i32 %107, ptr %9, align 4
  br label %116

108:                                              ; preds = %103, %96
  br label %109

109:                                              ; preds = %108, %95
  %110 = invoke noalias noundef nonnull ptr @_Znwm(i64 noundef 24) #9
          to label %111 unwind label %104

111:                                              ; preds = %109
  call void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %110) #8
  invoke void @_ZNSt12__shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2EE5resetIS5_EENSt9enable_ifIXsr21__sp_is_constructibleIS5_T_EE5valueEvE4typeEPSB_(ptr noundef nonnull align 8 dereferenceable(16) %10, ptr noundef %110)
          to label %112 unwind label %104

112:                                              ; preds = %111
  br label %113

113:                                              ; preds = %112
  %114 = load i64, ptr %11, align 8, !tbaa !9
  %115 = add i64 %114, 1
  store i64 %115, ptr %11, align 8, !tbaa !9
  br label %33, !llvm.loop !14

116:                                              ; preds = %104, %91, %81
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #8
  br label %119

117:                                              ; preds = %39
  store i1 true, ptr %7, align 1
  store i32 1, ptr %12, align 4
  call void @_ZNSt12__shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %10) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %10) #8
  %118 = load i1, ptr %7, align 1
  br i1 %118, label %121, label %120

119:                                              ; preds = %116, %44
  call void @_ZNSt12__shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %10) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %10) #8
  br label %122

120:                                              ; preds = %117
  call void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #8
  br label %121

121:                                              ; preds = %120, %117
  br label %123

122:                                              ; preds = %119, %40
  call void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #8
  br label %124

123:                                              ; preds = %121, %25
  ret void

124:                                              ; preds = %122
  %125 = load ptr, ptr %8, align 8
  %126 = load i32, ptr %9, align 4
  %127 = insertvalue { ptr, i32 } poison, ptr %125, 0
  %128 = insertvalue { ptr, i32 } %127, i32 %126, 1
  resume { ptr, i32 } %128
}

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE9push_backERKS2_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(12)) #3 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt12__shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2EE5resetIS5_EENSt9enable_ifIXsr21__sp_is_constructibleIS5_T_EE5valueEvE4typeEPSB_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) #3 align 2

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) #5

declare noundef zeroext i1 @_ZN8Planners5utils11LineOfSight11bresenham3DENS0_5Vec3iES2_RKNS0_13DiscreteWorldESt10shared_ptrISt6vectorIS2_SaIS2_EEE(i64, i32, i64, i32, ptr noundef nonnull align 8 dereferenceable(56), ptr noundef) #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EEEC2ERKS6_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt19__shared_ptr_accessISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt19__shared_ptr_accessISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 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)) #7

; 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)) #1 align 2

; 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)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) 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 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { 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 #4 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #5 = { 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 #6 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { 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 #8 = { nounwind }
attributes #9 = { builtin allocsize(0) }

!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 = !{!"long", !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 = distinct !{!14, !15}
!15 = !{!"llvm.loop.mustprogress"}


; 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::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.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.__gnu_cxx::__normal_iterator" = type { ptr }

; 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 dso_local noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_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
define dso_local void @_ZN8Planners5utils8geometry15getAdjacentPathERKSt6vectorINS0_5Vec3iESaIS3_EERKNS0_13DiscreteWorldE(ptr dead_on_unwind noalias writable sret(%"class.std::vector") align 8 %0, ptr noundef nonnull align 8 dereferenceable(24) %1, ptr noundef nonnull align 8 dereferenceable(56) %2) local_unnamed_addr #2 personality ptr @__gxx_personality_v0 {
  %4 = alloca %"class.std::shared_ptr", align 8
  %5 = alloca %"class.std::shared_ptr", align 8
  %6 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %7 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %8 = tail call noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %1) #7
  %9 = icmp eq i64 %8, 0
  br i1 %9, label %10, label %11

10:                                               ; preds = %3
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(24) %0, i8 0, i64 24, i1 false)
  tail call void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #7
  br label %55

11:                                               ; preds = %3
  tail call void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #7
  %12 = tail call noundef nonnull align 4 dereferenceable(12) ptr @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef 0) #7
  invoke void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE9push_backERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 4 dereferenceable(12) %12)
          to label %13 unwind label %20

13:                                               ; preds = %11
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %4) #7
  call void @_ZNSt10shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %4) #7
  %14 = invoke noalias noundef nonnull dereferenceable(24) ptr @_Znwm(i64 noundef 24) #8
          to label %15 unwind label %22

15:                                               ; preds = %13
  call void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %14) #7
  invoke void @_ZNSt12__shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2EE5resetIS5_EENSt9enable_ifIXsr21__sp_is_constructibleIS5_T_EE5valueEvE4typeEPSB_(ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef nonnull %14)
          to label %.preheader unwind label %22

.preheader:                                       ; preds = %15, %52
  %.027 = phi i64 [ %26, %52 ], [ 0, %15 ]
  %16 = call noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %1) #7
  %17 = add i64 %16, -1
  %18 = icmp ult i64 %.027, %17
  br i1 %18, label %24, label %19

19:                                               ; preds = %.preheader
  call void @_ZNSt12__shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %4) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %4) #7
  br label %55

20:                                               ; preds = %11
  %21 = landingpad { ptr, i32 }
          cleanup
  br label %54

22:                                               ; preds = %15, %13
  %23 = landingpad { ptr, i32 }
          cleanup
  br label %53

24:                                               ; preds = %.preheader
  %25 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %.027) #7
  %.sroa.07.0.copyload = load i64, ptr %25, align 4
  %.sroa.28.0..sroa_idx = getelementptr inbounds i8, ptr %25, i64 8
  %.sroa.28.0.copyload = load i32, ptr %.sroa.28.0..sroa_idx, align 4, !tbaa !5
  %26 = add nuw i64 %.027, 1
  %27 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %26) #7
  %.sroa.05.0.copyload = load i64, ptr %27, align 4
  %.sroa.26.0..sroa_idx = getelementptr inbounds i8, ptr %27, i64 8
  %.sroa.26.0.copyload = load i32, ptr %.sroa.26.0..sroa_idx, align 4, !tbaa !5
  call void @_ZNSt10shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EEEC2ERKS6_(ptr noundef nonnull align 8 dereferenceable(16) %5, ptr noundef nonnull align 8 dereferenceable(16) %4) #7
  %28 = invoke noundef zeroext i1 @_ZN8Planners5utils11LineOfSight11bresenham3DENS0_5Vec3iES2_RKNS0_13DiscreteWorldESt10shared_ptrISt6vectorIS2_SaIS2_EEE(i64 %.sroa.07.0.copyload, i32 %.sroa.28.0.copyload, i64 %.sroa.05.0.copyload, i32 %.sroa.26.0.copyload, ptr noundef nonnull align 8 dereferenceable(56) %2, ptr noundef nonnull %5)
          to label %29 unwind label %37

29:                                               ; preds = %24
  call void @_ZNSt12__shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %5) #7
  %30 = call noundef ptr @_ZNKSt19__shared_ptr_accessISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %4) #7
  %31 = call noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %30) #7
  %.not = icmp eq i64 %31, 0
  br i1 %.not, label %45, label %32

32:                                               ; preds = %29
  %33 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt19__shared_ptr_accessISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1) %4) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #7
  %34 = call ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %33) #7
  store ptr %34, ptr %6, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #7
  %35 = call ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %33) #7
  store ptr %35, ptr %7, align 8
  %36 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %6, ptr noundef nonnull align 8 dereferenceable(8) %7) #7
  br i1 %36, label %.lr.ph, label %._crit_edge

._crit_edge:                                      ; preds = %40, %32
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #7
  br label %50

37:                                               ; preds = %24
  %38 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt12__shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %5) #7
  br label %53

.lr.ph:                                           ; preds = %32, %40
  %39 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %6) #7
  invoke void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE9push_backERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 4 dereferenceable(12) %39)
          to label %40 unwind label %43

40:                                               ; preds = %.lr.ph
  %41 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %6) #7
  %42 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPN8Planners5utils5Vec3iESt6vectorIS3_SaIS3_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %6, ptr noundef nonnull align 8 dereferenceable(8) %7) #7
  br i1 %42, label %.lr.ph, label %._crit_edge

43:                                               ; preds = %.lr.ph
  %44 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #7
  br label %53

45:                                               ; preds = %29
  %.not28 = icmp eq i64 %.027, 0
  br i1 %.not28, label %50, label %46

46:                                               ; preds = %45
  %47 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %.027) #7
  invoke void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE9push_backERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 4 dereferenceable(12) %47)
          to label %50 unwind label %48

48:                                               ; preds = %52, %50, %46
  %49 = landingpad { ptr, i32 }
          cleanup
  br label %53

50:                                               ; preds = %45, %46, %._crit_edge
  %51 = invoke noalias noundef nonnull dereferenceable(24) ptr @_Znwm(i64 noundef 24) #8
          to label %52 unwind label %48

52:                                               ; preds = %50
  call void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %51) #7
  invoke void @_ZNSt12__shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2EE5resetIS5_EENSt9enable_ifIXsr21__sp_is_constructibleIS5_T_EE5valueEvE4typeEPSB_(ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef nonnull %51)
          to label %.preheader unwind label %48, !llvm.loop !9

53:                                               ; preds = %37, %43, %48, %22
  %.pn.pn = phi { ptr, i32 } [ %23, %22 ], [ %44, %43 ], [ %49, %48 ], [ %38, %37 ]
  call void @_ZNSt12__shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %4) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %4) #7
  br label %54

54:                                               ; preds = %53, %20
  %.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn, %53 ], [ %21, %20 ]
  call void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #7
  resume { ptr, i32 } %.pn.pn.pn

55:                                               ; preds = %19, %10
  ret void
}

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE9push_backERKS2_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #2 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt12__shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2EE5resetIS5_EENSt9enable_ifIXsr21__sp_is_constructibleIS5_T_EE5valueEvE4typeEPSB_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) local_unnamed_addr #2 align 2

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

declare noundef zeroext i1 @_ZN8Planners5utils11LineOfSight11bresenham3DENS0_5Vec3iES2_RKNS0_13DiscreteWorldESt10shared_ptrISt6vectorIS2_SaIS2_EEE(i64, i32, i64, i32, ptr noundef nonnull align 8 dereferenceable(56), ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EEEC2ERKS6_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt19__shared_ptr_accessISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt19__shared_ptr_accessISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEdeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 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 #6

; 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 #1 align 2

; 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 #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrISt6vectorIN8Planners5utils5Vec3iESaIS3_EELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) 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 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: write) }
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 = { 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 #7 = { nounwind }
attributes #8 = { builtin allocsize(0) }

!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 = !{!"int", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = distinct !{!9, !10}
!10 = !{!"llvm.loop.mustprogress"}


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