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

; 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.Planners::utils::Vec3i" = type { i32, i32, i32 }
%"struct.std::pair" = type <{ %"class.boost::multi_index::detail::hashed_index_iterator", i8, [7 x i8] }>
%"class.boost::multi_index::detail::hashed_index_iterator" = type { ptr }
%"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.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: 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) #1

; Function Attrs: mustprogress uwtable
declare dso_local { ptr, i8 } @_ZN5boost11multi_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_tagEE6insertERKSD_(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN8Planners9ThetaStar17exploreNeighboursEPNS_5utils4NodeERKNS1_5Vec3iERN5boost11multi_index6detail12hashed_indexINS8_6memberIS2_jXadL_ZNS2_11world_indexEEEEENS7_4hashIjEESt8equal_toIjENS9_9nth_layerILi1ES3_NS8_10indexed_byINS8_13hashed_uniqueINS8_3tagINS1_20IndexByWorldPositionEN4mpl_2naESN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_EESC_SN_SN_EENS8_18ordered_non_uniqueINSK_INS1_11IndexByCostESN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_EENSB_IS2_jXadL_ZNS2_6gplushEEEEESN_EESN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_EESaIS3_EEENS7_3mpl6v_itemISL_NSY_7vector0ISN_EELi0EEENS9_17hashed_unique_tagEEE(ptr noundef nonnull align 8 dereferenceable(320) %0, ptr noundef %1, ptr noundef nonnull align 4 dereferenceable(12) %2, ptr noundef nonnull align 8 dereferenceable(56) %3) unnamed_addr #2 align 2 {
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca i32, align 4
  %10 = alloca i32, align 4
  %11 = alloca %"class.Planners::utils::Vec3i", align 4
  %12 = alloca { i64, i32 }, align 8
  %13 = alloca ptr, align 8
  %14 = alloca %"class.Planners::utils::Vec3i", align 4
  %15 = alloca %"class.Planners::utils::Vec3i", align 4
  %16 = alloca { i64, i32 }, align 4
  %17 = alloca { i64, i32 }, align 4
  %18 = alloca %"struct.std::pair", align 8
  store ptr %0, ptr %5, align 8, !tbaa !5
  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
  %19 = load ptr, ptr %5, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #4
  store i32 0, ptr %9, align 4, !tbaa !9
  br label %20

20:                                               ; preds = %113, %4
  %21 = load i32, ptr %9, align 4, !tbaa !9
  %22 = zext i32 %21 to i64
  %23 = getelementptr inbounds %"class.Planners::AlgorithmBase", ptr %19, i32 0, i32 2
  %24 = call noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %23) #4
  %25 = icmp ult i64 %22, %24
  br i1 %25, label %27, label %26

26:                                               ; preds = %20
  store i32 2, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #4
  br label %116

27:                                               ; preds = %20
  call void @llvm.lifetime.start.p0(i64 12, ptr %11) #4
  %28 = load ptr, ptr %6, align 8, !tbaa !5
  %29 = getelementptr inbounds %"class.Planners::utils::Node", ptr %28, i32 0, i32 1
  %30 = getelementptr inbounds %"class.Planners::AlgorithmBase", ptr %19, i32 0, i32 2
  %31 = load i32, ptr %9, align 4, !tbaa !9
  %32 = zext i32 %31 to i64
  %33 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %30, i64 noundef %32) #4
  %34 = call { i64, i32 } @_ZNK8Planners5utils5Vec3iplERKS1_(ptr noundef nonnull align 4 dereferenceable(12) %29, ptr noundef nonnull align 4 dereferenceable(12) %33)
  store { i64, i32 } %34, ptr %12, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %11, ptr align 8 %12, i64 12, i1 false)
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #4
  %35 = getelementptr inbounds %"class.Planners::AlgorithmBase", ptr %19, i32 0, i32 3
  %36 = call noundef ptr @_ZN8Planners5utils13DiscreteWorld10getNodePtrERKNS0_5Vec3iE(ptr noundef nonnull align 8 dereferenceable(56) %35, ptr noundef nonnull align 4 dereferenceable(12) %11)
  store ptr %36, ptr %13, align 8, !tbaa !5
  %37 = load ptr, ptr %13, align 8, !tbaa !5
  %38 = icmp eq ptr %37, null
  br i1 %38, label %49, label %39

39:                                               ; preds = %27
  %40 = load ptr, ptr %13, align 8, !tbaa !5
  %41 = getelementptr inbounds %"class.Planners::utils::Node", ptr %40, i32 0, i32 10
  %42 = load i8, ptr %41, align 2, !tbaa !11, !range !16, !noundef !17
  %43 = trunc i8 %42 to i1
  br i1 %43, label %49, label %44

44:                                               ; preds = %39
  %45 = load ptr, ptr %13, align 8, !tbaa !5
  %46 = getelementptr inbounds %"class.Planners::utils::Node", ptr %45, i32 0, i32 8
  %47 = load i8, ptr %46, align 8, !tbaa !18, !range !16, !noundef !17
  %48 = trunc i8 %47 to i1
  br i1 %48, label %49, label %50

49:                                               ; preds = %44, %39, %27
  store i32 4, ptr %10, align 4
  br label %110

50:                                               ; preds = %44
  %51 = load ptr, ptr %13, align 8, !tbaa !5
  %52 = getelementptr inbounds %"class.Planners::utils::Node", ptr %51, i32 0, i32 9
  %53 = load i8, ptr %52, align 1, !tbaa !19, !range !16, !noundef !17
  %54 = trunc i8 %53 to i1
  br i1 %54, label %103, label %55

55:                                               ; preds = %50
  %56 = load ptr, ptr %6, align 8, !tbaa !5
  %57 = load ptr, ptr %13, align 8, !tbaa !5
  %58 = getelementptr inbounds %"class.Planners::utils::Node", ptr %57, i32 0, i32 0
  store ptr %56, ptr %58, align 8, !tbaa !20
  %59 = load ptr, ptr %6, align 8, !tbaa !5
  %60 = load ptr, ptr %13, align 8, !tbaa !5
  %61 = load i32, ptr %9, align 4, !tbaa !9
  %62 = getelementptr inbounds %"class.Planners::AlgorithmBase", ptr %19, i32 0, i32 2
  %63 = call noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %62) #4
  %64 = trunc i64 %63 to i32
  %65 = load ptr, ptr %19, align 8, !tbaa !21
  %66 = getelementptr inbounds ptr, ptr %65, i64 6
  %67 = load ptr, ptr %66, align 8
  %68 = call noundef i32 %67(ptr noundef nonnull align 8 dereferenceable(288) %19, ptr noundef %59, ptr noundef %60, i32 noundef %61, i32 noundef %64)
  %69 = load ptr, ptr %13, align 8, !tbaa !5
  %70 = getelementptr inbounds %"class.Planners::utils::Node", ptr %69, i32 0, i32 2
  store i32 %68, ptr %70, align 4, !tbaa !23
  %71 = getelementptr inbounds %"class.Planners::AlgorithmBase", ptr %19, i32 0, i32 1
  %72 = load ptr, ptr %13, align 8, !tbaa !5
  %73 = getelementptr inbounds %"class.Planners::utils::Node", ptr %72, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %14, ptr align 8 %73, i64 12, i1 false), !tbaa.struct !24
  %74 = load ptr, ptr %7, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %74, i64 12, i1 false), !tbaa.struct !24
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %16, ptr align 4 %14, i64 12, i1 false)
  %75 = getelementptr inbounds { i64, i32 }, ptr %16, i32 0, i32 0
  %76 = load i64, ptr %75, align 4
  %77 = getelementptr inbounds { i64, i32 }, ptr %16, i32 0, i32 1
  %78 = load i32, ptr %77, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %15, i64 12, i1 false)
  %79 = getelementptr inbounds { i64, i32 }, ptr %17, i32 0, i32 0
  %80 = load i64, ptr %79, align 4
  %81 = getelementptr inbounds { i64, i32 }, ptr %17, i32 0, i32 1
  %82 = load i32, ptr %81, align 4
  %83 = call noundef i32 @_ZNKSt8functionIFjN8Planners5utils5Vec3iES2_EEclES2_S2_(ptr noundef nonnull align 8 dereferenceable(32) %71, i64 %76, i32 %78, i64 %80, i32 %82)
  %84 = load ptr, ptr %13, align 8, !tbaa !5
  %85 = getelementptr inbounds %"class.Planners::utils::Node", ptr %84, i32 0, i32 3
  store i32 %83, ptr %85, align 8, !tbaa !25
  %86 = load ptr, ptr %13, align 8, !tbaa !5
  %87 = getelementptr inbounds %"class.Planners::utils::Node", ptr %86, i32 0, i32 2
  %88 = load i32, ptr %87, align 4, !tbaa !23
  %89 = load ptr, ptr %13, align 8, !tbaa !5
  %90 = getelementptr inbounds %"class.Planners::utils::Node", ptr %89, i32 0, i32 3
  %91 = load i32, ptr %90, align 8, !tbaa !25
  %92 = add i32 %88, %91
  %93 = load ptr, ptr %13, align 8, !tbaa !5
  %94 = getelementptr inbounds %"class.Planners::utils::Node", ptr %93, i32 0, i32 5
  store i32 %92, ptr %94, align 8, !tbaa !26
  %95 = load ptr, ptr %13, align 8, !tbaa !5
  %96 = getelementptr inbounds %"class.Planners::utils::Node", ptr %95, i32 0, i32 9
  store i8 1, ptr %96, align 1, !tbaa !19
  %97 = load ptr, ptr %8, align 8, !tbaa !5
  %98 = call { ptr, i8 } @_ZN5boost11multi_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_tagEE6insertERKSD_(ptr noundef nonnull align 8 dereferenceable(56) %97, ptr noundef nonnull align 8 dereferenceable(8) %13)
  %99 = getelementptr inbounds { ptr, i8 }, ptr %18, i32 0, i32 0
  %100 = extractvalue { ptr, i8 } %98, 0
  store ptr %100, ptr %99, align 8
  %101 = getelementptr inbounds { ptr, i8 }, ptr %18, i32 0, i32 1
  %102 = extractvalue { ptr, i8 } %98, 1
  store i8 %102, ptr %101, align 8
  br label %103

103:                                              ; preds = %55, %50
  %104 = load ptr, ptr %6, align 8, !tbaa !5
  %105 = load ptr, ptr %13, align 8, !tbaa !5
  %106 = load ptr, ptr %8, align 8, !tbaa !5
  %107 = load ptr, ptr %19, align 8, !tbaa !21
  %108 = getelementptr inbounds ptr, ptr %107, i64 7
  %109 = load ptr, ptr %108, align 8
  call void %109(ptr noundef nonnull align 8 dereferenceable(320) %19, ptr noundef %104, ptr noundef %105, ptr noundef nonnull align 8 dereferenceable(56) %106)
  store i32 0, ptr %10, align 4
  br label %110

110:                                              ; preds = %103, %49
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #4
  call void @llvm.lifetime.end.p0(i64 12, ptr %11) #4
  %111 = load i32, ptr %10, align 4
  switch i32 %111, label %117 [
    i32 0, label %112
    i32 4, label %113
  ]

112:                                              ; preds = %110
  br label %113

113:                                              ; preds = %112, %110
  %114 = load i32, ptr %9, align 4, !tbaa !9
  %115 = add i32 %114, 1
  store i32 %115, ptr %9, align 4, !tbaa !9
  br label %20, !llvm.loop !27

116:                                              ; preds = %26
  ret void

117:                                              ; preds = %110
  unreachable
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #3 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)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 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)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZNKSt8functionIFjN8Planners5utils5Vec3iES2_EEclES2_S2_(ptr noundef nonnull align 8 dereferenceable(32), i64, i32, i64, i32) #2 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
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 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 = { 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, !15, i64 50}
!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 = !{i8 0, i8 2}
!17 = !{}
!18 = !{!12, !15, i64 48}
!19 = !{!12, !15, i64 49}
!20 = !{!12, !6, i64 0}
!21 = !{!22, !22, i64 0}
!22 = !{!"vtable pointer", !8, i64 0}
!23 = !{!12, !10, i64 20}
!24 = !{i64 0, i64 4, !9, i64 4, i64 4, !9, i64 8, i64 4, !9}
!25 = !{!12, !10, i64 24}
!26 = !{!12, !10, i64 32}
!27 = distinct !{!27, !28}
!28 = !{!"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.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
declare dso_local { ptr, i8 } @_ZN5boost11multi_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_tagEE6insertERKSD_(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN8Planners9ThetaStar17exploreNeighboursEPNS_5utils4NodeERKNS1_5Vec3iERN5boost11multi_index6detail12hashed_indexINS8_6memberIS2_jXadL_ZNS2_11world_indexEEEEENS7_4hashIjEESt8equal_toIjENS9_9nth_layerILi1ES3_NS8_10indexed_byINS8_13hashed_uniqueINS8_3tagINS1_20IndexByWorldPositionEN4mpl_2naESN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_EESC_SN_SN_EENS8_18ordered_non_uniqueINSK_INS1_11IndexByCostESN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_EENSB_IS2_jXadL_ZNS2_6gplushEEEEESN_EESN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_SN_EESaIS3_EEENS7_3mpl6v_itemISL_NSY_7vector0ISN_EELi0EEENS9_17hashed_unique_tagEEE(ptr noundef nonnull align 8 dereferenceable(320) %0, ptr noundef %1, ptr nocapture noundef nonnull readonly align 4 dereferenceable(12) %2, ptr noundef nonnull align 8 dereferenceable(56) %3) unnamed_addr #1 align 2 {
  %5 = alloca %"class.Planners::utils::Vec3i", align 8
  %6 = alloca ptr, align 8
  %7 = getelementptr inbounds i8, ptr %0, i64 40
  %8 = tail call noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %7) #3
  %.not = icmp eq i64 %8, 0
  br i1 %.not, label %._crit_edge, label %.lr.ph

.lr.ph:                                           ; preds = %4
  %9 = getelementptr inbounds i8, ptr %1, i64 8
  %.sroa.29.0..sroa_idx = getelementptr inbounds i8, ptr %5, i64 8
  %10 = getelementptr inbounds i8, ptr %0, i64 64
  %11 = getelementptr inbounds i8, ptr %0, i64 8
  %.sroa.25.0..sroa_idx = getelementptr inbounds i8, ptr %2, i64 8
  br label %12

._crit_edge:                                      ; preds = %55, %4
  ret void

12:                                               ; preds = %.lr.ph, %55
  %13 = phi i64 [ 0, %.lr.ph ], [ %57, %55 ]
  %.022 = phi i32 [ 0, %.lr.ph ], [ %56, %55 ]
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %5) #3
  %14 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %13) #3
  %15 = call { i64, i32 } @_ZNK8Planners5utils5Vec3iplERKS1_(ptr noundef nonnull align 4 dereferenceable(12) %9, ptr noundef nonnull align 4 dereferenceable(12) %14)
  %.fca.0.extract = extractvalue { i64, i32 } %15, 0
  %.fca.1.extract = extractvalue { i64, i32 } %15, 1
  store i64 %.fca.0.extract, ptr %5, align 8
  store i32 %.fca.1.extract, ptr %.sroa.29.0..sroa_idx, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #3
  %16 = call noundef ptr @_ZN8Planners5utils13DiscreteWorld10getNodePtrERKNS0_5Vec3iE(ptr noundef nonnull align 8 dereferenceable(56) %10, ptr noundef nonnull align 4 dereferenceable(12) %5)
  store ptr %16, ptr %6, align 8, !tbaa !5
  %17 = icmp eq ptr %16, null
  br i1 %17, label %55, label %18

18:                                               ; preds = %12
  %19 = getelementptr inbounds i8, ptr %16, i64 50
  %20 = load i8, ptr %19, align 2, !tbaa !9, !range !15, !noundef !16
  %21 = trunc nuw i8 %20 to i1
  br i1 %21, label %55, label %22

22:                                               ; preds = %18
  %23 = getelementptr inbounds i8, ptr %16, i64 48
  %24 = load i8, ptr %23, align 8, !tbaa !17, !range !15, !noundef !16
  %25 = trunc nuw i8 %24 to i1
  br i1 %25, label %55, label %26

26:                                               ; preds = %22
  %27 = getelementptr inbounds i8, ptr %16, i64 49
  %28 = load i8, ptr %27, align 1, !tbaa !18, !range !15, !noundef !16
  %29 = trunc nuw i8 %28 to i1
  br i1 %29, label %50, label %30

30:                                               ; preds = %26
  store ptr %1, ptr %16, align 8, !tbaa !19
  %31 = load ptr, ptr %6, align 8, !tbaa !5
  %32 = call noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %7) #3
  %33 = trunc i64 %32 to i32
  %34 = load ptr, ptr %0, align 8, !tbaa !20
  %35 = getelementptr inbounds i8, ptr %34, i64 48
  %36 = load ptr, ptr %35, align 8
  %37 = call noundef i32 %36(ptr noundef nonnull align 8 dereferenceable(288) %0, ptr noundef %1, ptr noundef %31, i32 noundef %.022, i32 noundef %33)
  %38 = load ptr, ptr %6, align 8, !tbaa !5
  %39 = getelementptr inbounds i8, ptr %38, i64 20
  store i32 %37, ptr %39, align 4, !tbaa !22
  %40 = getelementptr inbounds i8, ptr %38, i64 8
  %.sroa.06.0.copyload = load i64, ptr %40, align 8
  %.sroa.27.0..sroa_idx = getelementptr inbounds i8, ptr %38, i64 16
  %.sroa.27.0.copyload = load i32, ptr %.sroa.27.0..sroa_idx, align 8, !tbaa !23
  %.sroa.04.0.copyload = load i64, ptr %2, align 4
  %.sroa.25.0.copyload = load i32, ptr %.sroa.25.0..sroa_idx, align 4, !tbaa !23
  %41 = call noundef i32 @_ZNKSt8functionIFjN8Planners5utils5Vec3iES2_EEclES2_S2_(ptr noundef nonnull align 8 dereferenceable(32) %11, i64 %.sroa.06.0.copyload, i32 %.sroa.27.0.copyload, i64 %.sroa.04.0.copyload, i32 %.sroa.25.0.copyload)
  %42 = load ptr, ptr %6, align 8, !tbaa !5
  %43 = getelementptr inbounds i8, ptr %42, i64 24
  store i32 %41, ptr %43, align 8, !tbaa !24
  %44 = getelementptr inbounds i8, ptr %42, i64 20
  %45 = load i32, ptr %44, align 4, !tbaa !22
  %46 = add i32 %45, %41
  %47 = getelementptr inbounds i8, ptr %42, i64 32
  store i32 %46, ptr %47, align 8, !tbaa !25
  %48 = getelementptr inbounds i8, ptr %42, i64 49
  store i8 1, ptr %48, align 1, !tbaa !18
  %49 = call { ptr, i8 } @_ZN5boost11multi_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_tagEE6insertERKSD_(ptr noundef nonnull align 8 dereferenceable(56) %3, ptr noundef nonnull align 8 dereferenceable(8) %6)
  %.pre = load ptr, ptr %6, align 8, !tbaa !5
  br label %50

50:                                               ; preds = %30, %26
  %51 = phi ptr [ %.pre, %30 ], [ %16, %26 ]
  %52 = load ptr, ptr %0, align 8, !tbaa !20
  %53 = getelementptr inbounds i8, ptr %52, i64 56
  %54 = load ptr, ptr %53, align 8
  call void %54(ptr noundef nonnull align 8 dereferenceable(320) %0, ptr noundef %1, ptr noundef %51, ptr noundef nonnull align 8 dereferenceable(56) %3)
  br label %55

55:                                               ; preds = %12, %18, %22, %50
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #3
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %5) #3
  %56 = add i32 %.022, 1
  %57 = zext i32 %56 to i64
  %58 = call noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %7) #3
  %59 = icmp ugt i64 %58, %57
  br i1 %59, label %12, label %._crit_edge, !llvm.loop !26
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) 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 nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) 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

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZNKSt8functionIFjN8Planners5utils5Vec3iES2_EEclES2_S2_(ptr noundef nonnull align 8 dereferenceable(32), i64, i32, i64, i32) local_unnamed_addr #1 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 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !14, i64 50}
!10 = !{!"_ZTSN8Planners5utils4NodeE", !6, i64 0, !11, i64 8, !12, i64 20, !12, i64 24, !12, i64 28, !12, i64 32, !12, i64 36, !13, i64 40, !14, i64 48, !14, i64 49, !14, i64 50}
!11 = !{!"_ZTSN8Planners5utils5Vec3iE", !12, i64 0, !12, i64 4, !12, i64 8}
!12 = !{!"int", !7, i64 0}
!13 = !{!"double", !7, i64 0}
!14 = !{!"bool", !7, i64 0}
!15 = !{i8 0, i8 2}
!16 = !{}
!17 = !{!10, !14, i64 48}
!18 = !{!10, !14, i64 49}
!19 = !{!10, !6, i64 0}
!20 = !{!21, !21, i64 0}
!21 = !{!"vtable pointer", !8, i64 0}
!22 = !{!10, !12, i64 20}
!23 = !{!12, !12, i64 0}
!24 = !{!10, !12, i64 24}
!25 = !{!10, !12, i64 32}
!26 = distinct !{!26, !27}
!27 = !{!"llvm.loop.mustprogress"}


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