; LLVM IR from erwincoumans/tiny-differentiable-simulator :: third_party/rbdl/addons/urdfreader/urdf/urdfdom/urdf_parser/src (link)

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

%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator" = type { i8 }
%"class.urdf::Geometry" = type <{ ptr, i32, [4 x i8] }>
%"class.urdf::Mesh" = type { %"class.urdf::Geometry.base", %"class.std::__cxx11::basic_string", %"class.urdf::Vector3" }
%"class.urdf::Geometry.base" = type <{ ptr, i32 }>
%"class.urdf::Vector3" = type { double, double, double }

@.str.2 = external hidden unnamed_addr constant [1 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [9 x i8], align 1
@_ZTIN4urdf10ParseErrorE = external dso_local constant { ptr, ptr, ptr }, align 8
@.str.18 = external hidden unnamed_addr constant [39 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [54 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

declare noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144), ptr noundef) #1

declare void @_Z8logErrorPKcS0_S0_S0_(ptr noundef, ptr noundef, ptr noundef, ptr noundef) #1

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEPKc(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) #2 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #3 align 2

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

; Function Attrs: nounwind memory(none)
declare i32 @llvm.eh.typeid.for.p0(ptr) #4

declare ptr @__cxa_begin_catch(ptr)

declare void @__cxa_end_catch()

; Function Attrs: noinline noreturn nounwind uwtable
declare hidden void @__clang_call_terminate(ptr noundef) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf7Vector34initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(32)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf7Vector35clearEv(ptr noundef nonnull align 8 dereferenceable(24)) #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf9parseMeshERNS_4MeshEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(72) %0, ptr noundef %1) #2 personality ptr @__gxx_personality_v0 {
  %3 = alloca i1, align 1
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca %"class.std::__cxx11::basic_string", align 8
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  %9 = alloca %"class.std::allocator", align 1
  %10 = alloca ptr, align 8
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  %11 = load ptr, ptr %4, align 8, !tbaa !5
  call void @_ZN4urdf4Mesh5clearEv(ptr noundef nonnull align 8 dereferenceable(72) %11)
  %12 = load ptr, ptr %4, align 8, !tbaa !5
  %13 = getelementptr inbounds %"class.urdf::Geometry", ptr %12, i32 0, i32 1
  store i32 3, ptr %13, align 8, !tbaa !9
  %14 = load ptr, ptr %5, align 8, !tbaa !5
  %15 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %14, ptr noundef @.str.4)
  %16 = icmp ne ptr %15, null
  br i1 %16, label %18, label %17

17:                                               ; preds = %2
  call void @_Z8logErrorPKcS0_S0_S0_(ptr noundef @.str.18, ptr noundef @.str.2, ptr noundef @.str.2, ptr noundef @.str.2)
  store i1 false, ptr %3, align 1
  br label %82

18:                                               ; preds = %2
  %19 = load ptr, ptr %5, align 8, !tbaa !5
  %20 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %19, ptr noundef @.str.4)
  %21 = load ptr, ptr %4, align 8, !tbaa !5
  %22 = getelementptr inbounds %"class.urdf::Mesh", ptr %21, i32 0, i32 1
  %23 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEPKc(ptr noundef nonnull align 8 dereferenceable(32) %22, ptr noundef %20)
  %24 = load ptr, ptr %5, align 8, !tbaa !5
  %25 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %24, ptr noundef @.str.19)
  %26 = icmp ne ptr %25, null
  br i1 %26, label %27, label %71

27:                                               ; preds = %18
  %28 = load ptr, ptr %4, align 8, !tbaa !5
  %29 = getelementptr inbounds %"class.urdf::Mesh", ptr %28, i32 0, i32 2
  call void @llvm.lifetime.start.p0(i64 32, ptr %6) #6
  %30 = load ptr, ptr %5, align 8, !tbaa !5
  %31 = invoke noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %30, ptr noundef @.str.19)
          to label %32 unwind label %35

32:                                               ; preds = %27
  call void @llvm.lifetime.start.p0(i64 1, ptr %9) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %6, ptr noundef %31, ptr noundef nonnull align 1 dereferenceable(1) %9)
          to label %33 unwind label %39

33:                                               ; preds = %32
  invoke void @_ZN4urdf7Vector34initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(24) %29, ptr noundef nonnull align 8 dereferenceable(32) %6)
          to label %34 unwind label %43

34:                                               ; preds = %33
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %9) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %6) #6
  br label %70

35:                                               ; preds = %27
  %36 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %37 = extractvalue { ptr, i32 } %36, 0
  store ptr %37, ptr %7, align 8
  %38 = extractvalue { ptr, i32 } %36, 1
  store i32 %38, ptr %8, align 4
  br label %48

39:                                               ; preds = %32
  %40 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %41 = extractvalue { ptr, i32 } %40, 0
  store ptr %41, ptr %7, align 8
  %42 = extractvalue { ptr, i32 } %40, 1
  store i32 %42, ptr %8, align 4
  br label %47

43:                                               ; preds = %33
  %44 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %45 = extractvalue { ptr, i32 } %44, 0
  store ptr %45, ptr %7, align 8
  %46 = extractvalue { ptr, i32 } %44, 1
  store i32 %46, ptr %8, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #6
  br label %47

47:                                               ; preds = %43, %39
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %9) #6
  br label %48

48:                                               ; preds = %47, %35
  call void @llvm.lifetime.end.p0(i64 32, ptr %6) #6
  br label %49

49:                                               ; preds = %48
  %50 = load i32, ptr %8, align 4
  %51 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN4urdf10ParseErrorE) #6
  %52 = icmp eq i32 %50, %51
  br i1 %52, label %53, label %84

53:                                               ; preds = %49
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #6
  %54 = load ptr, ptr %7, align 8
  %55 = call ptr @__cxa_begin_catch(ptr %54) #6
  store ptr %55, ptr %10, align 8
  %56 = load ptr, ptr %4, align 8, !tbaa !5
  %57 = getelementptr inbounds %"class.urdf::Mesh", ptr %56, i32 0, i32 2
  invoke void @_ZN4urdf7Vector35clearEv(ptr noundef nonnull align 8 dereferenceable(24) %57)
          to label %58 unwind label %65

58:                                               ; preds = %53
  %59 = load ptr, ptr %10, align 8, !tbaa !5
  %60 = load ptr, ptr %59, align 8, !tbaa !12
  %61 = getelementptr inbounds ptr, ptr %60, i64 2
  %62 = load ptr, ptr %61, align 8
  %63 = call noundef ptr %62(ptr noundef nonnull align 8 dereferenceable(16) %59) #6
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef @.str.20, ptr noundef %63, ptr noundef @.str.2, ptr noundef @.str.2)
          to label %64 unwind label %65

64:                                               ; preds = %58
  store i1 false, ptr %3, align 1
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #6
  br label %82

65:                                               ; preds = %58, %53
  %66 = landingpad { ptr, i32 }
          cleanup
  %67 = extractvalue { ptr, i32 } %66, 0
  store ptr %67, ptr %7, align 8
  %68 = extractvalue { ptr, i32 } %66, 1
  store i32 %68, ptr %8, align 4
  invoke void @__cxa_end_catch()
          to label %69 unwind label %89

69:                                               ; preds = %65
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #6
  br label %84

70:                                               ; preds = %34
  br label %81

71:                                               ; preds = %18
  %72 = load ptr, ptr %4, align 8, !tbaa !5
  %73 = getelementptr inbounds %"class.urdf::Mesh", ptr %72, i32 0, i32 2
  %74 = getelementptr inbounds %"class.urdf::Vector3", ptr %73, i32 0, i32 2
  store double 1.000000e+00, ptr %74, align 8, !tbaa !14
  %75 = load ptr, ptr %4, align 8, !tbaa !5
  %76 = getelementptr inbounds %"class.urdf::Mesh", ptr %75, i32 0, i32 2
  %77 = getelementptr inbounds %"class.urdf::Vector3", ptr %76, i32 0, i32 1
  store double 1.000000e+00, ptr %77, align 8, !tbaa !21
  %78 = load ptr, ptr %4, align 8, !tbaa !5
  %79 = getelementptr inbounds %"class.urdf::Mesh", ptr %78, i32 0, i32 2
  %80 = getelementptr inbounds %"class.urdf::Vector3", ptr %79, i32 0, i32 0
  store double 1.000000e+00, ptr %80, align 8, !tbaa !22
  br label %81

81:                                               ; preds = %71, %70
  store i1 true, ptr %3, align 1
  br label %82

82:                                               ; preds = %81, %64, %17
  %83 = load i1, ptr %3, align 1
  ret i1 %83

84:                                               ; preds = %69, %49
  %85 = load ptr, ptr %7, align 8
  %86 = load i32, ptr %8, align 4
  %87 = insertvalue { ptr, i32 } poison, ptr %85, 0
  %88 = insertvalue { ptr, i32 } %87, i32 %86, 1
  resume { ptr, i32 } %88

89:                                               ; preds = %65
  %90 = landingpad { ptr, i32 }
          catch ptr null
  %91 = extractvalue { ptr, i32 } %90, 0
  call void @__clang_call_terminate(ptr %91) #7
  unreachable
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf4Mesh5clearEv(ptr noundef nonnull align 8 dereferenceable(72)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { nounwind memory(none) }
attributes #5 = { noinline noreturn nounwind uwtable "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nounwind }
attributes #7 = { noreturn 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, !11, i64 8}
!10 = !{!"_ZTSN4urdf8GeometryE", !11, i64 8}
!11 = !{!"_ZTSN4urdf8GeometryUt_E", !7, i64 0}
!12 = !{!13, !13, i64 0}
!13 = !{!"vtable pointer", !8, i64 0}
!14 = !{!15, !20, i64 64}
!15 = !{!"_ZTSN4urdf4MeshE", !10, i64 0, !16, i64 16, !19, i64 48}
!16 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !17, i64 0, !18, i64 8, !7, i64 16}
!17 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !6, i64 0}
!18 = !{!"long", !7, i64 0}
!19 = !{!"_ZTSN4urdf7Vector3E", !20, i64 0, !20, i64 8, !20, i64 16}
!20 = !{!"double", !7, i64 0}
!21 = !{!15, !20, i64 56}
!22 = !{!15, !20, i64 48}


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

%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator" = type { i8 }

@.str.2 = external hidden unnamed_addr constant [1 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [9 x i8], align 1
@_ZTIN4urdf10ParseErrorE = external dso_local constant { ptr, ptr, ptr }, align 8
@.str.18 = external hidden unnamed_addr constant [39 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [54 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

declare noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144), ptr noundef) local_unnamed_addr #1

declare void @_Z8logErrorPKcS0_S0_S0_(ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEPKc(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) local_unnamed_addr #2 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #3 align 2

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

; Function Attrs: nofree nosync nounwind memory(none)
declare i32 @llvm.eh.typeid.for.p0(ptr) #4

declare ptr @__cxa_begin_catch(ptr) local_unnamed_addr

declare void @__cxa_end_catch() local_unnamed_addr

; Function Attrs: noinline noreturn nounwind uwtable
declare hidden void @__clang_call_terminate(ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf7Vector34initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf7Vector35clearEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf9parseMeshERNS_4MeshEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(72) %0, ptr noundef %1) local_unnamed_addr #2 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.std::__cxx11::basic_string", align 8
  %4 = alloca %"class.std::allocator", align 1
  tail call void @_ZN4urdf4Mesh5clearEv(ptr noundef nonnull align 8 dereferenceable(72) %0)
  %5 = getelementptr inbounds i8, ptr %0, i64 8
  store i32 3, ptr %5, align 8, !tbaa !5
  %6 = tail call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %1, ptr noundef nonnull @.str.4)
  %.not = icmp eq ptr %6, null
  br i1 %.not, label %7, label %8

7:                                                ; preds = %2
  tail call void @_Z8logErrorPKcS0_S0_S0_(ptr noundef nonnull @.str.18, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2)
  br label %40

8:                                                ; preds = %2
  %9 = tail call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %1, ptr noundef nonnull @.str.4)
  %10 = getelementptr inbounds i8, ptr %0, i64 16
  %11 = tail call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEPKc(ptr noundef nonnull align 8 dereferenceable(32) %10, ptr noundef %9)
  %12 = tail call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %1, ptr noundef nonnull @.str.19)
  %.not21 = icmp eq ptr %12, null
  %13 = getelementptr inbounds i8, ptr %0, i64 48
  br i1 %.not21, label %38, label %14

14:                                               ; preds = %8
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %3) #6
  %15 = invoke noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %1, ptr noundef nonnull @.str.19)
          to label %16 unwind label %19

16:                                               ; preds = %14
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %4) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %3, ptr noundef %15, ptr noundef nonnull align 1 dereferenceable(1) %4)
          to label %17 unwind label %21

17:                                               ; preds = %16
  invoke void @_ZN4urdf7Vector34initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(24) %13, ptr noundef nonnull align 8 dereferenceable(32) %3)
          to label %18 unwind label %23

18:                                               ; preds = %17
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %3) #6
  br label %40

19:                                               ; preds = %14
  %20 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  br label %26

21:                                               ; preds = %16
  %22 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  br label %25

23:                                               ; preds = %17
  %24 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #6
  br label %25

25:                                               ; preds = %23, %21
  %.pn = phi { ptr, i32 } [ %24, %23 ], [ %22, %21 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #6
  br label %26

26:                                               ; preds = %25, %19
  %.pn.pn = phi { ptr, i32 } [ %.pn, %25 ], [ %20, %19 ]
  %.1 = extractvalue { ptr, i32 } %.pn.pn, 1
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %3) #6
  %27 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN4urdf10ParseErrorE) #6
  %28 = icmp eq i32 %.1, %27
  br i1 %28, label %29, label %41

29:                                               ; preds = %26
  %.119 = extractvalue { ptr, i32 } %.pn.pn, 0
  %30 = call ptr @__cxa_begin_catch(ptr %.119) #6
  call void @_ZN4urdf7Vector35clearEv(ptr noundef nonnull align 8 dereferenceable(24) %13)
  %31 = load ptr, ptr %30, align 8, !tbaa !10
  %32 = getelementptr inbounds i8, ptr %31, i64 16
  %33 = load ptr, ptr %32, align 8
  %34 = call noundef ptr %33(ptr noundef nonnull align 8 dereferenceable(16) %30) #6
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef nonnull @.str.20, ptr noundef %34, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2)
          to label %35 unwind label %36

35:                                               ; preds = %29
  call void @__cxa_end_catch()
  br label %40

36:                                               ; preds = %29
  %37 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %41 unwind label %42

38:                                               ; preds = %8
  %39 = getelementptr inbounds i8, ptr %0, i64 64
  store double 1.000000e+00, ptr %39, align 8, !tbaa !12
  store <2 x double> <double 1.000000e+00, double 1.000000e+00>, ptr %13, align 8, !tbaa !20
  br label %40

40:                                               ; preds = %18, %38, %35, %7
  %.0 = phi i1 [ false, %35 ], [ false, %7 ], [ true, %38 ], [ true, %18 ]
  ret i1 %.0

41:                                               ; preds = %36, %26
  %.merged = phi { ptr, i32 } [ %.pn.pn, %26 ], [ %37, %36 ]
  resume { ptr, i32 } %.merged

42:                                               ; preds = %36
  %43 = landingpad { ptr, i32 }
          catch ptr null
  %44 = extractvalue { ptr, i32 } %43, 0
  call void @__clang_call_terminate(ptr %44) #7
  unreachable
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf4Mesh5clearEv(ptr noundef nonnull align 8 dereferenceable(72)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { nofree nosync nounwind memory(none) }
attributes #5 = { noinline noreturn nounwind uwtable "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nounwind }
attributes #7 = { noreturn 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, !7, i64 8}
!6 = !{!"_ZTSN4urdf8GeometryE", !7, i64 8}
!7 = !{!"_ZTSN4urdf8GeometryUt_E", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!11, !11, i64 0}
!11 = !{!"vtable pointer", !9, i64 0}
!12 = !{!13, !19, i64 64}
!13 = !{!"_ZTSN4urdf4MeshE", !6, i64 0, !14, i64 16, !18, i64 48}
!14 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !15, i64 0, !17, i64 8, !8, i64 16}
!15 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !16, i64 0}
!16 = !{!"any pointer", !8, i64 0}
!17 = !{!"long", !8, i64 0}
!18 = !{!"_ZTSN4urdf7Vector3E", !19, i64 0, !19, i64 8, !19, i64 16}
!19 = !{!"double", !8, i64 0}
!20 = !{!19, !19, i64 0}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,SLPVectorizerPass,SROAPass,SimplifyCFGPass,TailCallElimPass