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

; Unoptimized IR (clang -disable-llvm-passes):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%"class.std::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, std::variant<std::__cxx11::basic_string<char>, Planners::utils::Vec3i, std::vector<Planners::utils::Vec3i>, double, unsigned long, int, bool, unsigned int>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::variant<std::__cxx11::basic_string<char>, Planners::utils::Vec3i, std::vector<Planners::utils::Vec3i>, double, unsigned long, int, bool, unsigned int>>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, std::variant<std::__cxx11::basic_string<char>, Planners::utils::Vec3i, std::vector<Planners::utils::Vec3i>, double, unsigned long, int, bool, unsigned int>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::variant<std::__cxx11::basic_string<char>, Planners::utils::Vec3i, std::vector<Planners::utils::Vec3i>, double, unsigned long, int, bool, unsigned int>>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"struct.std::_Rb_tree_header" = type { %"struct.std::_Rb_tree_node_base", i64 }
%"struct.std::_Rb_tree_node_base" = type { i32, ptr, ptr, ptr }
%"class.Planners::utils::Clock" = type <{ %"class.std::chrono::duration", %"class.std::chrono::time_point", %"class.std::chrono::time_point", i8, i8, [6 x i8] }>
%"class.std::chrono::duration" = type { i64 }
%"class.std::chrono::time_point" = type { %"class.std::chrono::duration" }
%"class.boost::multi_index::multi_index_container" = type { [8 x i8], %"struct.boost::multi_index::detail::header_holder", %"class.boost::multi_index::detail::hashed_index", i64 }
%"struct.boost::multi_index::detail::header_holder" = type { ptr }
%"class.boost::multi_index::detail::hashed_index" = type { [8 x i8], %"class.boost::multi_index::detail::bucket_array", float, i64 }
%"class.boost::multi_index::detail::bucket_array" = type { i64, %"struct.boost::multi_index::detail::auto_space" }
%"struct.boost::multi_index::detail::auto_space" = type { [8 x i8], i64, ptr }
%"class.Planners::utils::Vec3i" = type { i32, i32, i32 }
%"struct.std::pair" = type <{ %"class.boost::multi_index::detail::bidir_node_iterator", i8, [7 x i8] }>
%"class.boost::multi_index::detail::bidir_node_iterator" = type { ptr }
%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator.5" = type { i8 }
%"class.Planners::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::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.Planners::utils::Node" = type <{ ptr, %"class.Planners::utils::Vec3i", i32, i32, i32, i32, i32, double, i8, i8, i8, [5 x i8] }>

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

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

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #1 align 2

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

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #3

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN8Planners15LazyThetaStarM28findPathB5cxx11ERKNS_5utils5Vec3iES4_(ptr dead_on_unwind noalias writable sret(%"class.std::map") align 8 %0, ptr noundef nonnull align 8 dereferenceable(321) %1, ptr noundef nonnull align 4 dereferenceable(12) %2, ptr noundef nonnull align 4 dereferenceable(12) %3) unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca %"class.Planners::utils::Clock", align 8
  %10 = alloca %"class.boost::multi_index::multi_index_container", align 8
  %11 = alloca ptr, align 8
  %12 = alloca i8, align 1
  %13 = alloca ptr, align 8
  %14 = alloca i32, align 4
  %15 = alloca %"class.Planners::utils::Vec3i", align 4
  %16 = alloca { i64, i32 }, align 4
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca ptr, align 8
  %20 = alloca %"struct.std::pair", align 8
  %21 = alloca %"class.boost::multi_index::detail::bidir_node_iterator", align 8
  %22 = alloca %"class.boost::multi_index::detail::bidir_node_iterator", align 8
  %23 = alloca %"class.boost::multi_index::detail::bidir_node_iterator", align 8
  %24 = alloca i32, align 4
  %25 = alloca %"class.std::__cxx11::basic_string", align 8
  %26 = alloca %"class.std::allocator.5", align 1
  %27 = alloca i1, align 1
  store ptr %0, ptr %5, align 8
  store ptr %1, ptr %6, align 8, !tbaa !5
  store ptr %2, ptr %7, align 8, !tbaa !5
  store ptr %3, ptr %8, align 8, !tbaa !5
  %28 = load ptr, ptr %6, align 8
  call void @llvm.lifetime.start.p0(i64 32, ptr %9) #7
  call void @_ZN8Planners5utils5ClockC2Eb(ptr noundef nonnull align 8 dereferenceable(26) %9, i1 noundef zeroext false)
  call void @_ZN8Planners5utils5Clock3ticEv(ptr noundef nonnull align 8 dereferenceable(26) %9)
  call void @llvm.lifetime.start.p0(i64 80, ptr %10) #7
  call void @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(80) %10)
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #7
  store ptr null, ptr %11, align 8, !tbaa !5
  %29 = getelementptr inbounds %"class.Planners::AStar", ptr %28, i32 0, i32 1
  store i32 0, ptr %29, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 1, ptr %12) #7
  store i8 0, ptr %12, align 1, !tbaa !49
  %30 = invoke noalias noundef nonnull ptr @_Znwm(i64 noundef 56) #8
          to label %31 unwind label %85

31:                                               ; preds = %4
  %32 = load ptr, ptr %7, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %32, i64 12, i1 false), !tbaa.struct !50
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %16, ptr align 4 %15, i64 12, i1 false)
  %33 = getelementptr inbounds { i64, i32 }, ptr %16, i32 0, i32 0
  %34 = load i64, ptr %33, align 4
  %35 = getelementptr inbounds { i64, i32 }, ptr %16, i32 0, i32 1
  %36 = load i32, ptr %35, align 4
  invoke void @_ZN8Planners5utils4NodeC1ENS0_5Vec3iEPS1_(ptr noundef nonnull align 8 dereferenceable(51) %30, i64 %34, i32 %36, ptr noundef null)
          to label %37 unwind label %89

37:                                               ; preds = %31
  %38 = getelementptr inbounds %"class.Planners::AlgorithmBase", ptr %28, i32 0, i32 3
  %39 = load ptr, ptr %7, align 8, !tbaa !5
  %40 = invoke noundef ptr @_ZN8Planners5utils13DiscreteWorld10getNodePtrERKNS0_5Vec3iE(ptr noundef nonnull align 8 dereferenceable(56) %38, ptr noundef nonnull align 4 dereferenceable(12) %39)
          to label %41 unwind label %85

41:                                               ; preds = %37
  %42 = getelementptr inbounds %"class.Planners::utils::Node", ptr %40, i32 0, i32 0
  store ptr %30, ptr %42, align 8, !tbaa !52
  %43 = getelementptr inbounds %"class.Planners::AlgorithmBase", ptr %28, i32 0, i32 3
  %44 = load ptr, ptr %7, align 8, !tbaa !5
  invoke void @_ZN8Planners5utils13DiscreteWorld12setOpenValueERKNS0_5Vec3iEb(ptr noundef nonnull align 8 dereferenceable(56) %43, ptr noundef nonnull align 4 dereferenceable(12) %44, i1 noundef zeroext true)
          to label %45 unwind label %85

45:                                               ; preds = %41
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #7
  %46 = call noundef nonnull align 1 dereferenceable(2) ptr @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EE3getISH_EERNSN_5indexIT_E4typeEv(ptr noundef nonnull align 8 dereferenceable(80) %10) #7
  store ptr %46, ptr %17, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #7
  %47 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EE3getIS9_EERNSN_5indexIT_E4typeEv(ptr noundef nonnull align 8 dereferenceable(80) %10) #7
  store ptr %47, ptr %18, align 8, !tbaa !5
  %48 = load ptr, ptr %17, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #7
  %49 = getelementptr inbounds %"class.Planners::AlgorithmBase", ptr %28, i32 0, i32 3
  %50 = load ptr, ptr %7, align 8, !tbaa !5
  %51 = invoke noundef ptr @_ZN8Planners5utils13DiscreteWorld10getNodePtrERKNS0_5Vec3iE(ptr noundef nonnull align 8 dereferenceable(56) %49, ptr noundef nonnull align 4 dereferenceable(12) %50)
          to label %52 unwind label %93

52:                                               ; preds = %45
  store ptr %51, ptr %19, align 8, !tbaa !5
  %53 = invoke { ptr, i8 } @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE6insertEOSB_(ptr noundef nonnull align 1 dereferenceable(2) %48, ptr noundef nonnull align 8 dereferenceable(8) %19)
          to label %54 unwind label %93

54:                                               ; preds = %52
  %55 = getelementptr inbounds { ptr, i8 }, ptr %20, i32 0, i32 0
  %56 = extractvalue { ptr, i8 } %53, 0
  store ptr %56, ptr %55, align 8
  %57 = getelementptr inbounds { ptr, i8 }, ptr %20, i32 0, i32 1
  %58 = extractvalue { ptr, i8 } %53, 1
  store i8 %58, ptr %57, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #7
  br label %59

59:                                               ; preds = %122, %54
  %60 = load ptr, ptr %17, align 8, !tbaa !5
  %61 = call noundef zeroext i1 @_ZNK5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5emptyEv(ptr noundef nonnull align 1 dereferenceable(2) %60) #7
  %62 = xor i1 %61, true
  br i1 %62, label %63, label %123

63:                                               ; preds = %59
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #7
  %64 = load ptr, ptr %17, align 8, !tbaa !5
  %65 = call ptr @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5beginEv(ptr noundef nonnull align 1 dereferenceable(2) %64) #7
  %66 = getelementptr inbounds %"class.boost::multi_index::detail::bidir_node_iterator", ptr %21, i32 0, i32 0
  store ptr %65, ptr %66, align 8
  %67 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5boost11multi_index6detail19bidir_node_iteratorINS1_18ordered_index_nodeINS1_19null_augment_policyENS1_15index_node_baseIPN8Planners5utils4NodeESaIS9_EEEEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %21)
          to label %68 unwind label %97

68:                                               ; preds = %63
  %69 = load ptr, ptr %67, align 8, !tbaa !5
  store ptr %69, ptr %11, align 8, !tbaa !5
  %70 = load ptr, ptr %17, align 8, !tbaa !5
  %71 = load ptr, ptr %17, align 8, !tbaa !5
  %72 = call ptr @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5beginEv(ptr noundef nonnull align 1 dereferenceable(2) %71) #7
  %73 = getelementptr inbounds %"class.boost::multi_index::detail::bidir_node_iterator", ptr %22, i32 0, i32 0
  store ptr %72, ptr %73, align 8
  %74 = getelementptr inbounds %"class.boost::multi_index::detail::bidir_node_iterator", ptr %22, i32 0, i32 0
  %75 = load ptr, ptr %74, align 8
  %76 = invoke ptr @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5eraseENS1_19bidir_node_iteratorINS1_18ordered_index_nodeISY_NS1_15index_node_baseISB_SQ_EEEEEE(ptr noundef nonnull align 1 dereferenceable(2) %70, ptr %75)
          to label %77 unwind label %97

77:                                               ; preds = %68
  %78 = getelementptr inbounds %"class.boost::multi_index::detail::bidir_node_iterator", ptr %23, i32 0, i32 0
  store ptr %76, ptr %78, align 8
  %79 = load ptr, ptr %11, align 8, !tbaa !5
  %80 = getelementptr inbounds %"class.Planners::utils::Node", ptr %79, i32 0, i32 1
  %81 = load ptr, ptr %8, align 8, !tbaa !5
  %82 = invoke noundef zeroext i1 @_ZN8Planners5utils5Vec3ieqERKS1_(ptr noundef nonnull align 4 dereferenceable(12) %80, ptr noundef nonnull align 4 dereferenceable(12) %81)
          to label %83 unwind label %97

83:                                               ; preds = %77
  br i1 %82, label %84, label %101

84:                                               ; preds = %83
  store i8 1, ptr %12, align 1, !tbaa !49
  store i32 3, ptr %24, align 4
  br label %120

85:                                               ; preds = %41, %37, %4
  %86 = landingpad { ptr, i32 }
          cleanup
  %87 = extractvalue { ptr, i32 } %86, 0
  store ptr %87, ptr %13, align 8
  %88 = extractvalue { ptr, i32 } %86, 1
  store i32 %88, ptr %14, align 4
  br label %171

89:                                               ; preds = %31
  %90 = landingpad { ptr, i32 }
          cleanup
  %91 = extractvalue { ptr, i32 } %90, 0
  store ptr %91, ptr %13, align 8
  %92 = extractvalue { ptr, i32 } %90, 1
  store i32 %92, ptr %14, align 4
  call void @_ZdlPvm(ptr noundef %30, i64 noundef 56) #9
  br label %171

93:                                               ; preds = %52, %45
  %94 = landingpad { ptr, i32 }
          cleanup
  %95 = extractvalue { ptr, i32 } %94, 0
  store ptr %95, ptr %13, align 8
  %96 = extractvalue { ptr, i32 } %94, 1
  store i32 %96, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #7
  br label %170

97:                                               ; preds = %112, %103, %101, %77, %68, %63
  %98 = landingpad { ptr, i32 }
          cleanup
  %99 = extractvalue { ptr, i32 } %98, 0
  store ptr %99, ptr %13, align 8
  %100 = extractvalue { ptr, i32 } %98, 1
  store i32 %100, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #7
  br label %170

101:                                              ; preds = %83
  %102 = getelementptr inbounds %"class.Planners::AStar", ptr %28, i32 0, i32 2
  invoke void @_ZNSt6vectorIPN8Planners5utils4NodeESaIS3_EE9push_backERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %102, ptr noundef nonnull align 8 dereferenceable(8) %11)
          to label %103 unwind label %97

103:                                              ; preds = %101
  %104 = load ptr, ptr %11, align 8, !tbaa !5
  %105 = getelementptr inbounds %"class.Planners::utils::Node", ptr %104, i32 0, i32 9
  store i8 0, ptr %105, align 1, !tbaa !55
  %106 = load ptr, ptr %11, align 8, !tbaa !5
  %107 = getelementptr inbounds %"class.Planners::utils::Node", ptr %106, i32 0, i32 10
  store i8 1, ptr %107, align 2, !tbaa !56
  %108 = load ptr, ptr %11, align 8, !tbaa !5
  %109 = load ptr, ptr %28, align 8, !tbaa !57
  %110 = getelementptr inbounds ptr, ptr %109, i64 10
  %111 = load ptr, ptr %110, align 8
  invoke void %111(ptr noundef nonnull align 8 dereferenceable(321) %28, ptr noundef %108)
          to label %112 unwind label %97

112:                                              ; preds = %103
  %113 = load ptr, ptr %11, align 8, !tbaa !5
  %114 = load ptr, ptr %8, align 8, !tbaa !5
  %115 = load ptr, ptr %18, align 8, !tbaa !5
  %116 = load ptr, ptr %28, align 8, !tbaa !57
  %117 = getelementptr inbounds ptr, ptr %116, i64 5
  %118 = load ptr, ptr %117, align 8
  invoke void %118(ptr noundef nonnull align 8 dereferenceable(320) %28, ptr noundef %113, ptr noundef nonnull align 4 dereferenceable(12) %114, ptr noundef nonnull align 8 dereferenceable(56) %115)
          to label %119 unwind label %97

119:                                              ; preds = %112
  store i32 0, ptr %24, align 4
  br label %120

120:                                              ; preds = %119, %84
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #7
  %121 = load i32, ptr %24, align 4
  switch i32 %121, label %177 [
    i32 0, label %122
    i32 3, label %123
  ]

122:                                              ; preds = %120
  br label %59, !llvm.loop !59

123:                                              ; preds = %120, %59
  call void @llvm.lifetime.start.p0(i64 32, ptr %25) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %26) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %26) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %25, ptr noundef @.str.1, ptr noundef nonnull align 1 dereferenceable(1) %26)
          to label %124 unwind label %151

124:                                              ; preds = %123
  invoke void @_ZN8Planners5utils5Clock3tocERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(26) %9, ptr noundef nonnull align 8 dereferenceable(32) %25)
          to label %125 unwind label %155

125:                                              ; preds = %124
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %25) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %26) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %25) #7
  store i1 false, ptr %27, align 1
  %126 = load ptr, ptr %11, align 8, !tbaa !5
  %127 = getelementptr inbounds %"class.Planners::AStar", ptr %28, i32 0, i32 2
  %128 = call noundef i64 @_ZNKSt6vectorIPN8Planners5utils4NodeESaIS3_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %127) #7
  %129 = load i8, ptr %12, align 1, !tbaa !49, !range !61, !noundef !62
  %130 = trunc i8 %129 to i1
  %131 = load ptr, ptr %7, align 8, !tbaa !5
  %132 = getelementptr inbounds %"class.Planners::AStar", ptr %28, i32 0, i32 1
  %133 = load i32, ptr %132, align 8, !tbaa !9
  %134 = load ptr, ptr %28, align 8, !tbaa !57
  %135 = getelementptr inbounds ptr, ptr %134, i64 4
  %136 = load ptr, ptr %135, align 8
  invoke void %136(ptr dead_on_unwind writable sret(%"class.std::map") align 8 %0, ptr noundef nonnull align 8 dereferenceable(176) %28, ptr noundef %126, ptr noundef nonnull align 8 dereferenceable(26) %9, i64 noundef %128, i1 noundef zeroext %130, ptr noundef nonnull align 4 dereferenceable(12) %131, i32 noundef %133)
          to label %137 unwind label %160

137:                                              ; preds = %125
  %138 = getelementptr inbounds %"class.Planners::AStar", ptr %28, i32 0, i32 2
  call void @_ZNSt6vectorIPN8Planners5utils4NodeESaIS3_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %138) #7
  %139 = getelementptr inbounds %"class.Planners::AlgorithmBase", ptr %28, i32 0, i32 3
  %140 = load ptr, ptr %7, align 8, !tbaa !5
  %141 = invoke noundef ptr @_ZN8Planners5utils13DiscreteWorld10getNodePtrERKNS0_5Vec3iE(ptr noundef nonnull align 8 dereferenceable(56) %139, ptr noundef nonnull align 4 dereferenceable(12) %140)
          to label %142 unwind label %164

142:                                              ; preds = %137
  %143 = getelementptr inbounds %"class.Planners::utils::Node", ptr %141, i32 0, i32 0
  %144 = load ptr, ptr %143, align 8, !tbaa !52
  %145 = icmp eq ptr %144, null
  br i1 %145, label %147, label %146

146:                                              ; preds = %142
  call void @_ZdlPvm(ptr noundef %144, i64 noundef 56) #9
  br label %147

147:                                              ; preds = %146, %142
  %148 = getelementptr inbounds %"class.Planners::AlgorithmBase", ptr %28, i32 0, i32 3
  invoke void @_ZN8Planners5utils13DiscreteWorld10resetWorldEv(ptr noundef nonnull align 8 dereferenceable(56) %148)
          to label %149 unwind label %164

149:                                              ; preds = %147
  store i1 true, ptr %27, align 1
  store i32 1, ptr %24, align 4
  %150 = load i1, ptr %27, align 1
  br i1 %150, label %169, label %168

151:                                              ; preds = %123
  %152 = landingpad { ptr, i32 }
          cleanup
  %153 = extractvalue { ptr, i32 } %152, 0
  store ptr %153, ptr %13, align 8
  %154 = extractvalue { ptr, i32 } %152, 1
  store i32 %154, ptr %14, align 4
  br label %159

155:                                              ; preds = %124
  %156 = landingpad { ptr, i32 }
          cleanup
  %157 = extractvalue { ptr, i32 } %156, 0
  store ptr %157, ptr %13, align 8
  %158 = extractvalue { ptr, i32 } %156, 1
  store i32 %158, ptr %14, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %25) #7
  br label %159

159:                                              ; preds = %155, %151
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %26) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %25) #7
  br label %170

160:                                              ; preds = %125
  %161 = landingpad { ptr, i32 }
          cleanup
  %162 = extractvalue { ptr, i32 } %161, 0
  store ptr %162, ptr %13, align 8
  %163 = extractvalue { ptr, i32 } %161, 1
  store i32 %163, ptr %14, align 4
  br label %170

164:                                              ; preds = %147, %137
  %165 = landingpad { ptr, i32 }
          cleanup
  %166 = extractvalue { ptr, i32 } %165, 0
  store ptr %166, ptr %13, align 8
  %167 = extractvalue { ptr, i32 } %165, 1
  store i32 %167, ptr %14, align 4
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt7variantIJS5_N8Planners5utils5Vec3iESt6vectorIS9_SaIS9_EEdmibjEESt4lessIS5_ESaISt4pairIKS5_SD_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %0) #7
  br label %170

168:                                              ; preds = %149
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt7variantIJS5_N8Planners5utils5Vec3iESt6vectorIS9_SaIS9_EEdmibjEESt4lessIS5_ESaISt4pairIKS5_SD_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %0) #7
  br label %169

169:                                              ; preds = %168, %149
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #7
  call void @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(80) %10) #7
  call void @llvm.lifetime.end.p0(i64 80, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %9) #7
  ret void

170:                                              ; preds = %164, %160, %159, %97, %93
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #7
  br label %171

171:                                              ; preds = %170, %89, %85
  call void @llvm.lifetime.end.p0(i64 1, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #7
  call void @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(80) %10) #7
  call void @llvm.lifetime.end.p0(i64 80, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %9) #7
  br label %172

172:                                              ; preds = %171
  %173 = load ptr, ptr %13, align 8
  %174 = load i32, ptr %14, align 4
  %175 = insertvalue { ptr, i32 } poison, ptr %173, 0
  %176 = insertvalue { ptr, i32 } %175, i32 %174, 1
  resume { ptr, i32 } %176

177:                                              ; preds = %120
  unreachable
}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(80)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nounwind }
attributes #8 = { builtin allocsize(0) }
attributes #9 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !24, i64 176}
!10 = !{!"_ZTSN8Planners5AStarE", !11, i64 0, !24, i64 176, !29, i64 184, !33, i64 208}
!11 = !{!"_ZTSN8Planners13AlgorithmBaseE", !12, i64 8, !14, i64 40, !18, i64 64, !24, i64 120, !26, i64 124, !25, i64 128, !24, i64 136, !27, i64 144}
!12 = !{!"_ZTSSt8functionIFjN8Planners5utils5Vec3iES2_EE", !13, i64 0, !6, i64 24}
!13 = !{!"_ZTSSt14_Function_base", !7, i64 0, !6, i64 16}
!14 = !{!"_ZTSSt6vectorIN8Planners5utils5Vec3iESaIS2_EE", !15, i64 0}
!15 = !{!"_ZTSSt12_Vector_baseIN8Planners5utils5Vec3iESaIS2_EE", !16, i64 0}
!16 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils5Vec3iESaIS2_EE12_Vector_implE", !17, i64 0}
!17 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils5Vec3iESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!18 = !{!"_ZTSN8Planners5utils13DiscreteWorldE", !19, i64 0, !23, i64 24, !24, i64 32, !24, i64 36, !24, i64 40, !25, i64 48}
!19 = !{!"_ZTSSt6vectorIN8Planners5utils4NodeESaIS2_EE", !20, i64 0}
!20 = !{!"_ZTSSt12_Vector_baseIN8Planners5utils4NodeESaIS2_EE", !21, i64 0}
!21 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils4NodeESaIS2_EE12_Vector_implE", !22, i64 0}
!22 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils4NodeESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!23 = !{!"long", !7, i64 0}
!24 = !{!"int", !7, i64 0}
!25 = !{!"double", !7, i64 0}
!26 = !{!"bool", !7, i64 0}
!27 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !28, i64 0, !23, i64 8, !7, i64 16}
!28 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !6, i64 0}
!29 = !{!"_ZTSSt6vectorIPN8Planners5utils4NodeESaIS3_EE", !30, i64 0}
!30 = !{!"_ZTSSt12_Vector_baseIPN8Planners5utils4NodeESaIS3_EE", !31, i64 0}
!31 = !{!"_ZTSNSt12_Vector_baseIPN8Planners5utils4NodeESaIS3_EE12_Vector_implE", !32, i64 0}
!32 = !{!"_ZTSNSt12_Vector_baseIPN8Planners5utils4NodeESaIS3_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!33 = !{!"_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", !34, i64 0, !36, i64 8, !37, i64 16, !23, i64 72}
!34 = !{!"_ZTSN5boost16base_from_memberISaINS_11multi_index6detail17hashed_index_nodeINS2_18ordered_index_nodeINS2_19null_augment_policyENS2_15index_node_baseIPN8Planners5utils4NodeESaISA_EEEEEEEELi0EEE", !35, i64 0}
!35 = !{!"_ZTSSaIN5boost11multi_index6detail17hashed_index_nodeINS1_18ordered_index_nodeINS1_19null_augment_policyENS1_15index_node_baseIPN8Planners5utils4NodeESaIS9_EEEEEEEE"}
!36 = !{!"_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}
!37 = !{!"_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", !38, i64 0, !42, i64 2, !43, i64 3, !44, i64 4, !45, i64 8, !48, i64 40, !23, i64 48}
!38 = !{!"_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", !39, i64 0}
!39 = !{!"_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", !40, i64 0, !41, i64 1}
!40 = !{!"_ZTSN5boost11multi_index6memberIN8Planners5utils4NodeEjXadL_ZNS4_6gplushEEEEE"}
!41 = !{!"_ZTSSt4lessIjE"}
!42 = !{!"_ZTSN5boost11multi_index6memberIN8Planners5utils4NodeEjXadL_ZNS4_11world_indexEEEEE"}
!43 = !{!"_ZTSN5boost4hashIjEE"}
!44 = !{!"_ZTSSt8equal_toIjE"}
!45 = !{!"_ZTSN5boost11multi_index6detail12bucket_arrayISaIPN8Planners5utils4NodeEEEE", !23, i64 0, !46, i64 8}
!46 = !{!"_ZTSN5boost11multi_index6detail10auto_spaceINS1_27hashed_index_base_node_implISaIcEEESaIPN8Planners5utils4NodeEEEE", !47, i64 0, !23, i64 8, !6, i64 16}
!47 = !{!"_ZTSSaIN5boost11multi_index6detail27hashed_index_base_node_implISaIcEEEE"}
!48 = !{!"float", !7, i64 0}
!49 = !{!26, !26, i64 0}
!50 = !{i64 0, i64 4, !51, i64 4, i64 4, !51, i64 8, i64 4, !51}
!51 = !{!24, !24, i64 0}
!52 = !{!53, !6, i64 0}
!53 = !{!"_ZTSN8Planners5utils4NodeE", !6, i64 0, !54, i64 8, !24, i64 20, !24, i64 24, !24, i64 28, !24, i64 32, !24, i64 36, !25, i64 40, !26, i64 48, !26, i64 49, !26, i64 50}
!54 = !{!"_ZTSN8Planners5utils5Vec3iE", !24, i64 0, !24, i64 4, !24, i64 8}
!55 = !{!53, !26, i64 49}
!56 = !{!53, !26, i64 50}
!57 = !{!58, !58, i64 0}
!58 = !{!"vtable pointer", !8, i64 0}
!59 = distinct !{!59, !60}
!60 = !{!"llvm.loop.mustprogress"}
!61 = !{i8 0, i8 2}
!62 = !{}


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

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

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

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

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #1 align 2

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN8Planners15LazyThetaStarM28findPathB5cxx11ERKNS_5utils5Vec3iES4_(ptr dead_on_unwind noalias writable sret(%"class.std::map") align 8 %0, ptr noundef nonnull align 8 dereferenceable(321) %1, ptr noundef nonnull align 4 dereferenceable(12) %2, ptr noundef nonnull align 4 dereferenceable(12) %3) unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca %"class.Planners::utils::Clock", align 8
  %6 = alloca %"class.boost::multi_index::multi_index_container", align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca %"class.boost::multi_index::detail::bidir_node_iterator", align 8
  %10 = alloca %"class.std::__cxx11::basic_string", align 8
  %11 = alloca %"class.std::allocator.5", align 1
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %5) #6
  call void @_ZN8Planners5utils5ClockC2Eb(ptr noundef nonnull align 8 dereferenceable(26) %5, i1 noundef zeroext false)
  call void @_ZN8Planners5utils5Clock3ticEv(ptr noundef nonnull align 8 dereferenceable(26) %5)
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %6) #6
  call void @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(80) %6)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #6
  store ptr null, ptr %7, align 8, !tbaa !5
  %12 = getelementptr inbounds i8, ptr %1, i64 176
  store i32 0, ptr %12, align 8, !tbaa !9
  %13 = invoke noalias noundef nonnull dereferenceable(56) ptr @_Znwm(i64 noundef 56) #7
          to label %14 unwind label %39

14:                                               ; preds = %4
  %.sroa.010.0.copyload = load i64, ptr %2, align 4
  %.sroa.211.0..sroa_idx = getelementptr inbounds i8, ptr %2, i64 8
  %.sroa.211.0.copyload = load i32, ptr %.sroa.211.0..sroa_idx, align 4, !tbaa !49
  invoke void @_ZN8Planners5utils4NodeC1ENS0_5Vec3iEPS1_(ptr noundef nonnull align 8 dereferenceable(51) %13, i64 %.sroa.010.0.copyload, i32 %.sroa.211.0.copyload, ptr noundef null)
          to label %15 unwind label %41

15:                                               ; preds = %14
  %16 = getelementptr inbounds i8, ptr %1, i64 64
  %17 = invoke noundef ptr @_ZN8Planners5utils13DiscreteWorld10getNodePtrERKNS0_5Vec3iE(ptr noundef nonnull align 8 dereferenceable(56) %16, ptr noundef nonnull align 4 dereferenceable(12) %2)
          to label %18 unwind label %39

18:                                               ; preds = %15
  store ptr %13, ptr %17, align 8, !tbaa !50
  invoke void @_ZN8Planners5utils13DiscreteWorld12setOpenValueERKNS0_5Vec3iEb(ptr noundef nonnull align 8 dereferenceable(56) %16, ptr noundef nonnull align 4 dereferenceable(12) %2, i1 noundef zeroext true)
          to label %19 unwind label %39

19:                                               ; preds = %18
  %20 = call noundef nonnull align 1 dereferenceable(2) ptr @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EE3getISH_EERNSN_5indexIT_E4typeEv(ptr noundef nonnull align 8 dereferenceable(80) %6) #6
  %21 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EE3getIS9_EERNSN_5indexIT_E4typeEv(ptr noundef nonnull align 8 dereferenceable(80) %6) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #6
  %22 = invoke noundef ptr @_ZN8Planners5utils13DiscreteWorld10getNodePtrERKNS0_5Vec3iE(ptr noundef nonnull align 8 dereferenceable(56) %16, ptr noundef nonnull align 4 dereferenceable(12) %2)
          to label %23 unwind label %43

23:                                               ; preds = %19
  store ptr %22, ptr %8, align 8, !tbaa !5
  %24 = invoke { ptr, i8 } @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE6insertEOSB_(ptr noundef nonnull align 1 dereferenceable(2) %20, ptr noundef nonnull align 8 dereferenceable(8) %8)
          to label %25 unwind label %43

25:                                               ; preds = %23
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #6
  %26 = call noundef zeroext i1 @_ZNK5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5emptyEv(ptr noundef nonnull align 1 dereferenceable(2) %20) #6
  br i1 %26, label %.loopexit, label %.lr.ph

.lr.ph:                                           ; preds = %25
  %27 = getelementptr inbounds i8, ptr %1, i64 184
  br label %28

28:                                               ; preds = %.lr.ph, %60
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #6
  %29 = call ptr @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5beginEv(ptr noundef nonnull align 1 dereferenceable(2) %20) #6
  store ptr %29, ptr %9, align 8
  %30 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5boost11multi_index6detail19bidir_node_iteratorINS1_18ordered_index_nodeINS1_19null_augment_policyENS1_15index_node_baseIPN8Planners5utils4NodeESaIS9_EEEEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %9)
  %31 = load ptr, ptr %30, align 8, !tbaa !5
  store ptr %31, ptr %7, align 8, !tbaa !5
  %32 = call ptr @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5beginEv(ptr noundef nonnull align 1 dereferenceable(2) %20) #6
  %33 = invoke ptr @_ZN5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5eraseENS1_19bidir_node_iteratorINS1_18ordered_index_nodeISY_NS1_15index_node_baseISB_SQ_EEEEEE(ptr noundef nonnull align 1 dereferenceable(2) %20, ptr %32)
          to label %34 unwind label %45

34:                                               ; preds = %28
  %35 = load ptr, ptr %7, align 8, !tbaa !5
  %36 = getelementptr inbounds i8, ptr %35, i64 8
  %37 = invoke noundef zeroext i1 @_ZN8Planners5utils5Vec3ieqERKS1_(ptr noundef nonnull align 4 dereferenceable(12) %36, ptr noundef nonnull align 4 dereferenceable(12) %3)
          to label %38 unwind label %45

38:                                               ; preds = %34
  br i1 %37, label %.thread, label %47

.thread:                                          ; preds = %38
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #6
  br label %.loopexit

39:                                               ; preds = %18, %15, %4
  %40 = landingpad { ptr, i32 }
          cleanup
  br label %87

41:                                               ; preds = %14
  %42 = landingpad { ptr, i32 }
          cleanup
  call void @_ZdlPvm(ptr noundef nonnull %13, i64 noundef 56) #8
  br label %87

43:                                               ; preds = %23, %19
  %44 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #6
  br label %87

45:                                               ; preds = %55, %48, %47, %34, %28
  %46 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #6
  br label %87

47:                                               ; preds = %38
  invoke void @_ZNSt6vectorIPN8Planners5utils4NodeESaIS3_EE9push_backERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %27, ptr noundef nonnull align 8 dereferenceable(8) %7)
          to label %48 unwind label %45

48:                                               ; preds = %47
  %49 = load ptr, ptr %7, align 8, !tbaa !5
  %50 = getelementptr inbounds i8, ptr %49, i64 49
  store i8 0, ptr %50, align 1, !tbaa !53
  %51 = getelementptr inbounds i8, ptr %49, i64 50
  store i8 1, ptr %51, align 2, !tbaa !54
  %52 = load ptr, ptr %1, align 8, !tbaa !55
  %53 = getelementptr inbounds i8, ptr %52, i64 80
  %54 = load ptr, ptr %53, align 8
  invoke void %54(ptr noundef nonnull align 8 dereferenceable(321) %1, ptr noundef nonnull %49)
          to label %55 unwind label %45

55:                                               ; preds = %48
  %56 = load ptr, ptr %7, align 8, !tbaa !5
  %57 = load ptr, ptr %1, align 8, !tbaa !55
  %58 = getelementptr inbounds i8, ptr %57, i64 40
  %59 = load ptr, ptr %58, align 8
  invoke void %59(ptr noundef nonnull align 8 dereferenceable(320) %1, ptr noundef %56, ptr noundef nonnull align 4 dereferenceable(12) %3, ptr noundef nonnull align 8 dereferenceable(56) %21)
          to label %60 unwind label %45

60:                                               ; preds = %55
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #6
  %61 = call noundef zeroext i1 @_ZNK5boost11multi_index6detail18ordered_index_implINS0_6memberIN8Planners5utils4NodeEjXadL_ZNS6_6gplushEEEEESt4lessIjENS1_9nth_layerILi2EPS6_NS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS5_20IndexByWorldPositionEN4mpl_2naESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EENS3_IS6_jXadL_ZNS6_11world_indexEEEEESH_SH_EENS0_18ordered_non_uniqueINSE_INS5_11IndexByCostESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EES7_SH_EESH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_SH_EESaISB_EEENS_3mpl6v_itemISM_NSS_7vector0ISH_EELi0EEENS1_22ordered_non_unique_tagENS1_19null_augment_policyEE5emptyEv(ptr noundef nonnull align 1 dereferenceable(2) %20) #6
  br i1 %61, label %.loopexit, label %28

.loopexit:                                        ; preds = %60, %25, %.thread
  %.2 = phi i1 [ true, %.thread ], [ false, %25 ], [ false, %60 ]
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %10) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %11) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %11) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %10, ptr noundef nonnull @.str.1, ptr noundef nonnull align 1 dereferenceable(1) %11)
          to label %62 unwind label %78

62:                                               ; preds = %.loopexit
  invoke void @_ZN8Planners5utils5Clock3tocERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(26) %5, ptr noundef nonnull align 8 dereferenceable(32) %10)
          to label %63 unwind label %80

63:                                               ; preds = %62
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %11) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %11) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %10) #6
  %64 = load ptr, ptr %7, align 8, !tbaa !5
  %65 = getelementptr inbounds i8, ptr %1, i64 184
  %66 = call noundef i64 @_ZNKSt6vectorIPN8Planners5utils4NodeESaIS3_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %65) #6
  %67 = load i32, ptr %12, align 8, !tbaa !9
  %68 = load ptr, ptr %1, align 8, !tbaa !55
  %69 = getelementptr inbounds i8, ptr %68, i64 32
  %70 = load ptr, ptr %69, align 8
  invoke void %70(ptr dead_on_unwind writable sret(%"class.std::map") align 8 %0, ptr noundef nonnull align 8 dereferenceable(176) %1, ptr noundef %64, ptr noundef nonnull align 8 dereferenceable(26) %5, i64 noundef %66, i1 noundef zeroext %.2, ptr noundef nonnull align 4 dereferenceable(12) %2, i32 noundef %67)
          to label %71 unwind label %83

71:                                               ; preds = %63
  call void @_ZNSt6vectorIPN8Planners5utils4NodeESaIS3_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %65) #6
  %72 = invoke noundef ptr @_ZN8Planners5utils13DiscreteWorld10getNodePtrERKNS0_5Vec3iE(ptr noundef nonnull align 8 dereferenceable(56) %16, ptr noundef nonnull align 4 dereferenceable(12) %2)
          to label %73 unwind label %85

73:                                               ; preds = %71
  %74 = load ptr, ptr %72, align 8, !tbaa !50
  %75 = icmp eq ptr %74, null
  br i1 %75, label %77, label %76

76:                                               ; preds = %73
  call void @_ZdlPvm(ptr noundef nonnull %74, i64 noundef 56) #8
  br label %77

77:                                               ; preds = %76, %73
  call void @_ZN8Planners5utils13DiscreteWorld10resetWorldEv(ptr noundef nonnull align 8 dereferenceable(56) %16)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #6
  call void @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(80) %6) #6
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %6) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #6
  ret void

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

80:                                               ; preds = %62
  %81 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #6
  br label %82

82:                                               ; preds = %80, %78
  %.pn = phi { ptr, i32 } [ %81, %80 ], [ %79, %78 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %11) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %11) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %10) #6
  br label %87

83:                                               ; preds = %63
  %84 = landingpad { ptr, i32 }
          cleanup
  br label %87

85:                                               ; preds = %71
  %86 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt7variantIJS5_N8Planners5utils5Vec3iESt6vectorIS9_SaIS9_EEdmibjEESt4lessIS5_ESaISt4pairIKS5_SD_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %0) #6
  br label %87

87:                                               ; preds = %43, %45, %82, %83, %85, %41, %39
  %.pn33.pn = phi { ptr, i32 } [ %40, %39 ], [ %42, %41 ], [ %86, %85 ], [ %84, %83 ], [ %.pn, %82 ], [ %46, %45 ], [ %44, %43 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #6
  call void @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(80) %6) #6
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %6) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #6
  resume { ptr, i32 } %.pn33.pn
}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5boost11multi_index21multi_index_containerIPN8Planners5utils4NodeENS0_10indexed_byINS0_13hashed_uniqueINS0_3tagINS3_20IndexByWorldPositionEN4mpl_2naESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENS0_6memberIS4_jXadL_ZNS4_11world_indexEEEEESB_SB_EENS0_18ordered_non_uniqueINS8_INS3_11IndexByCostESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EENSD_IS4_jXadL_ZNS4_6gplushEEEEESB_EESB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_SB_EESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(80)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nounwind }
attributes #7 = { builtin allocsize(0) }
attributes #8 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !24, i64 176}
!10 = !{!"_ZTSN8Planners5AStarE", !11, i64 0, !24, i64 176, !29, i64 184, !33, i64 208}
!11 = !{!"_ZTSN8Planners13AlgorithmBaseE", !12, i64 8, !14, i64 40, !18, i64 64, !24, i64 120, !26, i64 124, !25, i64 128, !24, i64 136, !27, i64 144}
!12 = !{!"_ZTSSt8functionIFjN8Planners5utils5Vec3iES2_EE", !13, i64 0, !6, i64 24}
!13 = !{!"_ZTSSt14_Function_base", !7, i64 0, !6, i64 16}
!14 = !{!"_ZTSSt6vectorIN8Planners5utils5Vec3iESaIS2_EE", !15, i64 0}
!15 = !{!"_ZTSSt12_Vector_baseIN8Planners5utils5Vec3iESaIS2_EE", !16, i64 0}
!16 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils5Vec3iESaIS2_EE12_Vector_implE", !17, i64 0}
!17 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils5Vec3iESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!18 = !{!"_ZTSN8Planners5utils13DiscreteWorldE", !19, i64 0, !23, i64 24, !24, i64 32, !24, i64 36, !24, i64 40, !25, i64 48}
!19 = !{!"_ZTSSt6vectorIN8Planners5utils4NodeESaIS2_EE", !20, i64 0}
!20 = !{!"_ZTSSt12_Vector_baseIN8Planners5utils4NodeESaIS2_EE", !21, i64 0}
!21 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils4NodeESaIS2_EE12_Vector_implE", !22, i64 0}
!22 = !{!"_ZTSNSt12_Vector_baseIN8Planners5utils4NodeESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!23 = !{!"long", !7, i64 0}
!24 = !{!"int", !7, i64 0}
!25 = !{!"double", !7, i64 0}
!26 = !{!"bool", !7, i64 0}
!27 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !28, i64 0, !23, i64 8, !7, i64 16}
!28 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !6, i64 0}
!29 = !{!"_ZTSSt6vectorIPN8Planners5utils4NodeESaIS3_EE", !30, i64 0}
!30 = !{!"_ZTSSt12_Vector_baseIPN8Planners5utils4NodeESaIS3_EE", !31, i64 0}
!31 = !{!"_ZTSNSt12_Vector_baseIPN8Planners5utils4NodeESaIS3_EE12_Vector_implE", !32, i64 0}
!32 = !{!"_ZTSNSt12_Vector_baseIPN8Planners5utils4NodeESaIS3_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!33 = !{!"_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", !34, i64 0, !36, i64 8, !37, i64 16, !23, i64 72}
!34 = !{!"_ZTSN5boost16base_from_memberISaINS_11multi_index6detail17hashed_index_nodeINS2_18ordered_index_nodeINS2_19null_augment_policyENS2_15index_node_baseIPN8Planners5utils4NodeESaISA_EEEEEEEELi0EEE", !35, i64 0}
!35 = !{!"_ZTSSaIN5boost11multi_index6detail17hashed_index_nodeINS1_18ordered_index_nodeINS1_19null_augment_policyENS1_15index_node_baseIPN8Planners5utils4NodeESaIS9_EEEEEEEE"}
!36 = !{!"_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}
!37 = !{!"_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", !38, i64 0, !42, i64 2, !43, i64 3, !44, i64 4, !45, i64 8, !48, i64 40, !23, i64 48}
!38 = !{!"_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", !39, i64 0}
!39 = !{!"_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", !40, i64 0, !41, i64 1}
!40 = !{!"_ZTSN5boost11multi_index6memberIN8Planners5utils4NodeEjXadL_ZNS4_6gplushEEEEE"}
!41 = !{!"_ZTSSt4lessIjE"}
!42 = !{!"_ZTSN5boost11multi_index6memberIN8Planners5utils4NodeEjXadL_ZNS4_11world_indexEEEEE"}
!43 = !{!"_ZTSN5boost4hashIjEE"}
!44 = !{!"_ZTSSt8equal_toIjE"}
!45 = !{!"_ZTSN5boost11multi_index6detail12bucket_arrayISaIPN8Planners5utils4NodeEEEE", !23, i64 0, !46, i64 8}
!46 = !{!"_ZTSN5boost11multi_index6detail10auto_spaceINS1_27hashed_index_base_node_implISaIcEEESaIPN8Planners5utils4NodeEEEE", !47, i64 0, !23, i64 8, !6, i64 16}
!47 = !{!"_ZTSSaIN5boost11multi_index6detail27hashed_index_base_node_implISaIcEEEE"}
!48 = !{!"float", !7, i64 0}
!49 = !{!24, !24, i64 0}
!50 = !{!51, !6, i64 0}
!51 = !{!"_ZTSN8Planners5utils4NodeE", !6, i64 0, !52, i64 8, !24, i64 20, !24, i64 24, !24, i64 28, !24, i64 32, !24, i64 36, !25, i64 40, !26, i64 48, !26, i64 49, !26, i64 50}
!52 = !{!"_ZTSN8Planners5utils5Vec3iE", !24, i64 0, !24, i64 4, !24, i64 8}
!53 = !{!51, !26, i64 49}
!54 = !{!51, !26, i64 50}
!55 = !{!56, !56, i64 0}
!56 = !{!"vtable pointer", !8, i64 0}


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