; LLVM IR from erwincoumans/tiny-differentiable-simulator :: third_party/rbdl/src (Kinematics)

; 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"

%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%class.Matrix3_t = type { %"class.Eigen::Matrix.100" }
%"class.Eigen::Matrix.100" = type { %"class.Eigen::PlainObjectBase.101" }
%"class.Eigen::PlainObjectBase.101" = type { %"class.Eigen::DenseStorage.108" }
%"class.Eigen::DenseStorage.108" = type { %"struct.Eigen::internal::plain_array.109" }
%"struct.Eigen::internal::plain_array.109" = type { [9 x double] }
%class.Vector3_t = type { %"class.Eigen::Matrix" }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"class.Eigen::CwiseBinaryOp" = type <{ ptr, ptr, [8 x i8] }>
%class.SpatialVector_t = type { %"class.Eigen::Matrix.90" }
%"class.Eigen::Matrix.90" = type { %"class.Eigen::PlainObjectBase.91" }
%"class.Eigen::PlainObjectBase.91" = type { %"class.Eigen::DenseStorage.98" }
%"class.Eigen::DenseStorage.98" = type { %"struct.Eigen::internal::plain_array.99" }
%"struct.Eigen::internal::plain_array.99" = type { [6 x double] }
%"class.Eigen::CwiseBinaryOp.114" = type <{ ptr, %"class.Eigen::CwiseBinaryOp.120", [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.120" = type <{ ptr, %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::CwiseBinaryOp.132" = type <{ ptr, %"class.Eigen::Product", [8 x i8] }>
%"class.Eigen::Product" = type { ptr, ptr }
%"class.Eigen::CwiseBinaryOp.162" = type <{ ptr, %"class.Eigen::Product.168", [8 x i8] }>
%"class.Eigen::Product.168" = type { ptr, %"class.Eigen::Block" }
%"class.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.RigidBodyDynamics::Model" = type { %"class.std::vector", %"class.std::vector", %"class.std::vector.1", i32, i32, i32, i32, %class.Vector3_t, %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.14", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector", %"class.std::vector.21", %"class.std::vector", %"class.std::vector.28", %"class.std::vector.28", %"class.std::vector.35", %"class.std::vector.40", %"class.std::vector", %"class.std::vector.45", %"class.std::vector.8", %"class.std::vector.50", %"class.std::vector.8", %"class.std::vector.8", %"class.Eigen::Matrix.57", %"class.Eigen::Matrix.57", %"class.std::vector.8", %"class.std::vector.66", %"class.std::vector.66", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.73", i32, %"class.std::vector.80", %"class.std::map" }
%"class.std::vector.1" = type { %"struct.std::_Vector_base.2" }
%"struct.std::_Vector_base.2" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.14" = type { %"class.std::vector.15" }
%"class.std::vector.15" = type { %"struct.std::_Vector_base.16" }
%"struct.std::_Vector_base.16" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.28" = type { %"class.std::vector.29" }
%"class.std::vector.29" = type { %"struct.std::_Vector_base.30" }
%"struct.std::_Vector_base.30" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.35" = type { %"struct.std::_Vector_base.36" }
%"struct.std::_Vector_base.36" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.40" = type { %"struct.std::_Vector_base.41" }
%"struct.std::_Vector_base.41" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.45" = type { %"struct.std::_Vector_base.46" }
%"struct.std::_Vector_base.46" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.50" = type { %"class.std::vector.51" }
%"class.std::vector.51" = type { %"struct.std::_Vector_base.52" }
%"struct.std::_Vector_base.52" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::Matrix.57" = type { %"class.Eigen::PlainObjectBase.58" }
%"class.Eigen::PlainObjectBase.58" = type { %"class.Eigen::DenseStorage.65" }
%"class.Eigen::DenseStorage.65" = type { ptr, i64 }
%"class.std::vector.66" = type { %"class.std::vector.67" }
%"class.std::vector.67" = type { %"struct.std::_Vector_base.68" }
%"struct.std::_Vector_base.68" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.8" = type { %"class.std::vector.9" }
%"class.std::vector.9" = type { %"struct.std::_Vector_base.10" }
%"struct.std::_Vector_base.10" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.21" = type { %"class.std::vector.22" }
%"class.std::vector.22" = type { %"struct.std::_Vector_base.23" }
%"struct.std::_Vector_base.23" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.73" = type { %"class.std::vector.74" }
%"class.std::vector.74" = type { %"struct.std::_Vector_base.75" }
%"struct.std::_Vector_base.75" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.80" = type { %"class.std::vector.81" }
%"class.std::vector.81" = type { %"struct.std::_Vector_base.82" }
%"struct.std::_Vector_base.82" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"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>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, 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>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, 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 }
%"struct.RigidBodyDynamics::Joint" = type { ptr, i32, i32, i32, i32 }
%"struct.RigidBodyDynamics::CustomJoint" = type { ptr, i32, %"struct.RigidBodyDynamics::Math::SpatialTransform", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.57", %"class.Eigen::Matrix.57" }
%"class.Eigen::Matrix.153" = type { %"class.Eigen::PlainObjectBase.154" }
%"class.Eigen::PlainObjectBase.154" = type { %"class.Eigen::DenseStorage.161" }
%"class.Eigen::DenseStorage.161" = type { ptr, i64, i64 }

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics16UpdateKinematicsERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, ptr noundef nonnull align 8 dereferenceable(16) %3) #0 {
  %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 i32, align 4
  %12 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %13 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %14 = alloca %class.SpatialVector_t, align 16
  %15 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %16 = alloca %class.SpatialVector_t, align 16
  %17 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %18 = alloca %class.SpatialVector_t, align 16
  %19 = alloca %"class.Eigen::CwiseBinaryOp.114", align 8
  %20 = alloca %"class.Eigen::CwiseBinaryOp.120", align 8
  %21 = alloca %class.Vector3_t, align 8
  %22 = alloca %"class.Eigen::CwiseBinaryOp.132", align 8
  %23 = alloca %"class.Eigen::Product", align 8
  %24 = alloca i32, align 4
  %25 = alloca ptr, align 8
  %26 = alloca i32, align 4
  %27 = alloca %"class.Eigen::CwiseBinaryOp.162", align 8
  %28 = alloca %"class.Eigen::Product.168", align 8
  %29 = alloca %"class.Eigen::Block", 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
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #6
  %30 = load ptr, ptr %5, align 8, !tbaa !5
  %31 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %30, i32 0, i32 9
  %32 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %31, i64 noundef 0) #6
  %33 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %32)
  store i32 1, ptr %9, align 4, !tbaa !9
  br label %34

34:                                               ; preds = %290, %4
  %35 = load i32, ptr %9, align 4, !tbaa !9
  %36 = zext i32 %35 to i64
  %37 = load ptr, ptr %5, align 8, !tbaa !5
  %38 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %37, i32 0, i32 38
  %39 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %38) #6
  %40 = icmp ult i64 %36, %39
  br i1 %40, label %41, label %293

41:                                               ; preds = %34
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #6
  %42 = load ptr, ptr %5, align 8, !tbaa !5
  %43 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %42, i32 0, i32 10
  %44 = load i32, ptr %9, align 4, !tbaa !9
  %45 = zext i32 %44 to i64
  %46 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %43, i64 noundef %45) #6
  %47 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %46, i32 0, i32 3
  %48 = load i32, ptr %47, align 8, !tbaa !11
  store i32 %48, ptr %10, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #6
  %49 = load ptr, ptr %5, align 8, !tbaa !5
  %50 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %49, i32 0, i32 0
  %51 = load i32, ptr %9, align 4, !tbaa !9
  %52 = zext i32 %51 to i64
  %53 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %50, i64 noundef %52) #6
  %54 = load i32, ptr %53, align 4, !tbaa !9
  store i32 %54, ptr %11, align 4, !tbaa !9
  %55 = load ptr, ptr %5, align 8, !tbaa !5
  %56 = load i32, ptr %9, align 4, !tbaa !9
  %57 = load ptr, ptr %6, align 8, !tbaa !5
  %58 = load ptr, ptr %7, align 8, !tbaa !5
  call void @_ZN17RigidBodyDynamics5jcalcERNS_5ModelEjRKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_(ptr noundef nonnull align 8 dereferenceable(872) %55, i32 noundef %56, ptr noundef nonnull align 8 dereferenceable(16) %57, ptr noundef nonnull align 8 dereferenceable(16) %58)
  %59 = load i32, ptr %11, align 4, !tbaa !9
  %60 = icmp ne i32 %59, 0
  br i1 %60, label %61, label %99

61:                                               ; preds = %41
  call void @llvm.lifetime.start.p0(i64 96, ptr %12) #6
  %62 = load ptr, ptr %5, align 8, !tbaa !5
  %63 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %62, i32 0, i32 34
  %64 = load i32, ptr %9, align 4, !tbaa !9
  %65 = zext i32 %64 to i64
  %66 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %63, i64 noundef %65) #6
  %67 = load ptr, ptr %5, align 8, !tbaa !5
  %68 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %67, i32 0, i32 35
  %69 = load i32, ptr %11, align 4, !tbaa !9
  %70 = zext i32 %69 to i64
  %71 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %68, i64 noundef %70) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransformmlERKS1_(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %12, ptr noundef nonnull align 8 dereferenceable(96) %66, ptr noundef nonnull align 8 dereferenceable(96) %71)
  %72 = load ptr, ptr %5, align 8, !tbaa !5
  %73 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %72, i32 0, i32 35
  %74 = load i32, ptr %9, align 4, !tbaa !9
  %75 = zext i32 %74 to i64
  %76 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %73, i64 noundef %75) #6
  %77 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96) %76, ptr noundef nonnull align 8 dereferenceable(96) %12) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr %12) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %13) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %14) #6
  %78 = load ptr, ptr %5, align 8, !tbaa !5
  %79 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %78, i32 0, i32 34
  %80 = load i32, ptr %9, align 4, !tbaa !9
  %81 = zext i32 %80 to i64
  %82 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %79, i64 noundef %81) #6
  %83 = load ptr, ptr %5, align 8, !tbaa !5
  %84 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %83, i32 0, i32 8
  %85 = load i32, ptr %11, align 4, !tbaa !9
  %86 = zext i32 %85 to i64
  %87 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %84, i64 noundef %86) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %14, ptr noundef nonnull align 8 dereferenceable(96) %82, ptr noundef nonnull align 16 dereferenceable(48) %87)
  %88 = load ptr, ptr %5, align 8, !tbaa !5
  %89 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %88, i32 0, i32 12
  %90 = load i32, ptr %9, align 4, !tbaa !9
  %91 = zext i32 %90 to i64
  %92 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %89, i64 noundef %91) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %13, ptr noundef nonnull align 1 dereferenceable(1) %14, ptr noundef nonnull align 1 dereferenceable(1) %92)
  %93 = load ptr, ptr %5, align 8, !tbaa !5
  %94 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %93, i32 0, i32 8
  %95 = load i32, ptr %9, align 4, !tbaa !9
  %96 = zext i32 %95 to i64
  %97 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %94, i64 noundef %96) #6
  %98 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %97, ptr noundef nonnull align 1 dereferenceable(1) %13)
  call void @llvm.lifetime.end.p0(i64 48, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %13) #6
  br label %122

99:                                               ; preds = %41
  %100 = load ptr, ptr %5, align 8, !tbaa !5
  %101 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %100, i32 0, i32 34
  %102 = load i32, ptr %9, align 4, !tbaa !9
  %103 = zext i32 %102 to i64
  %104 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %101, i64 noundef %103) #6
  %105 = load ptr, ptr %5, align 8, !tbaa !5
  %106 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %105, i32 0, i32 35
  %107 = load i32, ptr %9, align 4, !tbaa !9
  %108 = zext i32 %107 to i64
  %109 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %106, i64 noundef %108) #6
  %110 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96) %109, ptr noundef nonnull align 8 dereferenceable(96) %104)
  %111 = load ptr, ptr %5, align 8, !tbaa !5
  %112 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %111, i32 0, i32 12
  %113 = load i32, ptr %9, align 4, !tbaa !9
  %114 = zext i32 %113 to i64
  %115 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %112, i64 noundef %114) #6
  %116 = load ptr, ptr %5, align 8, !tbaa !5
  %117 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %116, i32 0, i32 8
  %118 = load i32, ptr %9, align 4, !tbaa !9
  %119 = zext i32 %118 to i64
  %120 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %117, i64 noundef %119) #6
  %121 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSERKS_(ptr noundef nonnull align 16 dereferenceable(48) %120, ptr noundef nonnull align 16 dereferenceable(48) %115)
  br label %122

122:                                              ; preds = %99, %61
  call void @llvm.lifetime.start.p0(i64 24, ptr %15) #6
  %123 = load ptr, ptr %5, align 8, !tbaa !5
  %124 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %123, i32 0, i32 13
  %125 = load i32, ptr %9, align 4, !tbaa !9
  %126 = zext i32 %125 to i64
  %127 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %124, i64 noundef %126) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %16) #6
  %128 = load ptr, ptr %5, align 8, !tbaa !5
  %129 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %128, i32 0, i32 8
  %130 = load i32, ptr %9, align 4, !tbaa !9
  %131 = zext i32 %130 to i64
  %132 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %129, i64 noundef %131) #6
  %133 = load ptr, ptr %5, align 8, !tbaa !5
  %134 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %133, i32 0, i32 12
  %135 = load i32, ptr %9, align 4, !tbaa !9
  %136 = zext i32 %135 to i64
  %137 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %134, i64 noundef %136) #6
  call void @_ZN17RigidBodyDynamics4Math6crossmERK15SpatialVector_tS3_(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %16, ptr noundef nonnull align 16 dereferenceable(48) %132, ptr noundef nonnull align 16 dereferenceable(48) %137)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %15, ptr noundef nonnull align 1 dereferenceable(1) %127, ptr noundef nonnull align 1 dereferenceable(1) %16)
  %138 = load ptr, ptr %5, align 8, !tbaa !5
  %139 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %138, i32 0, i32 23
  %140 = load i32, ptr %9, align 4, !tbaa !9
  %141 = zext i32 %140 to i64
  %142 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %139, i64 noundef %141) #6
  %143 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %142, ptr noundef nonnull align 1 dereferenceable(1) %15)
  call void @llvm.lifetime.end.p0(i64 48, ptr %16) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %15) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %17) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %18) #6
  %144 = load ptr, ptr %5, align 8, !tbaa !5
  %145 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %144, i32 0, i32 34
  %146 = load i32, ptr %9, align 4, !tbaa !9
  %147 = zext i32 %146 to i64
  %148 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %145, i64 noundef %147) #6
  %149 = load ptr, ptr %5, align 8, !tbaa !5
  %150 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %149, i32 0, i32 9
  %151 = load i32, ptr %11, align 4, !tbaa !9
  %152 = zext i32 %151 to i64
  %153 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %150, i64 noundef %152) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %18, ptr noundef nonnull align 8 dereferenceable(96) %148, ptr noundef nonnull align 16 dereferenceable(48) %153)
  %154 = load ptr, ptr %5, align 8, !tbaa !5
  %155 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %154, i32 0, i32 23
  %156 = load i32, ptr %9, align 4, !tbaa !9
  %157 = zext i32 %156 to i64
  %158 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %155, i64 noundef %157) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %18, ptr noundef nonnull align 1 dereferenceable(1) %158)
  %159 = load ptr, ptr %5, align 8, !tbaa !5
  %160 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %159, i32 0, i32 9
  %161 = load i32, ptr %9, align 4, !tbaa !9
  %162 = zext i32 %161 to i64
  %163 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %160, i64 noundef %162) #6
  %164 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %163, ptr noundef nonnull align 1 dereferenceable(1) %17)
  call void @llvm.lifetime.end.p0(i64 48, ptr %18) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %17) #6
  %165 = load ptr, ptr %5, align 8, !tbaa !5
  %166 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %165, i32 0, i32 10
  %167 = load i32, ptr %9, align 4, !tbaa !9
  %168 = zext i32 %167 to i64
  %169 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %166, i64 noundef %168) #6
  %170 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %169, i32 0, i32 1
  %171 = load i32, ptr %170, align 8, !tbaa !14
  %172 = icmp ne i32 %171, 21
  br i1 %172, label %173, label %250

173:                                              ; preds = %122
  %174 = load ptr, ptr %5, align 8, !tbaa !5
  %175 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %174, i32 0, i32 10
  %176 = load i32, ptr %9, align 4, !tbaa !9
  %177 = zext i32 %176 to i64
  %178 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %175, i64 noundef %177) #6
  %179 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %178, i32 0, i32 2
  %180 = load i32, ptr %179, align 4, !tbaa !15
  %181 = icmp eq i32 %180, 1
  br i1 %181, label %182, label %203

182:                                              ; preds = %173
  call void @llvm.lifetime.start.p0(i64 48, ptr %19) #6
  %183 = load ptr, ptr %5, align 8, !tbaa !5
  %184 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %183, i32 0, i32 9
  %185 = load i32, ptr %9, align 4, !tbaa !9
  %186 = zext i32 %185 to i64
  %187 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %184, i64 noundef %186) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %20) #6
  %188 = load ptr, ptr %5, align 8, !tbaa !5
  %189 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %188, i32 0, i32 11
  %190 = load i32, ptr %9, align 4, !tbaa !9
  %191 = zext i32 %190 to i64
  %192 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %189, i64 noundef %191) #6
  %193 = load ptr, ptr %8, align 8, !tbaa !5
  %194 = load i32, ptr %10, align 4, !tbaa !9
  %195 = zext i32 %194 to i64
  %196 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %193, i64 noundef %195)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8 %20, ptr noundef nonnull align 1 dereferenceable(1) %192, ptr noundef nonnull align 8 dereferenceable(8) %196)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEES9_EEEEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEES9_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.114") align 8 %19, ptr noundef nonnull align 1 dereferenceable(1) %187, ptr noundef nonnull align 1 dereferenceable(1) %20)
  %197 = load ptr, ptr %5, align 8, !tbaa !5
  %198 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %197, i32 0, i32 9
  %199 = load i32, ptr %9, align 4, !tbaa !9
  %200 = zext i32 %199 to i64
  %201 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %198, i64 noundef %200) #6
  %202 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %201, ptr noundef nonnull align 1 dereferenceable(1) %19)
  call void @llvm.lifetime.end.p0(i64 32, ptr %20) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %19) #6
  br label %249

203:                                              ; preds = %173
  %204 = load ptr, ptr %5, align 8, !tbaa !5
  %205 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %204, i32 0, i32 10
  %206 = load i32, ptr %9, align 4, !tbaa !9
  %207 = zext i32 %206 to i64
  %208 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %205, i64 noundef %207) #6
  %209 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %208, i32 0, i32 2
  %210 = load i32, ptr %209, align 4, !tbaa !15
  %211 = icmp eq i32 %210, 3
  br i1 %211, label %212, label %248

212:                                              ; preds = %203
  call void @llvm.lifetime.start.p0(i64 24, ptr %21) #6
  %213 = load ptr, ptr %8, align 8, !tbaa !5
  %214 = load i32, ptr %10, align 4, !tbaa !9
  %215 = zext i32 %214 to i64
  %216 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %213, i64 noundef %215)
  %217 = load ptr, ptr %8, align 8, !tbaa !5
  %218 = load i32, ptr %10, align 4, !tbaa !9
  %219 = add i32 %218, 1
  %220 = zext i32 %219 to i64
  %221 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %217, i64 noundef %220)
  %222 = load ptr, ptr %8, align 8, !tbaa !5
  %223 = load i32, ptr %10, align 4, !tbaa !9
  %224 = add i32 %223, 2
  %225 = zext i32 %224 to i64
  %226 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %222, i64 noundef %225)
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %21, ptr noundef nonnull align 8 dereferenceable(8) %216, ptr noundef nonnull align 8 dereferenceable(8) %221, ptr noundef nonnull align 8 dereferenceable(8) %226)
  call void @llvm.lifetime.start.p0(i64 32, ptr %22) #6
  %227 = load ptr, ptr %5, align 8, !tbaa !5
  %228 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %227, i32 0, i32 9
  %229 = load i32, ptr %9, align 4, !tbaa !9
  %230 = zext i32 %229 to i64
  %231 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %228, i64 noundef %230) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %23) #6
  %232 = load ptr, ptr %5, align 8, !tbaa !5
  %233 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %232, i32 0, i32 17
  %234 = load i32, ptr %9, align 4, !tbaa !9
  %235 = zext i32 %234 to i64
  %236 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %233, i64 noundef %235) #6
  %237 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %236, ptr noundef nonnull align 1 dereferenceable(1) %21)
  %238 = getelementptr inbounds { ptr, ptr }, ptr %23, i32 0, i32 0
  %239 = extractvalue { ptr, ptr } %237, 0
  store ptr %239, ptr %238, align 8
  %240 = getelementptr inbounds { ptr, ptr }, ptr %23, i32 0, i32 1
  %241 = extractvalue { ptr, ptr } %237, 1
  store ptr %241, ptr %240, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.132") align 8 %22, ptr noundef nonnull align 1 dereferenceable(1) %231, ptr noundef nonnull align 1 dereferenceable(1) %23)
  %242 = load ptr, ptr %5, align 8, !tbaa !5
  %243 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %242, i32 0, i32 9
  %244 = load i32, ptr %9, align 4, !tbaa !9
  %245 = zext i32 %244 to i64
  %246 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %243, i64 noundef %245) #6
  %247 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %246, ptr noundef nonnull align 1 dereferenceable(1) %22)
  call void @llvm.lifetime.end.p0(i64 16, ptr %23) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %22) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %21) #6
  br label %248

248:                                              ; preds = %212, %203
  br label %249

249:                                              ; preds = %248, %182
  br label %289

250:                                              ; preds = %122
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #6
  %251 = load ptr, ptr %5, align 8, !tbaa !5
  %252 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %251, i32 0, i32 10
  %253 = load i32, ptr %9, align 4, !tbaa !9
  %254 = zext i32 %253 to i64
  %255 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %252, i64 noundef %254) #6
  %256 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %255, i32 0, i32 4
  %257 = load i32, ptr %256, align 4, !tbaa !16
  store i32 %257, ptr %24, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #6
  %258 = load ptr, ptr %5, align 8, !tbaa !5
  %259 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %258, i32 0, i32 22
  %260 = load i32, ptr %24, align 4, !tbaa !9
  %261 = zext i32 %260 to i64
  %262 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %259, i64 noundef %261) #6
  %263 = load ptr, ptr %262, align 8, !tbaa !5
  store ptr %263, ptr %25, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #6
  %264 = load ptr, ptr %25, align 8, !tbaa !5
  %265 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %264, i32 0, i32 1
  %266 = load i32, ptr %265, align 8, !tbaa !17
  store i32 %266, ptr %26, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 80, ptr %27) #6
  %267 = load ptr, ptr %5, align 8, !tbaa !5
  %268 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %267, i32 0, i32 9
  %269 = load i32, ptr %9, align 4, !tbaa !9
  %270 = zext i32 %269 to i64
  %271 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %268, i64 noundef %270) #6
  call void @llvm.lifetime.start.p0(i64 64, ptr %28) #6
  %272 = load ptr, ptr %5, align 8, !tbaa !5
  %273 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %272, i32 0, i32 22
  %274 = load i32, ptr %24, align 4, !tbaa !9
  %275 = zext i32 %274 to i64
  %276 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %273, i64 noundef %275) #6
  %277 = load ptr, ptr %276, align 8, !tbaa !5
  %278 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %277, i32 0, i32 3
  call void @llvm.lifetime.start.p0(i64 56, ptr %29) #6
  %279 = load ptr, ptr %8, align 8, !tbaa !5
  %280 = load i32, ptr %10, align 4, !tbaa !9
  %281 = zext i32 %280 to i64
  %282 = load i32, ptr %26, align 4, !tbaa !9
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEEKNS3_18ConstFixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %29, ptr noundef nonnull align 1 dereferenceable(1) %279, i64 noundef %281, i64 noundef 0, i32 noundef %282, i32 noundef 1)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS_5BlockIKNS1_IdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_ISA_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.168") align 8 %28, ptr noundef nonnull align 1 dereferenceable(1) %278, ptr noundef nonnull align 1 dereferenceable(1) %29)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLin1ELin1ELi0ELin1ELin1EEENS_5BlockIKNS1_IdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSD_6traitsIT_E6ScalarEEEKS2_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.162") align 8 %27, ptr noundef nonnull align 1 dereferenceable(1) %271, ptr noundef nonnull align 1 dereferenceable(1) %28)
  %283 = load ptr, ptr %5, align 8, !tbaa !5
  %284 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %283, i32 0, i32 9
  %285 = load i32, ptr %9, align 4, !tbaa !9
  %286 = zext i32 %285 to i64
  %287 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %284, i64 noundef %286) #6
  %288 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLin1ELin1ELi0ELin1ELin1EEENS1_5BlockIKNS6_IdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %287, ptr noundef nonnull align 1 dereferenceable(1) %27)
  call void @llvm.lifetime.end.p0(i64 56, ptr %29) #6
  call void @llvm.lifetime.end.p0(i64 64, ptr %28) #6
  call void @llvm.lifetime.end.p0(i64 80, ptr %27) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #6
  br label %289

289:                                              ; preds = %250, %249
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #6
  br label %290

290:                                              ; preds = %289
  %291 = load i32, ptr %9, align 4, !tbaa !9
  %292 = add i32 %291, 1
  store i32 %292, ptr %9, align 4, !tbaa !9
  br label %34, !llvm.loop !37

293:                                              ; preds = %34
  store i32 1, ptr %9, align 4, !tbaa !9
  br label %294

294:                                              ; preds = %302, %293
  %295 = load i32, ptr %9, align 4, !tbaa !9
  %296 = zext i32 %295 to i64
  %297 = load ptr, ptr %5, align 8, !tbaa !5
  %298 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %297, i32 0, i32 38
  %299 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %298) #6
  %300 = icmp ult i64 %296, %299
  br i1 %300, label %301, label %305

301:                                              ; preds = %294
  br label %302

302:                                              ; preds = %301
  %303 = load i32, ptr %9, align 4, !tbaa !9
  %304 = add i32 %303, 1
  store i32 %304, ptr %9, align 4, !tbaa !9
  br label %294, !llvm.loop !39

305:                                              ; preds = %294
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #6
  ret void
}

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

declare void @_ZN17RigidBodyDynamics5jcalcERNS_5ModelEjRKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_(ptr noundef nonnull align 8 dereferenceable(872), i32 noundef, ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransformmlERKS1_(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) #0 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) #5 align 2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 16 dereferenceable(48)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSERKS_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math6crossmERK15SpatialVector_tS3_(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEES9_EEEEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEES9_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.114") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.132") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLin1ELin1ELi0ELin1ELin1EEENS_5BlockIKNS1_IdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSD_6traitsIT_E6ScalarEEEKS2_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.162") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS_5BlockIKNS1_IdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_ISA_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.168") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEEKNS3_18ConstFixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLin1ELin1ELi0ELin1ELin1EEENS1_5BlockIKNS6_IdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !10, i64 16}
!12 = !{!"_ZTSN17RigidBodyDynamics5JointE", !6, i64 0, !13, i64 8, !10, i64 12, !10, i64 16, !10, i64 20}
!13 = !{!"_ZTSN17RigidBodyDynamics9JointTypeE", !7, i64 0}
!14 = !{!12, !13, i64 8}
!15 = !{!12, !10, i64 12}
!16 = !{!12, !10, i64 20}
!17 = !{!18, !10, i64 8}
!18 = !{!"_ZTSN17RigidBodyDynamics11CustomJointE", !10, i64 8, !19, i64 16, !30, i64 112, !30, i64 136, !30, i64 160, !34, i64 184, !34, i64 200}
!19 = !{!"_ZTSN17RigidBodyDynamics4Math16SpatialTransformE", !20, i64 0, !25, i64 72}
!20 = !{!"_ZTS9Matrix3_t", !21, i64 0}
!21 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !7, i64 0}
!25 = !{!"_ZTS9Vector3_t", !26, i64 0}
!26 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !27, i64 0}
!27 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !28, i64 0}
!28 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !29, i64 0}
!29 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!30 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !31, i64 0}
!31 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !32, i64 0}
!32 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !6, i64 0, !33, i64 8, !33, i64 16}
!33 = !{!"long", !7, i64 0}
!34 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !35, i64 0}
!35 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !36, i64 0}
!36 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !33, i64 8}
!37 = distinct !{!37, !38}
!38 = !{!"llvm.loop.mustprogress"}
!39 = distinct !{!39, !38}


; 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"

%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%class.Matrix3_t = type { %"class.Eigen::Matrix.100" }
%"class.Eigen::Matrix.100" = type { %"class.Eigen::PlainObjectBase.101" }
%"class.Eigen::PlainObjectBase.101" = type { %"class.Eigen::DenseStorage.108" }
%"class.Eigen::DenseStorage.108" = type { %"struct.Eigen::internal::plain_array.109" }
%"struct.Eigen::internal::plain_array.109" = type { [9 x double] }
%class.Vector3_t = type { %"class.Eigen::Matrix" }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"class.Eigen::CwiseBinaryOp" = type <{ ptr, ptr, [8 x i8] }>
%class.SpatialVector_t = type { %"class.Eigen::Matrix.90" }
%"class.Eigen::Matrix.90" = type { %"class.Eigen::PlainObjectBase.91" }
%"class.Eigen::PlainObjectBase.91" = type { %"class.Eigen::DenseStorage.98" }
%"class.Eigen::DenseStorage.98" = type { %"struct.Eigen::internal::plain_array.99" }
%"struct.Eigen::internal::plain_array.99" = type { [6 x double] }
%"class.Eigen::CwiseBinaryOp.114" = type <{ ptr, %"class.Eigen::CwiseBinaryOp.120", [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.120" = type <{ ptr, %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::CwiseBinaryOp.132" = type <{ ptr, %"class.Eigen::Product", [8 x i8] }>
%"class.Eigen::Product" = type { ptr, ptr }
%"class.Eigen::CwiseBinaryOp.162" = type <{ ptr, %"class.Eigen::Product.168", [8 x i8] }>
%"class.Eigen::Product.168" = type { ptr, %"class.Eigen::Block" }
%"class.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics16UpdateKinematicsERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, ptr noundef nonnull align 8 dereferenceable(16) %3) local_unnamed_addr #0 {
  %5 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %6 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %7 = alloca %class.SpatialVector_t, align 16
  %8 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %9 = alloca %class.SpatialVector_t, align 16
  %10 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %11 = alloca %class.SpatialVector_t, align 16
  %12 = alloca %"class.Eigen::CwiseBinaryOp.114", align 8
  %13 = alloca %"class.Eigen::CwiseBinaryOp.120", align 8
  %14 = alloca %class.Vector3_t, align 8
  %15 = alloca %"class.Eigen::CwiseBinaryOp.132", align 8
  %16 = alloca %"class.Eigen::Product", align 8
  %17 = alloca %"class.Eigen::CwiseBinaryOp.162", align 8
  %18 = alloca %"class.Eigen::Product.168", align 8
  %19 = alloca %"class.Eigen::Block", align 8
  %20 = getelementptr inbounds i8, ptr %0, i64 136
  %21 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef 0) #6
  %22 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %21)
  %23 = getelementptr inbounds i8, ptr %0, i64 800
  %24 = tail call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %23) #6
  %25 = icmp ugt i64 %24, 1
  br i1 %25, label %.lr.ph, label %.preheader.preheader

.lr.ph:                                           ; preds = %4
  %26 = getelementptr inbounds i8, ptr %0, i64 160
  %27 = getelementptr inbounds i8, ptr %0, i64 720
  %28 = getelementptr inbounds i8, ptr %0, i64 744
  %29 = getelementptr inbounds i8, ptr %0, i64 112
  %30 = getelementptr inbounds i8, ptr %0, i64 208
  %31 = getelementptr inbounds i8, ptr %0, i64 232
  %32 = getelementptr inbounds i8, ptr %0, i64 472
  %33 = getelementptr inbounds i8, ptr %0, i64 328
  %34 = getelementptr inbounds i8, ptr %16, i64 8
  %35 = getelementptr inbounds i8, ptr %0, i64 184
  %36 = getelementptr inbounds i8, ptr %0, i64 448
  br label %37

37:                                               ; preds = %.lr.ph, %124
  %38 = phi i64 [ 1, %.lr.ph ], [ %126, %124 ]
  %.096 = phi i32 [ 1, %.lr.ph ], [ %125, %124 ]
  %39 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %26, i64 noundef %38) #6
  %40 = getelementptr inbounds i8, ptr %39, i64 16
  %41 = load i32, ptr %40, align 8, !tbaa !5
  %42 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %38) #6
  %43 = load i32, ptr %42, align 4, !tbaa !12
  call void @_ZN17RigidBodyDynamics5jcalcERNS_5ModelEjRKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_(ptr noundef nonnull align 8 dereferenceable(872) %0, i32 noundef %.096, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2)
  %.not = icmp eq i32 %43, 0
  br i1 %.not, label %55, label %44

44:                                               ; preds = %37
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %5) #6
  %45 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %27, i64 noundef %38) #6
  %46 = zext i32 %43 to i64
  %47 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %28, i64 noundef %46) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransformmlERKS1_(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %5, ptr noundef nonnull align 8 dereferenceable(96) %45, ptr noundef nonnull align 8 dereferenceable(96) %47)
  %48 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %28, i64 noundef %38) #6
  %49 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96) %48, ptr noundef nonnull align 8 dereferenceable(96) %5) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %5) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %6) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %7) #6
  %50 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %27, i64 noundef %38) #6
  %51 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %29, i64 noundef %46) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %7, ptr noundef nonnull align 8 dereferenceable(96) %50, ptr noundef nonnull align 16 dereferenceable(48) %51)
  %52 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %30, i64 noundef %38) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %6, ptr noundef nonnull align 1 dereferenceable(1) %7, ptr noundef nonnull align 1 dereferenceable(1) %52)
  %53 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %29, i64 noundef %38) #6
  %54 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %53, ptr noundef nonnull align 1 dereferenceable(1) %6)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %7) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %6) #6
  br label %62

55:                                               ; preds = %37
  %56 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %27, i64 noundef %38) #6
  %57 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %28, i64 noundef %38) #6
  %58 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96) %57, ptr noundef nonnull align 8 dereferenceable(96) %56)
  %59 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %30, i64 noundef %38) #6
  %60 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %29, i64 noundef %38) #6
  %61 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSERKS_(ptr noundef nonnull align 16 dereferenceable(48) %60, ptr noundef nonnull align 16 dereferenceable(48) %59)
  br label %62

62:                                               ; preds = %55, %44
  %.pre-phi = phi i64 [ 0, %55 ], [ %46, %44 ]
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %8) #6
  %63 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %31, i64 noundef %38) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %9) #6
  %64 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %29, i64 noundef %38) #6
  %65 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %30, i64 noundef %38) #6
  call void @_ZN17RigidBodyDynamics4Math6crossmERK15SpatialVector_tS3_(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %9, ptr noundef nonnull align 16 dereferenceable(48) %64, ptr noundef nonnull align 16 dereferenceable(48) %65)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %8, ptr noundef nonnull align 1 dereferenceable(1) %63, ptr noundef nonnull align 1 dereferenceable(1) %9)
  %66 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %32, i64 noundef %38) #6
  %67 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %66, ptr noundef nonnull align 1 dereferenceable(1) %8)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %9) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %10) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %11) #6
  %68 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %27, i64 noundef %38) #6
  %69 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef %.pre-phi) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %11, ptr noundef nonnull align 8 dereferenceable(96) %68, ptr noundef nonnull align 16 dereferenceable(48) %69)
  %70 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %32, i64 noundef %38) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %10, ptr noundef nonnull align 1 dereferenceable(1) %11, ptr noundef nonnull align 1 dereferenceable(1) %70)
  %71 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef %38) #6
  %72 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %71, ptr noundef nonnull align 1 dereferenceable(1) %10)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %11) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #6
  %73 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %26, i64 noundef %38) #6
  %74 = getelementptr inbounds i8, ptr %73, i64 8
  %75 = load i32, ptr %74, align 8, !tbaa !13
  %.not95 = icmp eq i32 %75, 21
  %76 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %26, i64 noundef %38) #6
  br i1 %.not95, label %109, label %77

77:                                               ; preds = %62
  %78 = getelementptr inbounds i8, ptr %76, i64 12
  %79 = load i32, ptr %78, align 4, !tbaa !14
  %80 = icmp eq i32 %79, 1
  br i1 %80, label %81, label %88

81:                                               ; preds = %77
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %12) #6
  %82 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef %38) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %13) #6
  %83 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %35, i64 noundef %38) #6
  %84 = zext i32 %41 to i64
  %85 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %84)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8 %13, ptr noundef nonnull align 1 dereferenceable(1) %83, ptr noundef nonnull align 8 dereferenceable(8) %85)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEES9_EEEEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEES9_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.114") align 8 %12, ptr noundef nonnull align 1 dereferenceable(1) %82, ptr noundef nonnull align 1 dereferenceable(1) %13)
  %86 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef %38) #6
  %87 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %86, ptr noundef nonnull align 1 dereferenceable(1) %12)
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %13) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %12) #6
  br label %124

88:                                               ; preds = %77
  %89 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %26, i64 noundef %38) #6
  %90 = getelementptr inbounds i8, ptr %89, i64 12
  %91 = load i32, ptr %90, align 4, !tbaa !14
  %92 = icmp eq i32 %91, 3
  br i1 %92, label %93, label %124

93:                                               ; preds = %88
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %14) #6
  %94 = zext i32 %41 to i64
  %95 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %94)
  %96 = add i32 %41, 1
  %97 = zext i32 %96 to i64
  %98 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %97)
  %99 = add i32 %41, 2
  %100 = zext i32 %99 to i64
  %101 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %100)
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %14, ptr noundef nonnull align 8 dereferenceable(8) %95, ptr noundef nonnull align 8 dereferenceable(8) %98, ptr noundef nonnull align 8 dereferenceable(8) %101)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %15) #6
  %102 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef %38) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #6
  %103 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %33, i64 noundef %38) #6
  %104 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %103, ptr noundef nonnull align 1 dereferenceable(1) %14)
  %105 = extractvalue { ptr, ptr } %104, 0
  store ptr %105, ptr %16, align 8
  %106 = extractvalue { ptr, ptr } %104, 1
  store ptr %106, ptr %34, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.132") align 8 %15, ptr noundef nonnull align 1 dereferenceable(1) %102, ptr noundef nonnull align 1 dereferenceable(1) %16)
  %107 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef %38) #6
  %108 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %107, ptr noundef nonnull align 1 dereferenceable(1) %15)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %15) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %14) #6
  br label %124

109:                                              ; preds = %62
  %110 = getelementptr inbounds i8, ptr %76, i64 20
  %111 = load i32, ptr %110, align 4, !tbaa !15
  %112 = zext i32 %111 to i64
  %113 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %36, i64 noundef %112) #6
  %114 = load ptr, ptr %113, align 8, !tbaa !16
  %115 = getelementptr inbounds i8, ptr %114, i64 8
  %116 = load i32, ptr %115, align 8, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %17) #6
  %117 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef %38) #6
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %18) #6
  %118 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %36, i64 noundef %112) #6
  %119 = load ptr, ptr %118, align 8, !tbaa !16
  %120 = getelementptr inbounds i8, ptr %119, i64 112
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %19) #6
  %121 = zext i32 %41 to i64
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEEKNS3_18ConstFixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %19, ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %121, i64 noundef 0, i32 noundef %116, i32 noundef 1)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS_5BlockIKNS1_IdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_ISA_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.168") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %120, ptr noundef nonnull align 1 dereferenceable(1) %19)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLin1ELin1ELi0ELin1ELin1EEENS_5BlockIKNS1_IdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSD_6traitsIT_E6ScalarEEEKS2_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.162") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %117, ptr noundef nonnull align 1 dereferenceable(1) %18)
  %122 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef %38) #6
  %123 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLin1ELin1ELi0ELin1ELin1EEENS1_5BlockIKNS6_IdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %122, ptr noundef nonnull align 1 dereferenceable(1) %17)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %19) #6
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %18) #6
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %17) #6
  br label %124

124:                                              ; preds = %81, %93, %88, %109
  %125 = add i32 %.096, 1
  %126 = zext i32 %125 to i64
  %127 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %23) #6
  %128 = icmp ugt i64 %127, %126
  br i1 %128, label %37, label %.preheader.preheader, !llvm.loop !37

.preheader.preheader:                             ; preds = %124, %4
  br label %.preheader

.preheader:                                       ; preds = %.preheader.preheader, %.preheader
  %.1 = phi i32 [ %132, %.preheader ], [ 1, %.preheader.preheader ]
  %129 = zext i32 %.1 to i64
  %130 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %23) #6
  %131 = icmp ugt i64 %130, %129
  %132 = add i32 %.1, 1
  br i1 %131, label %.preheader, label %133, !llvm.loop !39

133:                                              ; preds = %.preheader
  ret void
}

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 2

declare void @_ZN17RigidBodyDynamics5jcalcERNS_5ModelEjRKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_(ptr noundef nonnull align 8 dereferenceable(872), i32 noundef, ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransformmlERKS1_(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSERKS_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math6crossmERK15SpatialVector_tS3_(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEES9_EEEEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEES9_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.114") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.132") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLin1ELin1ELi0ELin1ELin1EEENS_5BlockIKNS1_IdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSD_6traitsIT_E6ScalarEEEKS2_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.162") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS_5BlockIKNS1_IdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_ISA_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.168") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEEKNS3_18ConstFixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLin1ELin1ELi0ELin1ELin1EEENS1_5BlockIKNS6_IdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !11, i64 16}
!6 = !{!"_ZTSN17RigidBodyDynamics5JointE", !7, i64 0, !10, i64 8, !11, i64 12, !11, i64 16, !11, i64 20}
!7 = !{!"any pointer", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"_ZTSN17RigidBodyDynamics9JointTypeE", !8, i64 0}
!11 = !{!"int", !8, i64 0}
!12 = !{!11, !11, i64 0}
!13 = !{!6, !10, i64 8}
!14 = !{!6, !11, i64 12}
!15 = !{!6, !11, i64 20}
!16 = !{!7, !7, i64 0}
!17 = !{!18, !11, i64 8}
!18 = !{!"_ZTSN17RigidBodyDynamics11CustomJointE", !11, i64 8, !19, i64 16, !30, i64 112, !30, i64 136, !30, i64 160, !34, i64 184, !34, i64 200}
!19 = !{!"_ZTSN17RigidBodyDynamics4Math16SpatialTransformE", !20, i64 0, !25, i64 72}
!20 = !{!"_ZTS9Matrix3_t", !21, i64 0}
!21 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !8, i64 0}
!25 = !{!"_ZTS9Vector3_t", !26, i64 0}
!26 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !27, i64 0}
!27 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !28, i64 0}
!28 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !29, i64 0}
!29 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !8, i64 0}
!30 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !31, i64 0}
!31 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !32, i64 0}
!32 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !7, i64 0, !33, i64 8, !33, i64 16}
!33 = !{!"long", !8, i64 0}
!34 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !35, i64 0}
!35 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !36, i64 0}
!36 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !7, i64 0, !33, i64 8}
!37 = distinct !{!37, !38}
!38 = !{!"llvm.loop.mustprogress"}
!39 = distinct !{!39, !38}


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