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

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

%"class.Eigen::Product" = type { ptr, ptr }
%class.SpatialMatrix_t = type { %"class.Eigen::Matrix.134" }
%"class.Eigen::Matrix.134" = type { %"class.Eigen::PlainObjectBase.135" }
%"class.Eigen::PlainObjectBase.135" = type { %"class.Eigen::DenseStorage.142" }
%"class.Eigen::DenseStorage.142" = type { %"struct.Eigen::internal::plain_array.143" }
%"struct.Eigen::internal::plain_array.143" = type { [36 x double] }
%"class.Eigen::CwiseBinaryOp" = type <{ ptr, ptr, [8 x i8] }>
%class.SpatialVector_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 { [6 x double] }
%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia" = type { double, %class.Vector3_t, double, double, double, double, double, double }
%class.Vector3_t = type { %"class.Eigen::Matrix.16" }
%"class.Eigen::Matrix.16" = type { %"class.Eigen::PlainObjectBase.17" }
%"class.Eigen::PlainObjectBase.17" = type { %"class.Eigen::DenseStorage.24" }
%"class.Eigen::DenseStorage.24" = type { %"struct.Eigen::internal::plain_array.25" }
%"struct.Eigen::internal::plain_array.25" = type { [3 x double] }
%class.Matrix3_t = type { %"class.Eigen::Matrix.108" }
%"class.Eigen::Matrix.108" = type { %"class.Eigen::PlainObjectBase.109" }
%"class.Eigen::PlainObjectBase.109" = type { %"class.Eigen::DenseStorage.116" }
%"class.Eigen::DenseStorage.116" = type { %"struct.Eigen::internal::plain_array.117" }
%"struct.Eigen::internal::plain_array.117" = type { [9 x double] }
%"class.Eigen::CwiseNullaryOp.148" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::CwiseNullaryOp.153" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::CwiseBinaryOp.158" = type <{ ptr, %"class.Eigen::CwiseNullaryOp.164", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.164" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%"struct.RigidBodyDynamics::Model" = type { %"class.std::vector", %"class.std::vector", %"class.std::vector.11", i32, i32, i32, i32, %class.Vector3_t, %"class.std::vector.26", %"class.std::vector.26", %"class.std::vector.32", %"class.std::vector.26", %"class.std::vector.26", %"class.std::vector.26", %"class.std::vector", %"class.std::vector.39", %"class.std::vector", %"class.std::vector.46", %"class.std::vector.46", %"class.std::vector.53", %"class.std::vector.58", %"class.std::vector", %"class.std::vector.63", %"class.std::vector.26", %"class.std::vector.68", %"class.std::vector.26", %"class.std::vector.26", %"class.Eigen::Matrix.75", %"class.Eigen::Matrix.75", %"class.std::vector.26", %"class.std::vector.84", %"class.std::vector.84", %"class.std::vector.26", %"class.std::vector.26", %"class.std::vector.39", %"class.std::vector.39", %"class.std::vector.91", i32, %"class.std::vector.98", %"class.std::map" }
%"class.std::vector.11" = type { %"struct.std::_Vector_base.12" }
%"struct.std::_Vector_base.12" = 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.32" = type { %"class.std::vector.33" }
%"class.std::vector.33" = type { %"struct.std::_Vector_base.34" }
%"struct.std::_Vector_base.34" = 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.46" = type { %"class.std::vector.47" }
%"class.std::vector.47" = type { %"struct.std::_Vector_base.48" }
%"struct.std::_Vector_base.48" = 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.53" = type { %"struct.std::_Vector_base.54" }
%"struct.std::_Vector_base.54" = 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.58" = type { %"struct.std::_Vector_base.59" }
%"struct.std::_Vector_base.59" = 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.63" = type { %"struct.std::_Vector_base.64" }
%"struct.std::_Vector_base.64" = 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.68" = type { %"class.std::vector.69" }
%"class.std::vector.69" = type { %"struct.std::_Vector_base.70" }
%"struct.std::_Vector_base.70" = 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.75" = type { %"class.Eigen::PlainObjectBase.76" }
%"class.Eigen::PlainObjectBase.76" = type { %"class.Eigen::DenseStorage.83" }
%"class.Eigen::DenseStorage.83" = type { ptr, i64 }
%"class.std::vector.84" = type { %"class.std::vector.85" }
%"class.std::vector.85" = type { %"struct.std::_Vector_base.86" }
%"struct.std::_Vector_base.86" = 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.26" = type { %"class.std::vector.27" }
%"class.std::vector.27" = type { %"struct.std::_Vector_base.28" }
%"struct.std::_Vector_base.28" = 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.39" = type { %"class.std::vector.40" }
%"class.std::vector.40" = type { %"struct.std::_Vector_base.41" }
%"struct.std::_Vector_base.41" = 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.91" = type { %"class.std::vector.92" }
%"class.std::vector.92" = type { %"struct.std::_Vector_base.93" }
%"struct.std::_Vector_base.93" = 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.98" = type { %"class.std::vector.99" }
%"class.std::vector.99" = type { %"struct.std::_Vector_base.100" }
%"struct.std::_Vector_base.100" = 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 }

@.str.25 = external hidden unnamed_addr constant [84 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [111 x i8], align 1
@__PRETTY_FUNCTION__._ZN17RigidBodyDynamics5Utils16CalcCenterOfMassERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES7_PS6_RdR9Vector3_tPSA_SC_SC_SC_b = external hidden unnamed_addr constant [235 x i8], align 1

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

declare void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef, ptr noundef, ptr noundef) #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: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics5Utils16CalcCenterOfMassERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES7_PS6_RdR9Vector3_tPSA_SC_SC_SC_b(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 %3, ptr noundef nonnull align 8 dereferenceable(8) %4, ptr noundef nonnull align 8 dereferenceable(24) %5, ptr noundef %6, ptr noundef %7, ptr noundef %8, ptr noundef %9, i1 noundef zeroext %10) #4 {
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca ptr, align 8
  %20 = alloca ptr, align 8
  %21 = alloca ptr, align 8
  %22 = alloca i8, align 1
  %23 = alloca i64, align 8
  %24 = alloca %"class.Eigen::Product", align 8
  %25 = alloca %class.SpatialMatrix_t, align 16
  %26 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %27 = alloca %class.SpatialVector_t, align 16
  %28 = alloca %class.SpatialVector_t, align 16
  %29 = alloca %class.SpatialVector_t, align 16
  %30 = alloca i64, align 8
  %31 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %32 = alloca %class.SpatialVector_t, align 16
  %33 = alloca %class.SpatialVector_t, align 16
  %34 = alloca %class.SpatialVector_t, align 16
  %35 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %36 = alloca %class.Vector3_t, align 8
  %37 = alloca double, align 8
  %38 = alloca double, align 8
  %39 = alloca double, align 8
  %40 = alloca %class.Matrix3_t, align 8
  %41 = alloca %"class.Eigen::CwiseNullaryOp.148", align 8
  %42 = alloca %class.SpatialVector_t, align 16
  %43 = alloca %"class.Eigen::CwiseNullaryOp.153", align 8
  %44 = alloca %class.SpatialVector_t, align 16
  %45 = alloca %"class.Eigen::CwiseNullaryOp.153", align 8
  %46 = alloca i64, align 8
  %47 = alloca i32, align 4
  %48 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %49 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %50 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %51 = alloca %class.SpatialVector_t, align 16
  %52 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %53 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %54 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %55 = alloca %class.SpatialVector_t, align 16
  %56 = alloca i64, align 8
  %57 = alloca i32, align 4
  %58 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %59 = alloca %class.SpatialVector_t, align 16
  %60 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %61 = alloca %class.SpatialVector_t, align 16
  %62 = alloca %"class.Eigen::CwiseBinaryOp.158", align 8
  %63 = alloca %class.Vector3_t, align 8
  %64 = alloca double, align 8
  %65 = alloca double, align 8
  %66 = alloca double, align 8
  %67 = alloca %class.SpatialVector_t, align 16
  %68 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %69 = alloca %class.Vector3_t, align 8
  %70 = alloca double, align 8
  %71 = alloca double, align 8
  %72 = alloca double, align 8
  %73 = alloca %class.SpatialVector_t, align 16
  %74 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  store ptr %0, ptr %12, align 8, !tbaa !5
  store ptr %1, ptr %13, align 8, !tbaa !5
  store ptr %2, ptr %14, align 8, !tbaa !5
  store ptr %3, ptr %15, align 8, !tbaa !5
  store ptr %4, ptr %16, align 8, !tbaa !5
  store ptr %5, ptr %17, align 8, !tbaa !5
  store ptr %6, ptr %18, align 8, !tbaa !5
  store ptr %7, ptr %19, align 8, !tbaa !5
  store ptr %8, ptr %20, align 8, !tbaa !5
  store ptr %9, ptr %21, align 8, !tbaa !5
  %75 = zext i1 %10 to i8
  store i8 %75, ptr %22, align 1, !tbaa !9
  %76 = load ptr, ptr %19, align 8, !tbaa !5
  %77 = icmp eq ptr %76, null
  br i1 %77, label %78, label %81

78:                                               ; preds = %11
  %79 = load ptr, ptr %21, align 8, !tbaa !5
  %80 = icmp eq ptr %79, null
  br i1 %80, label %84, label %81

81:                                               ; preds = %78, %11
  %82 = load ptr, ptr %15, align 8, !tbaa !5
  %83 = icmp ne ptr %82, null
  br label %84

84:                                               ; preds = %81, %78
  %85 = phi i1 [ true, %78 ], [ %83, %81 ]
  br i1 %85, label %86, label %87

86:                                               ; preds = %84
  br label %89

87:                                               ; preds = %84
  call void @__assert_fail(ptr noundef @.str.25, ptr noundef @.str.26, i32 noundef 168, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics5Utils16CalcCenterOfMassERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES7_PS6_RdR9Vector3_tPSA_SC_SC_SC_b) #7
  unreachable

88:                                               ; No predecessors!
  br label %89

89:                                               ; preds = %88, %86
  %90 = load i8, ptr %22, align 1, !tbaa !9, !range !11, !noundef !12
  %91 = trunc i8 %90 to i1
  br i1 %91, label %92, label %97

92:                                               ; preds = %89
  %93 = load ptr, ptr %12, align 8, !tbaa !5
  %94 = load ptr, ptr %13, align 8, !tbaa !5
  %95 = load ptr, ptr %14, align 8, !tbaa !5
  %96 = load ptr, ptr %15, align 8, !tbaa !5
  call void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872) %93, ptr noundef %94, ptr noundef %95, ptr noundef %96)
  br label %97

97:                                               ; preds = %92, %89
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #8
  store i64 1, ptr %23, align 8, !tbaa !13
  br label %98

98:                                               ; preds = %158, %97
  %99 = load i64, ptr %23, align 8, !tbaa !13
  %100 = load ptr, ptr %12, align 8, !tbaa !5
  %101 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %100, i32 0, i32 38
  %102 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %101) #8
  %103 = icmp ult i64 %99, %102
  br i1 %103, label %105, label %104

104:                                              ; preds = %98
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #8
  br label %161

105:                                              ; preds = %98
  %106 = load ptr, ptr %12, align 8, !tbaa !5
  %107 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %106, i32 0, i32 30
  %108 = load i64, ptr %23, align 8, !tbaa !13
  %109 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %107, i64 noundef %108) #8
  %110 = load ptr, ptr %12, align 8, !tbaa !5
  %111 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %110, i32 0, i32 31
  %112 = load i64, ptr %23, align 8, !tbaa !13
  %113 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %111, i64 noundef %112) #8
  %114 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSERKS1_(ptr noundef nonnull align 8 dereferenceable(80) %113, ptr noundef nonnull align 8 dereferenceable(80) %109)
  call void @llvm.lifetime.start.p0(i64 16, ptr %24) #8
  call void @llvm.lifetime.start.p0(i64 288, ptr %25) #8
  %115 = load ptr, ptr %12, align 8, !tbaa !5
  %116 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %115, i32 0, i32 31
  %117 = load i64, ptr %23, align 8, !tbaa !13
  %118 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %116, i64 noundef %117) #8
  call void @_ZNK17RigidBodyDynamics4Math23SpatialRigidBodyInertia8toMatrixEv(ptr dead_on_unwind writable sret(%class.SpatialMatrix_t) align 16 %25, ptr noundef nonnull align 8 dereferenceable(80) %118)
  %119 = load ptr, ptr %12, align 8, !tbaa !5
  %120 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %119, i32 0, i32 8
  %121 = load i64, ptr %23, align 8, !tbaa !13
  %122 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %120, i64 noundef %121) #8
  %123 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %25, ptr noundef nonnull align 1 dereferenceable(1) %122)
  %124 = getelementptr inbounds { ptr, ptr }, ptr %24, i32 0, i32 0
  %125 = extractvalue { ptr, ptr } %123, 0
  store ptr %125, ptr %124, align 8
  %126 = getelementptr inbounds { ptr, ptr }, ptr %24, i32 0, i32 1
  %127 = extractvalue { ptr, ptr } %123, 1
  store ptr %127, ptr %126, align 8
  %128 = load ptr, ptr %12, align 8, !tbaa !5
  %129 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %128, i32 0, i32 32
  %130 = load i64, ptr %23, align 8, !tbaa !13
  %131 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %129, i64 noundef %130) #8
  %132 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen7ProductINS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %131, ptr noundef nonnull align 1 dereferenceable(1) %24)
  call void @llvm.lifetime.end.p0(i64 288, ptr %25) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr %26) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %27) #8
  %133 = load ptr, ptr %12, align 8, !tbaa !5
  %134 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %133, i32 0, i32 31
  %135 = load i64, ptr %23, align 8, !tbaa !13
  %136 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %134, i64 noundef %135) #8
  %137 = load ptr, ptr %12, align 8, !tbaa !5
  %138 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %137, i32 0, i32 9
  %139 = load i64, ptr %23, align 8, !tbaa !13
  %140 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %138, i64 noundef %139) #8
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %27, ptr noundef nonnull align 8 dereferenceable(80) %136, ptr noundef nonnull align 16 dereferenceable(48) %140)
  call void @llvm.lifetime.start.p0(i64 48, ptr %28) #8
  %141 = load ptr, ptr %12, align 8, !tbaa !5
  %142 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %141, i32 0, i32 8
  %143 = load i64, ptr %23, align 8, !tbaa !13
  %144 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %142, i64 noundef %143) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %29) #8
  %145 = load ptr, ptr %12, align 8, !tbaa !5
  %146 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %145, i32 0, i32 31
  %147 = load i64, ptr %23, align 8, !tbaa !13
  %148 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %146, i64 noundef %147) #8
  %149 = load ptr, ptr %12, align 8, !tbaa !5
  %150 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %149, i32 0, i32 8
  %151 = load i64, ptr %23, align 8, !tbaa !13
  %152 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %150, i64 noundef %151) #8
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %29, ptr noundef nonnull align 8 dereferenceable(80) %148, ptr noundef nonnull align 16 dereferenceable(48) %152)
  call void @_ZN17RigidBodyDynamics4Math6crossfERK15SpatialVector_tS3_(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %28, ptr noundef nonnull align 16 dereferenceable(48) %144, ptr noundef nonnull align 16 dereferenceable(48) %29)
  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 %26, ptr noundef nonnull align 1 dereferenceable(1) %27, ptr noundef nonnull align 1 dereferenceable(1) %28)
  %153 = load ptr, ptr %12, align 8, !tbaa !5
  %154 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %153, i32 0, i32 33
  %155 = load i64, ptr %23, align 8, !tbaa !13
  %156 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %154, i64 noundef %155) #8
  %157 = 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) %156, ptr noundef nonnull align 1 dereferenceable(1) %26)
  call void @llvm.lifetime.end.p0(i64 48, ptr %29) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr %28) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr %27) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %26) #8
  br label %158

158:                                              ; preds = %105
  %159 = load i64, ptr %23, align 8, !tbaa !13
  %160 = add i64 %159, 1
  store i64 %160, ptr %23, align 8, !tbaa !13
  br label %98, !llvm.loop !15

161:                                              ; preds = %104
  %162 = load ptr, ptr %15, align 8, !tbaa !5
  %163 = icmp ne ptr %162, null
  br i1 %163, label %164, label %208

164:                                              ; preds = %161
  %165 = load ptr, ptr %19, align 8, !tbaa !5
  %166 = icmp ne ptr %165, null
  br i1 %166, label %170, label %167

167:                                              ; preds = %164
  %168 = load ptr, ptr %21, align 8, !tbaa !5
  %169 = icmp ne ptr %168, null
  br i1 %169, label %170, label %208

170:                                              ; preds = %167, %164
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #8
  store i64 1, ptr %30, align 8, !tbaa !13
  br label %171

171:                                              ; preds = %204, %170
  %172 = load i64, ptr %30, align 8, !tbaa !13
  %173 = load ptr, ptr %12, align 8, !tbaa !5
  %174 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %173, i32 0, i32 38
  %175 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %174) #8
  %176 = icmp ult i64 %172, %175
  br i1 %176, label %178, label %177

177:                                              ; preds = %171
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #8
  br label %207

178:                                              ; preds = %171
  call void @llvm.lifetime.start.p0(i64 24, ptr %31) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %32) #8
  %179 = load ptr, ptr %12, align 8, !tbaa !5
  %180 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %179, i32 0, i32 31
  %181 = load i64, ptr %30, align 8, !tbaa !13
  %182 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %180, i64 noundef %181) #8
  %183 = load ptr, ptr %12, align 8, !tbaa !5
  %184 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %183, i32 0, i32 9
  %185 = load i64, ptr %30, align 8, !tbaa !13
  %186 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %184, i64 noundef %185) #8
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %32, ptr noundef nonnull align 8 dereferenceable(80) %182, ptr noundef nonnull align 16 dereferenceable(48) %186)
  call void @llvm.lifetime.start.p0(i64 48, ptr %33) #8
  %187 = load ptr, ptr %12, align 8, !tbaa !5
  %188 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %187, i32 0, i32 8
  %189 = load i64, ptr %30, align 8, !tbaa !13
  %190 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %188, i64 noundef %189) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %34) #8
  %191 = load ptr, ptr %12, align 8, !tbaa !5
  %192 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %191, i32 0, i32 31
  %193 = load i64, ptr %30, align 8, !tbaa !13
  %194 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %192, i64 noundef %193) #8
  %195 = load ptr, ptr %12, align 8, !tbaa !5
  %196 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %195, i32 0, i32 8
  %197 = load i64, ptr %30, align 8, !tbaa !13
  %198 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %196, i64 noundef %197) #8
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %34, ptr noundef nonnull align 8 dereferenceable(80) %194, ptr noundef nonnull align 16 dereferenceable(48) %198)
  call void @_ZN17RigidBodyDynamics4Math6crossfERK15SpatialVector_tS3_(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %33, ptr noundef nonnull align 16 dereferenceable(48) %190, ptr noundef nonnull align 16 dereferenceable(48) %34)
  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 %31, ptr noundef nonnull align 1 dereferenceable(1) %32, ptr noundef nonnull align 1 dereferenceable(1) %33)
  %199 = load ptr, ptr %12, align 8, !tbaa !5
  %200 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %199, i32 0, i32 33
  %201 = load i64, ptr %30, align 8, !tbaa !13
  %202 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %200, i64 noundef %201) #8
  %203 = 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) %202, ptr noundef nonnull align 1 dereferenceable(1) %31)
  call void @llvm.lifetime.end.p0(i64 48, ptr %34) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr %33) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr %32) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %31) #8
  br label %204

204:                                              ; preds = %178
  %205 = load i64, ptr %30, align 8, !tbaa !13
  %206 = add i64 %205, 1
  store i64 %206, ptr %30, align 8, !tbaa !13
  br label %171, !llvm.loop !17

207:                                              ; preds = %177
  br label %208

208:                                              ; preds = %207, %167, %161
  call void @llvm.lifetime.start.p0(i64 80, ptr %35) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr %36) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #8
  store double 0.000000e+00, ptr %37, align 8, !tbaa !18
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #8
  store double 0.000000e+00, ptr %38, align 8, !tbaa !18
  call void @llvm.lifetime.start.p0(i64 8, ptr %39) #8
  store double 0.000000e+00, ptr %39, align 8, !tbaa !18
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %36, ptr noundef nonnull align 8 dereferenceable(8) %37, ptr noundef nonnull align 8 dereferenceable(8) %38, ptr noundef nonnull align 8 dereferenceable(8) %39)
  call void @llvm.lifetime.start.p0(i64 72, ptr %40) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %41) #8
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE4ZeroEll(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.148") align 8 %41, i64 noundef 3, i64 noundef 3)
  call void @_ZN9Matrix3_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72) %40, ptr noundef nonnull align 1 dereferenceable(1) %41)
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaC2EdRK9Vector3_tRK9Matrix3_t(ptr noundef nonnull align 8 dereferenceable(80) %35, double noundef 0.000000e+00, ptr noundef nonnull align 8 dereferenceable(24) %36, ptr noundef nonnull align 8 dereferenceable(72) %40)
  call void @llvm.lifetime.end.p0(i64 16, ptr %41) #8
  call void @llvm.lifetime.end.p0(i64 72, ptr %40) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %36) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %42) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %43) #8
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEl(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.153") align 8 %43, i64 noundef 6)
  call void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %42, ptr noundef nonnull align 1 dereferenceable(1) %43)
  call void @llvm.lifetime.end.p0(i64 16, ptr %43) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %44) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %45) #8
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEl(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.153") align 8 %45, i64 noundef 6)
  call void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %44, ptr noundef nonnull align 1 dereferenceable(1) %45)
  call void @llvm.lifetime.end.p0(i64 16, ptr %45) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %46) #8
  %209 = load ptr, ptr %12, align 8, !tbaa !5
  %210 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %209, i32 0, i32 38
  %211 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %210) #8
  %212 = sub i64 %211, 1
  store i64 %212, ptr %46, align 8, !tbaa !13
  br label %213

213:                                              ; preds = %284, %208
  %214 = load i64, ptr %46, align 8, !tbaa !13
  %215 = icmp ugt i64 %214, 0
  br i1 %215, label %217, label %216

216:                                              ; preds = %213
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #8
  br label %287

217:                                              ; preds = %213
  call void @llvm.lifetime.start.p0(i64 4, ptr %47) #8
  %218 = load ptr, ptr %12, align 8, !tbaa !5
  %219 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %218, i32 0, i32 0
  %220 = load i64, ptr %46, align 8, !tbaa !13
  %221 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %219, i64 noundef %220) #8
  %222 = load i32, ptr %221, align 4, !tbaa !20
  store i32 %222, ptr %47, align 4, !tbaa !20
  %223 = load i32, ptr %47, align 4, !tbaa !20
  %224 = icmp ne i32 %223, 0
  br i1 %224, label %225, label %264

225:                                              ; preds = %217
  call void @llvm.lifetime.start.p0(i64 80, ptr %48) #8
  %226 = load ptr, ptr %12, align 8, !tbaa !5
  %227 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %226, i32 0, i32 31
  %228 = load i32, ptr %47, align 4, !tbaa !20
  %229 = zext i32 %228 to i64
  %230 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %227, i64 noundef %229) #8
  call void @llvm.lifetime.start.p0(i64 80, ptr %49) #8
  %231 = load ptr, ptr %12, align 8, !tbaa !5
  %232 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %231, i32 0, i32 34
  %233 = load i64, ptr %46, align 8, !tbaa !13
  %234 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %232, i64 noundef %233) #8
  %235 = load ptr, ptr %12, align 8, !tbaa !5
  %236 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %235, i32 0, i32 31
  %237 = load i64, ptr %46, align 8, !tbaa !13
  %238 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %236, i64 noundef %237) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERKNS0_23SpatialRigidBodyInertiaE(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8 %49, ptr noundef nonnull align 8 dereferenceable(96) %234, ptr noundef nonnull align 8 dereferenceable(80) %238)
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaplERKS1_(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8 %48, ptr noundef nonnull align 8 dereferenceable(80) %230, ptr noundef nonnull align 8 dereferenceable(80) %49)
  %239 = load ptr, ptr %12, align 8, !tbaa !5
  %240 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %239, i32 0, i32 31
  %241 = load i32, ptr %47, align 4, !tbaa !20
  %242 = zext i32 %241 to i64
  %243 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %240, i64 noundef %242) #8
  %244 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSEOS1_(ptr noundef nonnull align 8 dereferenceable(80) %243, ptr noundef nonnull align 8 dereferenceable(80) %48) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr %49) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr %48) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr %50) #8
  %245 = load ptr, ptr %12, align 8, !tbaa !5
  %246 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %245, i32 0, i32 32
  %247 = load i32, ptr %47, align 4, !tbaa !20
  %248 = zext i32 %247 to i64
  %249 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %246, i64 noundef %248) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %51) #8
  %250 = load ptr, ptr %12, align 8, !tbaa !5
  %251 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %250, i32 0, i32 34
  %252 = load i64, ptr %46, align 8, !tbaa !13
  %253 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %251, i64 noundef %252) #8
  %254 = load ptr, ptr %12, align 8, !tbaa !5
  %255 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %254, i32 0, i32 32
  %256 = load i64, ptr %46, align 8, !tbaa !13
  %257 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %255, i64 noundef %256) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %51, ptr noundef nonnull align 8 dereferenceable(96) %253, ptr noundef nonnull align 16 dereferenceable(48) %257)
  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 %50, ptr noundef nonnull align 1 dereferenceable(1) %249, ptr noundef nonnull align 1 dereferenceable(1) %51)
  %258 = load ptr, ptr %12, align 8, !tbaa !5
  %259 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %258, i32 0, i32 32
  %260 = load i32, ptr %47, align 4, !tbaa !20
  %261 = zext i32 %260 to i64
  %262 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %259, i64 noundef %261) #8
  %263 = 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) %262, ptr noundef nonnull align 1 dereferenceable(1) %50)
  call void @llvm.lifetime.end.p0(i64 48, ptr %51) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %50) #8
  br label %283

264:                                              ; preds = %217
  call void @llvm.lifetime.start.p0(i64 80, ptr %52) #8
  call void @llvm.lifetime.start.p0(i64 80, ptr %53) #8
  %265 = load ptr, ptr %12, align 8, !tbaa !5
  %266 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %265, i32 0, i32 34
  %267 = load i64, ptr %46, align 8, !tbaa !13
  %268 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %266, i64 noundef %267) #8
  %269 = load ptr, ptr %12, align 8, !tbaa !5
  %270 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %269, i32 0, i32 31
  %271 = load i64, ptr %46, align 8, !tbaa !13
  %272 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %270, i64 noundef %271) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERKNS0_23SpatialRigidBodyInertiaE(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8 %53, ptr noundef nonnull align 8 dereferenceable(96) %268, ptr noundef nonnull align 8 dereferenceable(80) %272)
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaplERKS1_(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8 %52, ptr noundef nonnull align 8 dereferenceable(80) %35, ptr noundef nonnull align 8 dereferenceable(80) %53)
  %273 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSEOS1_(ptr noundef nonnull align 8 dereferenceable(80) %35, ptr noundef nonnull align 8 dereferenceable(80) %52) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr %53) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr %52) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr %54) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %55) #8
  %274 = load ptr, ptr %12, align 8, !tbaa !5
  %275 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %274, i32 0, i32 34
  %276 = load i64, ptr %46, align 8, !tbaa !13
  %277 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %275, i64 noundef %276) #8
  %278 = load ptr, ptr %12, align 8, !tbaa !5
  %279 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %278, i32 0, i32 32
  %280 = load i64, ptr %46, align 8, !tbaa !13
  %281 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %279, i64 noundef %280) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %55, ptr noundef nonnull align 8 dereferenceable(96) %277, ptr noundef nonnull align 16 dereferenceable(48) %281)
  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 %54, ptr noundef nonnull align 1 dereferenceable(1) %42, ptr noundef nonnull align 1 dereferenceable(1) %55)
  %282 = 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) %42, ptr noundef nonnull align 1 dereferenceable(1) %54)
  call void @llvm.lifetime.end.p0(i64 48, ptr %55) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %54) #8
  br label %283

283:                                              ; preds = %264, %225
  call void @llvm.lifetime.end.p0(i64 4, ptr %47) #8
  br label %284

284:                                              ; preds = %283
  %285 = load i64, ptr %46, align 8, !tbaa !13
  %286 = add i64 %285, -1
  store i64 %286, ptr %46, align 8, !tbaa !13
  br label %213, !llvm.loop !22

287:                                              ; preds = %216
  %288 = load ptr, ptr %15, align 8, !tbaa !5
  %289 = icmp ne ptr %288, null
  br i1 %289, label %290, label %348

290:                                              ; preds = %287
  %291 = load ptr, ptr %19, align 8, !tbaa !5
  %292 = icmp ne ptr %291, null
  br i1 %292, label %296, label %293

293:                                              ; preds = %290
  %294 = load ptr, ptr %21, align 8, !tbaa !5
  %295 = icmp ne ptr %294, null
  br i1 %295, label %296, label %348

296:                                              ; preds = %293, %290
  call void @llvm.lifetime.start.p0(i64 8, ptr %56) #8
  %297 = load ptr, ptr %12, 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) #8
  %300 = sub i64 %299, 1
  store i64 %300, ptr %56, align 8, !tbaa !13
  br label %301

301:                                              ; preds = %344, %296
  %302 = load i64, ptr %56, align 8, !tbaa !13
  %303 = icmp ugt i64 %302, 0
  br i1 %303, label %305, label %304

304:                                              ; preds = %301
  call void @llvm.lifetime.end.p0(i64 8, ptr %56) #8
  br label %347

305:                                              ; preds = %301
  call void @llvm.lifetime.start.p0(i64 4, ptr %57) #8
  %306 = load ptr, ptr %12, align 8, !tbaa !5
  %307 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %306, i32 0, i32 0
  %308 = load i64, ptr %56, align 8, !tbaa !13
  %309 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %307, i64 noundef %308) #8
  %310 = load i32, ptr %309, align 4, !tbaa !20
  store i32 %310, ptr %57, align 4, !tbaa !20
  %311 = load i32, ptr %57, align 4, !tbaa !20
  %312 = icmp ne i32 %311, 0
  br i1 %312, label %313, label %333

313:                                              ; preds = %305
  call void @llvm.lifetime.start.p0(i64 24, ptr %58) #8
  %314 = load ptr, ptr %12, align 8, !tbaa !5
  %315 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %314, i32 0, i32 33
  %316 = load i32, ptr %57, align 4, !tbaa !20
  %317 = zext i32 %316 to i64
  %318 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %315, i64 noundef %317) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %59) #8
  %319 = load ptr, ptr %12, align 8, !tbaa !5
  %320 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %319, i32 0, i32 34
  %321 = load i64, ptr %56, align 8, !tbaa !13
  %322 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %320, i64 noundef %321) #8
  %323 = load ptr, ptr %12, align 8, !tbaa !5
  %324 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %323, i32 0, i32 33
  %325 = load i64, ptr %56, align 8, !tbaa !13
  %326 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %324, i64 noundef %325) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %59, ptr noundef nonnull align 8 dereferenceable(96) %322, ptr noundef nonnull align 16 dereferenceable(48) %326)
  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 %58, ptr noundef nonnull align 1 dereferenceable(1) %318, ptr noundef nonnull align 1 dereferenceable(1) %59)
  %327 = load ptr, ptr %12, align 8, !tbaa !5
  %328 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %327, i32 0, i32 33
  %329 = load i32, ptr %57, align 4, !tbaa !20
  %330 = zext i32 %329 to i64
  %331 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %328, i64 noundef %330) #8
  %332 = 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) %331, ptr noundef nonnull align 1 dereferenceable(1) %58)
  call void @llvm.lifetime.end.p0(i64 48, ptr %59) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %58) #8
  br label %343

333:                                              ; preds = %305
  call void @llvm.lifetime.start.p0(i64 24, ptr %60) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %61) #8
  %334 = load ptr, ptr %12, align 8, !tbaa !5
  %335 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %334, i32 0, i32 34
  %336 = load i64, ptr %56, align 8, !tbaa !13
  %337 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %335, i64 noundef %336) #8
  %338 = load ptr, ptr %12, align 8, !tbaa !5
  %339 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %338, i32 0, i32 33
  %340 = load i64, ptr %56, align 8, !tbaa !13
  %341 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %339, i64 noundef %340) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %61, ptr noundef nonnull align 8 dereferenceable(96) %337, ptr noundef nonnull align 16 dereferenceable(48) %341)
  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 %60, ptr noundef nonnull align 1 dereferenceable(1) %44, ptr noundef nonnull align 1 dereferenceable(1) %61)
  %342 = 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) %44, ptr noundef nonnull align 1 dereferenceable(1) %60)
  call void @llvm.lifetime.end.p0(i64 48, ptr %61) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %60) #8
  br label %343

343:                                              ; preds = %333, %313
  call void @llvm.lifetime.end.p0(i64 4, ptr %57) #8
  br label %344

344:                                              ; preds = %343
  %345 = load i64, ptr %56, align 8, !tbaa !13
  %346 = add i64 %345, -1
  store i64 %346, ptr %56, align 8, !tbaa !13
  br label %301, !llvm.loop !23

347:                                              ; preds = %304
  br label %348

348:                                              ; preds = %347, %293, %287
  %349 = getelementptr inbounds %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", ptr %35, i32 0, i32 0
  %350 = load double, ptr %349, align 8, !tbaa !24
  %351 = load ptr, ptr %16, align 8, !tbaa !5
  store double %350, ptr %351, align 8, !tbaa !18
  call void @llvm.lifetime.start.p0(i64 32, ptr %62) #8
  %352 = getelementptr inbounds %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", ptr %35, i32 0, i32 1
  %353 = load ptr, ptr %16, align 8, !tbaa !5
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEdvIdEEKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_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.158") align 8 %62, ptr noundef nonnull align 1 dereferenceable(1) %352, ptr noundef nonnull align 8 dereferenceable(8) %353)
  %354 = load ptr, ptr %17, align 8, !tbaa !5
  %355 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen13CwiseBinaryOpINS1_8internal18scalar_quotient_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %354, ptr noundef nonnull align 1 dereferenceable(1) %62)
  call void @llvm.lifetime.end.p0(i64 32, ptr %62) #8
  %356 = load ptr, ptr %18, align 8, !tbaa !5
  %357 = icmp ne ptr %356, null
  br i1 %357, label %358, label %376

358:                                              ; preds = %348
  call void @llvm.lifetime.start.p0(i64 24, ptr %63) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %64) #8
  %359 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %42, i64 noundef 3)
  %360 = load double, ptr %359, align 8, !tbaa !18
  %361 = load ptr, ptr %16, align 8, !tbaa !5
  %362 = load double, ptr %361, align 8, !tbaa !18
  %363 = fdiv double %360, %362
  store double %363, ptr %64, align 8, !tbaa !18
  call void @llvm.lifetime.start.p0(i64 8, ptr %65) #8
  %364 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %42, i64 noundef 4)
  %365 = load double, ptr %364, align 8, !tbaa !18
  %366 = load ptr, ptr %16, align 8, !tbaa !5
  %367 = load double, ptr %366, align 8, !tbaa !18
  %368 = fdiv double %365, %367
  store double %368, ptr %65, align 8, !tbaa !18
  call void @llvm.lifetime.start.p0(i64 8, ptr %66) #8
  %369 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %42, i64 noundef 5)
  %370 = load double, ptr %369, align 8, !tbaa !18
  %371 = load ptr, ptr %16, align 8, !tbaa !5
  %372 = load double, ptr %371, align 8, !tbaa !18
  %373 = fdiv double %370, %372
  store double %373, ptr %66, align 8, !tbaa !18
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %63, ptr noundef nonnull align 8 dereferenceable(8) %64, ptr noundef nonnull align 8 dereferenceable(8) %65, ptr noundef nonnull align 8 dereferenceable(8) %66)
  %374 = load ptr, ptr %18, align 8, !tbaa !5
  %375 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSEOS_(ptr noundef nonnull align 8 dereferenceable(24) %374, ptr noundef nonnull align 8 dereferenceable(24) %63) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %66) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %65) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %64) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %63) #8
  br label %376

376:                                              ; preds = %358, %348
  %377 = load ptr, ptr %20, align 8, !tbaa !5
  %378 = icmp ne ptr %377, null
  br i1 %378, label %379, label %386

379:                                              ; preds = %376
  call void @llvm.lifetime.start.p0(i64 48, ptr %67) #8
  call void @llvm.lifetime.start.p0(i64 96, ptr %68) #8
  %380 = load ptr, ptr %17, align 8, !tbaa !5
  call void @_ZN17RigidBodyDynamics4Math6XtransERK9Vector3_t(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %68, ptr noundef nonnull align 8 dereferenceable(24) %380)
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %67, ptr noundef nonnull align 8 dereferenceable(96) %68, ptr noundef nonnull align 16 dereferenceable(48) %42)
  %381 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48) %42, ptr noundef nonnull align 16 dereferenceable(48) %67) #8
  call void @llvm.lifetime.end.p0(i64 96, ptr %68) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr %67) #8
  %382 = load ptr, ptr %20, align 8, !tbaa !5
  %383 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %42, i64 noundef 0)
  %384 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %42, i64 noundef 1)
  %385 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %42, i64 noundef 2)
  call void @_ZN9Vector3_t3setERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %382, ptr noundef nonnull align 8 dereferenceable(8) %383, ptr noundef nonnull align 8 dereferenceable(8) %384, ptr noundef nonnull align 8 dereferenceable(8) %385)
  br label %386

386:                                              ; preds = %379, %376
  %387 = load ptr, ptr %19, align 8, !tbaa !5
  %388 = icmp ne ptr %387, null
  br i1 %388, label %389, label %407

389:                                              ; preds = %386
  call void @llvm.lifetime.start.p0(i64 24, ptr %69) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %70) #8
  %390 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %44, i64 noundef 3)
  %391 = load double, ptr %390, align 8, !tbaa !18
  %392 = load ptr, ptr %16, align 8, !tbaa !5
  %393 = load double, ptr %392, align 8, !tbaa !18
  %394 = fdiv double %391, %393
  store double %394, ptr %70, align 8, !tbaa !18
  call void @llvm.lifetime.start.p0(i64 8, ptr %71) #8
  %395 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %44, i64 noundef 4)
  %396 = load double, ptr %395, align 8, !tbaa !18
  %397 = load ptr, ptr %16, align 8, !tbaa !5
  %398 = load double, ptr %397, align 8, !tbaa !18
  %399 = fdiv double %396, %398
  store double %399, ptr %71, align 8, !tbaa !18
  call void @llvm.lifetime.start.p0(i64 8, ptr %72) #8
  %400 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %44, i64 noundef 5)
  %401 = load double, ptr %400, align 8, !tbaa !18
  %402 = load ptr, ptr %16, align 8, !tbaa !5
  %403 = load double, ptr %402, align 8, !tbaa !18
  %404 = fdiv double %401, %403
  store double %404, ptr %72, align 8, !tbaa !18
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %69, ptr noundef nonnull align 8 dereferenceable(8) %70, ptr noundef nonnull align 8 dereferenceable(8) %71, ptr noundef nonnull align 8 dereferenceable(8) %72)
  %405 = load ptr, ptr %19, align 8, !tbaa !5
  %406 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSEOS_(ptr noundef nonnull align 8 dereferenceable(24) %405, ptr noundef nonnull align 8 dereferenceable(24) %69) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %72) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %71) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %70) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %69) #8
  br label %407

407:                                              ; preds = %389, %386
  %408 = load ptr, ptr %21, align 8, !tbaa !5
  %409 = icmp ne ptr %408, null
  br i1 %409, label %410, label %417

410:                                              ; preds = %407
  call void @llvm.lifetime.start.p0(i64 48, ptr %73) #8
  call void @llvm.lifetime.start.p0(i64 96, ptr %74) #8
  %411 = load ptr, ptr %17, align 8, !tbaa !5
  call void @_ZN17RigidBodyDynamics4Math6XtransERK9Vector3_t(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %74, ptr noundef nonnull align 8 dereferenceable(24) %411)
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %73, ptr noundef nonnull align 8 dereferenceable(96) %74, ptr noundef nonnull align 16 dereferenceable(48) %44)
  %412 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48) %44, ptr noundef nonnull align 16 dereferenceable(48) %73) #8
  call void @llvm.lifetime.end.p0(i64 96, ptr %74) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr %73) #8
  %413 = load ptr, ptr %21, align 8, !tbaa !5
  %414 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %44, i64 noundef 0)
  %415 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %44, i64 noundef 1)
  %416 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %44, i64 noundef 2)
  call void @_ZN9Vector3_t3setERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %413, ptr noundef nonnull align 8 dereferenceable(8) %414, ptr noundef nonnull align 8 dereferenceable(8) %415, ptr noundef nonnull align 8 dereferenceable(8) %416)
  br label %417

417:                                              ; preds = %410, %407
  call void @llvm.lifetime.end.p0(i64 48, ptr %44) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr %42) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr %35) #8
  ret void
}

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSERKS1_(ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 8 dereferenceable(80)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math23SpatialRigidBodyInertia8toMatrixEv(ptr dead_on_unwind noalias writable sret(%class.SpatialMatrix_t) align 16, ptr noundef nonnull align 8 dereferenceable(80)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_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 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) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen7ProductINS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 16 dereferenceable(48)) #4 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: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math6crossfERK15SpatialVector_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: 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)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE4ZeroEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.148") align 8, i64 noundef, i64 noundef) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Matrix3_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaC2EdRK9Vector3_tRK9Matrix3_t(ptr noundef nonnull align 8 dereferenceable(80), double noundef, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(72)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.153") align 8, i64 noundef) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 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) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaplERKS1_(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8, ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 8 dereferenceable(80)) #4 align 2

; 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) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERKNS0_23SpatialRigidBodyInertiaE(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(80)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSEOS1_(ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 8 dereferenceable(80)) #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_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)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEdvIdEEKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_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.158") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen13CwiseBinaryOpINS1_8internal18scalar_quotient_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSEOS_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math6XtransERK9Vector3_t(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8, ptr noundef nonnull align 8 dereferenceable(24)) #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_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)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Vector3_t3setERKdS1_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)) #4 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { "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 = { 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 #5 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { noreturn nounwind }
attributes #8 = { 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 = !{!"bool", !7, i64 0}
!11 = !{i8 0, i8 2}
!12 = !{}
!13 = !{!14, !14, i64 0}
!14 = !{!"long", !7, i64 0}
!15 = distinct !{!15, !16}
!16 = !{!"llvm.loop.mustprogress"}
!17 = distinct !{!17, !16}
!18 = !{!19, !19, i64 0}
!19 = !{!"double", !7, i64 0}
!20 = !{!21, !21, i64 0}
!21 = !{!"int", !7, i64 0}
!22 = distinct !{!22, !16}
!23 = distinct !{!23, !16}
!24 = !{!25, !19, i64 0}
!25 = !{!"_ZTSN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaE", !19, i64 0, !26, i64 8, !19, i64 32, !19, i64 40, !19, i64 48, !19, i64 56, !19, i64 64, !19, i64 72}
!26 = !{!"_ZTS9Vector3_t", !27, i64 0}
!27 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !28, i64 0}
!28 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !29, i64 0}
!29 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !30, i64 0}
!30 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}


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

%"class.Eigen::Product" = type { ptr, ptr }
%class.SpatialMatrix_t = type { %"class.Eigen::Matrix.134" }
%"class.Eigen::Matrix.134" = type { %"class.Eigen::PlainObjectBase.135" }
%"class.Eigen::PlainObjectBase.135" = type { %"class.Eigen::DenseStorage.142" }
%"class.Eigen::DenseStorage.142" = type { %"struct.Eigen::internal::plain_array.143" }
%"struct.Eigen::internal::plain_array.143" = type { [36 x double] }
%"class.Eigen::CwiseBinaryOp" = type <{ ptr, ptr, [8 x i8] }>
%class.SpatialVector_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 { [6 x double] }
%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia" = type { double, %class.Vector3_t, double, double, double, double, double, double }
%class.Vector3_t = type { %"class.Eigen::Matrix.16" }
%"class.Eigen::Matrix.16" = type { %"class.Eigen::PlainObjectBase.17" }
%"class.Eigen::PlainObjectBase.17" = type { %"class.Eigen::DenseStorage.24" }
%"class.Eigen::DenseStorage.24" = type { %"struct.Eigen::internal::plain_array.25" }
%"struct.Eigen::internal::plain_array.25" = type { [3 x double] }
%class.Matrix3_t = type { %"class.Eigen::Matrix.108" }
%"class.Eigen::Matrix.108" = type { %"class.Eigen::PlainObjectBase.109" }
%"class.Eigen::PlainObjectBase.109" = type { %"class.Eigen::DenseStorage.116" }
%"class.Eigen::DenseStorage.116" = type { %"struct.Eigen::internal::plain_array.117" }
%"struct.Eigen::internal::plain_array.117" = type { [9 x double] }
%"class.Eigen::CwiseNullaryOp.148" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::CwiseNullaryOp.153" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::CwiseBinaryOp.158" = type <{ ptr, %"class.Eigen::CwiseNullaryOp.164", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.164" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }

@.str.25 = external hidden unnamed_addr constant [84 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [111 x i8], align 1
@__PRETTY_FUNCTION__._ZN17RigidBodyDynamics5Utils16CalcCenterOfMassERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES7_PS6_RdR9Vector3_tPSA_SC_SC_SC_b = external hidden unnamed_addr constant [235 x i8], align 1

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

declare void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #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: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics5Utils16CalcCenterOfMassERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES7_PS6_RdR9Vector3_tPSA_SC_SC_SC_b(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 %3, ptr noundef nonnull align 8 dereferenceable(8) %4, ptr noundef nonnull align 8 dereferenceable(24) %5, ptr noundef %6, ptr noundef %7, ptr noundef %8, ptr noundef %9, i1 noundef zeroext %10) local_unnamed_addr #4 {
  %12 = alloca %"class.Eigen::Product", align 8
  %13 = alloca %class.SpatialMatrix_t, align 16
  %14 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %15 = alloca %class.SpatialVector_t, align 16
  %16 = alloca %class.SpatialVector_t, align 16
  %17 = alloca %class.SpatialVector_t, align 16
  %18 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %19 = alloca %class.SpatialVector_t, align 16
  %20 = alloca %class.SpatialVector_t, align 16
  %21 = alloca %class.SpatialVector_t, align 16
  %22 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %23 = alloca %class.Vector3_t, align 8
  %24 = alloca double, align 8
  %25 = alloca double, align 8
  %26 = alloca double, align 8
  %27 = alloca %class.Matrix3_t, align 8
  %28 = alloca %"class.Eigen::CwiseNullaryOp.148", align 8
  %29 = alloca %class.SpatialVector_t, align 16
  %30 = alloca %"class.Eigen::CwiseNullaryOp.153", align 8
  %31 = alloca %class.SpatialVector_t, align 16
  %32 = alloca %"class.Eigen::CwiseNullaryOp.153", align 8
  %33 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %34 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %35 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %36 = alloca %class.SpatialVector_t, align 16
  %37 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %38 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %39 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %40 = alloca %class.SpatialVector_t, align 16
  %41 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %42 = alloca %class.SpatialVector_t, align 16
  %43 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %44 = alloca %class.SpatialVector_t, align 16
  %45 = alloca %"class.Eigen::CwiseBinaryOp.158", align 8
  %46 = alloca %class.Vector3_t, align 8
  %47 = alloca double, align 8
  %48 = alloca double, align 8
  %49 = alloca double, align 8
  %50 = alloca %class.SpatialVector_t, align 16
  %51 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %52 = alloca %class.Vector3_t, align 8
  %53 = alloca double, align 8
  %54 = alloca double, align 8
  %55 = alloca double, align 8
  %56 = alloca %class.SpatialVector_t, align 16
  %57 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %58 = icmp eq ptr %7, null
  %59 = icmp eq ptr %9, null
  %or.cond = and i1 %58, %59
  %60 = icmp ne ptr %3, null
  %or.cond7 = or i1 %60, %or.cond
  br i1 %or.cond7, label %.critedge, label %61

61:                                               ; preds = %11
  tail call void @__assert_fail(ptr noundef nonnull @.str.25, ptr noundef nonnull @.str.26, i32 noundef 168, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics5Utils16CalcCenterOfMassERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES7_PS6_RdR9Vector3_tPSA_SC_SC_SC_b) #7
  unreachable

.critedge:                                        ; preds = %11
  br i1 %10, label %62, label %63

62:                                               ; preds = %.critedge
  tail call void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull %1, ptr noundef nonnull %2, ptr noundef %3)
  br label %63

63:                                               ; preds = %62, %.critedge
  %64 = getelementptr inbounds i8, ptr %0, i64 800
  %65 = tail call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %64) #8
  %66 = icmp ugt i64 %65, 1
  br i1 %66, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %63
  %67 = getelementptr inbounds i8, ptr %0, i64 624
  %68 = getelementptr inbounds i8, ptr %0, i64 648
  %69 = getelementptr inbounds i8, ptr %0, i64 112
  %70 = getelementptr inbounds i8, ptr %12, i64 8
  %71 = getelementptr inbounds i8, ptr %0, i64 672
  %72 = getelementptr inbounds i8, ptr %0, i64 136
  %73 = getelementptr inbounds i8, ptr %0, i64 696
  br label %74

._crit_edge:                                      ; preds = %74, %63
  br i1 %60, label %95, label %.loopexit143

74:                                               ; preds = %.lr.ph, %74
  %.0144 = phi i64 [ 1, %.lr.ph ], [ %92, %74 ]
  %75 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %67, i64 noundef %.0144) #8
  %76 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %68, i64 noundef %.0144) #8
  %77 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSERKS1_(ptr noundef nonnull align 8 dereferenceable(80) %76, ptr noundef nonnull align 8 dereferenceable(80) %75)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #8
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %13) #8
  %78 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %68, i64 noundef %.0144) #8
  call void @_ZNK17RigidBodyDynamics4Math23SpatialRigidBodyInertia8toMatrixEv(ptr dead_on_unwind nonnull writable sret(%class.SpatialMatrix_t) align 16 %13, ptr noundef nonnull align 8 dereferenceable(80) %78)
  %79 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %69, i64 noundef %.0144) #8
  %80 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %13, ptr noundef nonnull align 1 dereferenceable(1) %79)
  %81 = extractvalue { ptr, ptr } %80, 0
  store ptr %81, ptr %12, align 8
  %82 = extractvalue { ptr, ptr } %80, 1
  store ptr %82, ptr %70, align 8
  %83 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %71, i64 noundef %.0144) #8
  %84 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen7ProductINS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %83, ptr noundef nonnull align 1 dereferenceable(1) %12)
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %13) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %14) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %15) #8
  %85 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %68, i64 noundef %.0144) #8
  %86 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %72, i64 noundef %.0144) #8
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %15, ptr noundef nonnull align 8 dereferenceable(80) %85, ptr noundef nonnull align 16 dereferenceable(48) %86)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %16) #8
  %87 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %69, i64 noundef %.0144) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %17) #8
  %88 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %68, i64 noundef %.0144) #8
  %89 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %69, i64 noundef %.0144) #8
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %17, ptr noundef nonnull align 8 dereferenceable(80) %88, ptr noundef nonnull align 16 dereferenceable(48) %89)
  call void @_ZN17RigidBodyDynamics4Math6crossfERK15SpatialVector_tS3_(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %16, ptr noundef nonnull align 16 dereferenceable(48) %87, ptr noundef nonnull align 16 dereferenceable(48) %17)
  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 %14, ptr noundef nonnull align 1 dereferenceable(1) %15, ptr noundef nonnull align 1 dereferenceable(1) %16)
  %90 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %73, i64 noundef %.0144) #8
  %91 = 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) %90, ptr noundef nonnull align 1 dereferenceable(1) %14)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %17) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %16) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %15) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %14) #8
  %92 = add nuw i64 %.0144, 1
  %93 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %64) #8
  %94 = icmp ult i64 %92, %93
  br i1 %94, label %74, label %._crit_edge, !llvm.loop !5

95:                                               ; preds = %._crit_edge
  %96 = icmp ne ptr %7, null
  %97 = icmp ne ptr %9, null
  %or.cond3 = or i1 %96, %97
  br i1 %or.cond3, label %.preheader, label %.loopexit143

.preheader:                                       ; preds = %95
  %98 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %64) #8
  %99 = icmp ugt i64 %98, 1
  br i1 %99, label %.lr.ph146, label %.loopexit143

.lr.ph146:                                        ; preds = %.preheader
  %100 = getelementptr inbounds i8, ptr %0, i64 648
  %101 = getelementptr inbounds i8, ptr %0, i64 136
  %102 = getelementptr inbounds i8, ptr %0, i64 112
  %103 = getelementptr inbounds i8, ptr %0, i64 696
  br label %104

104:                                              ; preds = %.lr.ph146, %104
  %.0128145 = phi i64 [ 1, %.lr.ph146 ], [ %112, %104 ]
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %18) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %19) #8
  %105 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %100, i64 noundef %.0128145) #8
  %106 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %101, i64 noundef %.0128145) #8
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %19, ptr noundef nonnull align 8 dereferenceable(80) %105, ptr noundef nonnull align 16 dereferenceable(48) %106)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %20) #8
  %107 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %102, i64 noundef %.0128145) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %21) #8
  %108 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %100, i64 noundef %.0128145) #8
  %109 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %102, i64 noundef %.0128145) #8
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %21, ptr noundef nonnull align 8 dereferenceable(80) %108, ptr noundef nonnull align 16 dereferenceable(48) %109)
  call void @_ZN17RigidBodyDynamics4Math6crossfERK15SpatialVector_tS3_(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %20, ptr noundef nonnull align 16 dereferenceable(48) %107, ptr noundef nonnull align 16 dereferenceable(48) %21)
  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 %18, ptr noundef nonnull align 1 dereferenceable(1) %19, ptr noundef nonnull align 1 dereferenceable(1) %20)
  %110 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %103, i64 noundef %.0128145) #8
  %111 = 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) %110, ptr noundef nonnull align 1 dereferenceable(1) %18)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %21) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %20) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %19) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %18) #8
  %112 = add nuw i64 %.0128145, 1
  %113 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %64) #8
  %114 = icmp ult i64 %112, %113
  br i1 %114, label %104, label %.loopexit143, !llvm.loop !7

.loopexit143:                                     ; preds = %104, %.preheader, %95, %._crit_edge
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %22) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %23) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %24) #8
  store double 0.000000e+00, ptr %24, align 8, !tbaa !8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %25) #8
  store double 0.000000e+00, ptr %25, align 8, !tbaa !8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %26) #8
  store double 0.000000e+00, ptr %26, align 8, !tbaa !8
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %23, ptr noundef nonnull align 8 dereferenceable(8) %24, ptr noundef nonnull align 8 dereferenceable(8) %25, ptr noundef nonnull align 8 dereferenceable(8) %26)
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %27) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %28) #8
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE4ZeroEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.148") align 8 %28, i64 noundef 3, i64 noundef 3)
  call void @_ZN9Matrix3_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72) %27, ptr noundef nonnull align 1 dereferenceable(1) %28)
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaC2EdRK9Vector3_tRK9Matrix3_t(ptr noundef nonnull align 8 dereferenceable(80) %22, double noundef 0.000000e+00, ptr noundef nonnull align 8 dereferenceable(24) %23, ptr noundef nonnull align 8 dereferenceable(72) %27)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %28) #8
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %27) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %24) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %23) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %29) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %30) #8
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.153") align 8 %30, i64 noundef 6)
  call void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %29, ptr noundef nonnull align 1 dereferenceable(1) %30)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %30) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %31) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %32) #8
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.153") align 8 %32, i64 noundef 6)
  call void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %31, ptr noundef nonnull align 1 dereferenceable(1) %32)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %32) #8
  %115 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %64) #8
  %.0129147 = add i64 %115, -1
  %.not148 = icmp eq i64 %.0129147, 0
  br i1 %.not148, label %._crit_edge152, label %.lr.ph151

.lr.ph151:                                        ; preds = %.loopexit143
  %116 = getelementptr inbounds i8, ptr %0, i64 648
  %117 = getelementptr inbounds i8, ptr %0, i64 720
  %118 = getelementptr inbounds i8, ptr %0, i64 672
  br label %119

._crit_edge152:                                   ; preds = %141, %.loopexit143
  br i1 %60, label %142, label %.loopexit

119:                                              ; preds = %.lr.ph151, %141
  %.0129149 = phi i64 [ %.0129147, %.lr.ph151 ], [ %.0129, %141 ]
  %120 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %.0129149) #8
  %121 = load i32, ptr %120, align 4, !tbaa !12
  %.not142 = icmp eq i32 %121, 0
  br i1 %.not142, label %134, label %122

122:                                              ; preds = %119
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %33) #8
  %123 = zext i32 %121 to i64
  %124 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %116, i64 noundef %123) #8
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %34) #8
  %125 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %117, i64 noundef %.0129149) #8
  %126 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %116, i64 noundef %.0129149) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERKNS0_23SpatialRigidBodyInertiaE(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8 %34, ptr noundef nonnull align 8 dereferenceable(96) %125, ptr noundef nonnull align 8 dereferenceable(80) %126)
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaplERKS1_(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8 %33, ptr noundef nonnull align 8 dereferenceable(80) %124, ptr noundef nonnull align 8 dereferenceable(80) %34)
  %127 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %116, i64 noundef %123) #8
  %128 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSEOS1_(ptr noundef nonnull align 8 dereferenceable(80) %127, ptr noundef nonnull align 8 dereferenceable(80) %33) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %34) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %33) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %35) #8
  %129 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %118, i64 noundef %123) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %36) #8
  %130 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %117, i64 noundef %.0129149) #8
  %131 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %118, i64 noundef %.0129149) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %36, ptr noundef nonnull align 8 dereferenceable(96) %130, ptr noundef nonnull align 16 dereferenceable(48) %131)
  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 %35, ptr noundef nonnull align 1 dereferenceable(1) %129, ptr noundef nonnull align 1 dereferenceable(1) %36)
  %132 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %118, i64 noundef %123) #8
  %133 = 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) %132, ptr noundef nonnull align 1 dereferenceable(1) %35)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %36) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %35) #8
  br label %141

134:                                              ; preds = %119
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %37) #8
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %38) #8
  %135 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %117, i64 noundef %.0129149) #8
  %136 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %116, i64 noundef %.0129149) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERKNS0_23SpatialRigidBodyInertiaE(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8 %38, ptr noundef nonnull align 8 dereferenceable(96) %135, ptr noundef nonnull align 8 dereferenceable(80) %136)
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaplERKS1_(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8 %37, ptr noundef nonnull align 8 dereferenceable(80) %22, ptr noundef nonnull align 8 dereferenceable(80) %38)
  %137 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSEOS1_(ptr noundef nonnull align 8 dereferenceable(80) %22, ptr noundef nonnull align 8 dereferenceable(80) %37) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %38) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %37) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %39) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %40) #8
  %138 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %117, i64 noundef %.0129149) #8
  %139 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %118, i64 noundef %.0129149) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %40, ptr noundef nonnull align 8 dereferenceable(96) %138, ptr noundef nonnull align 16 dereferenceable(48) %139)
  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 %39, ptr noundef nonnull align 1 dereferenceable(1) %29, ptr noundef nonnull align 1 dereferenceable(1) %40)
  %140 = 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) %29, ptr noundef nonnull align 1 dereferenceable(1) %39)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %40) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %39) #8
  br label %141

141:                                              ; preds = %134, %122
  %.0129 = add i64 %.0129149, -1
  %.not = icmp eq i64 %.0129, 0
  br i1 %.not, label %._crit_edge152, label %119, !llvm.loop !14

142:                                              ; preds = %._crit_edge152
  %143 = icmp ne ptr %7, null
  %144 = icmp ne ptr %9, null
  %or.cond5 = or i1 %143, %144
  br i1 %or.cond5, label %145, label %.loopexit

145:                                              ; preds = %142
  %146 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %64) #8
  %.0127153 = add i64 %146, -1
  %.not136154 = icmp eq i64 %.0127153, 0
  br i1 %.not136154, label %.loopexit, label %.lr.ph157

.lr.ph157:                                        ; preds = %145
  %147 = getelementptr inbounds i8, ptr %0, i64 696
  %148 = getelementptr inbounds i8, ptr %0, i64 720
  br label %149

149:                                              ; preds = %.lr.ph157, %163
  %.0127155 = phi i64 [ %.0127153, %.lr.ph157 ], [ %.0127, %163 ]
  %150 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %.0127155) #8
  %151 = load i32, ptr %150, align 4, !tbaa !12
  %.not141 = icmp eq i32 %151, 0
  br i1 %.not141, label %159, label %152

152:                                              ; preds = %149
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %41) #8
  %153 = zext i32 %151 to i64
  %154 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %147, i64 noundef %153) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %42) #8
  %155 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %148, i64 noundef %.0127155) #8
  %156 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %147, i64 noundef %.0127155) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %42, ptr noundef nonnull align 8 dereferenceable(96) %155, ptr noundef nonnull align 16 dereferenceable(48) %156)
  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 %41, ptr noundef nonnull align 1 dereferenceable(1) %154, ptr noundef nonnull align 1 dereferenceable(1) %42)
  %157 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %147, i64 noundef %153) #8
  %158 = 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) %157, ptr noundef nonnull align 1 dereferenceable(1) %41)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %42) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %41) #8
  br label %163

159:                                              ; preds = %149
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %43) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %44) #8
  %160 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %148, i64 noundef %.0127155) #8
  %161 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %147, i64 noundef %.0127155) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %44, ptr noundef nonnull align 8 dereferenceable(96) %160, ptr noundef nonnull align 16 dereferenceable(48) %161)
  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 %43, ptr noundef nonnull align 1 dereferenceable(1) %31, ptr noundef nonnull align 1 dereferenceable(1) %44)
  %162 = 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) %31, ptr noundef nonnull align 1 dereferenceable(1) %43)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %44) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %43) #8
  br label %163

163:                                              ; preds = %159, %152
  %.0127 = add i64 %.0127155, -1
  %.not136 = icmp eq i64 %.0127, 0
  br i1 %.not136, label %.loopexit, label %149, !llvm.loop !15

.loopexit:                                        ; preds = %163, %145, %142, %._crit_edge152
  %164 = load double, ptr %22, align 8, !tbaa !16
  store double %164, ptr %4, align 8, !tbaa !8
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %45) #8
  %165 = getelementptr inbounds i8, ptr %22, i64 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEdvIdEEKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_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.158") align 8 %45, ptr noundef nonnull align 1 dereferenceable(1) %165, ptr noundef nonnull align 8 dereferenceable(8) %4)
  %166 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen13CwiseBinaryOpINS1_8internal18scalar_quotient_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %5, ptr noundef nonnull align 1 dereferenceable(1) %45)
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %45) #8
  %.not137 = icmp eq ptr %6, null
  br i1 %.not137, label %181, label %167

167:                                              ; preds = %.loopexit
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %46) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %47) #8
  %168 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %29, i64 noundef 3)
  %169 = load double, ptr %168, align 8, !tbaa !8
  %170 = load double, ptr %4, align 8, !tbaa !8
  %171 = fdiv double %169, %170
  store double %171, ptr %47, align 8, !tbaa !8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %48) #8
  %172 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %29, i64 noundef 4)
  %173 = load double, ptr %172, align 8, !tbaa !8
  %174 = load double, ptr %4, align 8, !tbaa !8
  %175 = fdiv double %173, %174
  store double %175, ptr %48, align 8, !tbaa !8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %49) #8
  %176 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %29, i64 noundef 5)
  %177 = load double, ptr %176, align 8, !tbaa !8
  %178 = load double, ptr %4, align 8, !tbaa !8
  %179 = fdiv double %177, %178
  store double %179, ptr %49, align 8, !tbaa !8
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %46, ptr noundef nonnull align 8 dereferenceable(8) %47, ptr noundef nonnull align 8 dereferenceable(8) %48, ptr noundef nonnull align 8 dereferenceable(8) %49)
  %180 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSEOS_(ptr noundef nonnull align 8 dereferenceable(24) %6, ptr noundef nonnull align 8 dereferenceable(24) %46) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %49) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %48) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %47) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %46) #8
  br label %181

181:                                              ; preds = %167, %.loopexit
  %.not138 = icmp eq ptr %8, null
  br i1 %.not138, label %187, label %182

182:                                              ; preds = %181
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %50) #8
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %51) #8
  call void @_ZN17RigidBodyDynamics4Math6XtransERK9Vector3_t(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %51, ptr noundef nonnull align 8 dereferenceable(24) %5)
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %50, ptr noundef nonnull align 8 dereferenceable(96) %51, ptr noundef nonnull align 16 dereferenceable(48) %29)
  %183 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48) %29, ptr noundef nonnull align 16 dereferenceable(48) %50) #8
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %51) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %50) #8
  %184 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %29, i64 noundef 0)
  %185 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %29, i64 noundef 1)
  %186 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %29, i64 noundef 2)
  call void @_ZN9Vector3_t3setERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %8, ptr noundef nonnull align 8 dereferenceable(8) %184, ptr noundef nonnull align 8 dereferenceable(8) %185, ptr noundef nonnull align 8 dereferenceable(8) %186)
  br label %187

187:                                              ; preds = %182, %181
  br i1 %58, label %202, label %188

188:                                              ; preds = %187
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %52) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %53) #8
  %189 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %31, i64 noundef 3)
  %190 = load double, ptr %189, align 8, !tbaa !8
  %191 = load double, ptr %4, align 8, !tbaa !8
  %192 = fdiv double %190, %191
  store double %192, ptr %53, align 8, !tbaa !8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %54) #8
  %193 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %31, i64 noundef 4)
  %194 = load double, ptr %193, align 8, !tbaa !8
  %195 = load double, ptr %4, align 8, !tbaa !8
  %196 = fdiv double %194, %195
  store double %196, ptr %54, align 8, !tbaa !8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %55) #8
  %197 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %31, i64 noundef 5)
  %198 = load double, ptr %197, align 8, !tbaa !8
  %199 = load double, ptr %4, align 8, !tbaa !8
  %200 = fdiv double %198, %199
  store double %200, ptr %55, align 8, !tbaa !8
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %52, ptr noundef nonnull align 8 dereferenceable(8) %53, ptr noundef nonnull align 8 dereferenceable(8) %54, ptr noundef nonnull align 8 dereferenceable(8) %55)
  %201 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSEOS_(ptr noundef nonnull align 8 dereferenceable(24) %7, ptr noundef nonnull align 8 dereferenceable(24) %52) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %55) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %54) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %53) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %52) #8
  br label %202

202:                                              ; preds = %188, %187
  br i1 %59, label %208, label %203

203:                                              ; preds = %202
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %56) #8
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %57) #8
  call void @_ZN17RigidBodyDynamics4Math6XtransERK9Vector3_t(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %57, ptr noundef nonnull align 8 dereferenceable(24) %5)
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %56, ptr noundef nonnull align 8 dereferenceable(96) %57, ptr noundef nonnull align 16 dereferenceable(48) %31)
  %204 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48) %31, ptr noundef nonnull align 16 dereferenceable(48) %56) #8
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %57) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %56) #8
  %205 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %31, i64 noundef 0)
  %206 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %31, i64 noundef 1)
  %207 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %31, i64 noundef 2)
  call void @_ZN9Vector3_t3setERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(8) %205, ptr noundef nonnull align 8 dereferenceable(8) %206, ptr noundef nonnull align 8 dereferenceable(8) %207)
  br label %208

208:                                              ; preds = %203, %202
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %31) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %29) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %22) #8
  ret void
}

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSERKS1_(ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 8 dereferenceable(80)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math23SpatialRigidBodyInertia8toMatrixEv(ptr dead_on_unwind noalias writable sret(%class.SpatialMatrix_t) align 16, ptr noundef nonnull align 8 dereferenceable(80)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_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 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 #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen7ProductINS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #4 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: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math6crossfERK15SpatialVector_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: 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 #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE4ZeroEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.148") align 8, i64 noundef, i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Matrix3_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaC2EdRK9Vector3_tRK9Matrix3_t(ptr noundef nonnull align 8 dereferenceable(80), double noundef, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(72)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.153") align 8, i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 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 #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaplERKS1_(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8, ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 8 dereferenceable(80)) local_unnamed_addr #4 align 2

; 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 #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERKNS0_23SpatialRigidBodyInertiaE(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(80)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSEOS1_(ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 8 dereferenceable(80)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_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 #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEdvIdEEKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_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.158") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen13CwiseBinaryOpINS1_8internal18scalar_quotient_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSEOS_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math6XtransERK9Vector3_t(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8, ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_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 #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Vector3_t3setERKdS1_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)) local_unnamed_addr #4 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { "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 = { 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 #5 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { noreturn nounwind }
attributes #8 = { 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 = distinct !{!5, !6}
!6 = !{!"llvm.loop.mustprogress"}
!7 = distinct !{!7, !6}
!8 = !{!9, !9, i64 0}
!9 = !{!"double", !10, i64 0}
!10 = !{!"omnipotent char", !11, i64 0}
!11 = !{!"Simple C++ TBAA"}
!12 = !{!13, !13, i64 0}
!13 = !{!"int", !10, i64 0}
!14 = distinct !{!14, !6}
!15 = distinct !{!15, !6}
!16 = !{!17, !9, i64 0}
!17 = !{!"_ZTSN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaE", !9, i64 0, !18, i64 8, !9, i64 32, !9, i64 40, !9, i64 48, !9, i64 56, !9, i64 64, !9, i64 72}
!18 = !{!"_ZTS9Vector3_t", !19, i64 0}
!19 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !20, i64 0}
!20 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !10, i64 0}


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