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

; 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.SpatialVector_t = type { %"class.Eigen::Matrix.90" }
%"class.Eigen::Matrix.90" = type { %"class.Eigen::PlainObjectBase.91" }
%"class.Eigen::PlainObjectBase.91" = type { %"class.Eigen::DenseStorage.98" }
%"class.Eigen::DenseStorage.98" = type { %"struct.Eigen::internal::plain_array.99" }
%"struct.Eigen::internal::plain_array.99" = type { [6 x double] }
%"class.Eigen::CwiseBinaryOp" = type <{ ptr, ptr, [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.120" = type <{ ptr, %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%class.SpatialMatrix_t = type { %"class.Eigen::Matrix.183" }
%"class.Eigen::Matrix.183" = type { %"class.Eigen::PlainObjectBase.184" }
%"class.Eigen::PlainObjectBase.184" = type { %"class.Eigen::DenseStorage.191" }
%"class.Eigen::DenseStorage.191" = type { %"struct.Eigen::internal::plain_array.192" }
%"struct.Eigen::internal::plain_array.192" = type { [36 x double] }
%"class.Eigen::CwiseBinaryOp.395" = type <{ ptr, %"class.Eigen::Product.401", [8 x i8] }>
%"class.Eigen::Product.401" = type { ptr, %"class.Eigen::Transpose.408" }
%"class.Eigen::Transpose.408" = type { %"class.Eigen::CwiseBinaryOp.414" }
%"class.Eigen::CwiseBinaryOp.414" = type <{ ptr, %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.435" = type <{ [8 x i8], %"class.Eigen::CwiseBinaryOp.120", %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::Product.443" = type { %"class.Eigen::Product.450", ptr }
%"class.Eigen::Product.450" = type { ptr, ptr }
%"class.Eigen::Matrix.104" = type { %"class.Eigen::PlainObjectBase.105" }
%"class.Eigen::PlainObjectBase.105" = type { %"class.Eigen::DenseStorage.112" }
%"class.Eigen::DenseStorage.112" = type { %"struct.Eigen::internal::plain_array.113" }
%"struct.Eigen::internal::plain_array.113" = type { [9 x double] }
%"class.Eigen::CwiseBinaryOp.471" = type <{ ptr, %"class.Eigen::Product.193", [8 x i8] }>
%"class.Eigen::Product.193" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::CwiseBinaryOp.478" = type <{ ptr, %"class.Eigen::Product.484", [8 x i8] }>
%"class.Eigen::Product.484" = type { %"class.Eigen::Product.491", %"class.Eigen::Transpose" }
%"class.Eigen::Product.491" = type { ptr, ptr }
%"class.Eigen::Product.505" = type { %"class.Eigen::Product.491", ptr }
%"class.Eigen::Matrix.153" = type { %"class.Eigen::PlainObjectBase.154" }
%"class.Eigen::PlainObjectBase.154" = type { %"class.Eigen::DenseStorage.161" }
%"class.Eigen::DenseStorage.161" = type { ptr, i64, i64 }
%"class.Eigen::Block.462" = type { %"class.Eigen::BlockImpl.463" }
%"class.Eigen::BlockImpl.463" = type { %"class.Eigen::internal::BlockImpl_dense.464" }
%"class.Eigen::internal::BlockImpl_dense.464" = type { %"class.Eigen::MapBase.465", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.465" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"class.Eigen::CwiseBinaryOp.519" = type <{ ptr, %"class.Eigen::Product.214", [8 x i8] }>
%"class.Eigen::Product.214" = type { %"class.Eigen::Transpose.221", ptr }
%"class.Eigen::Transpose.221" = type { ptr }
%"class.Eigen::CwiseBinaryOp.526" = type <{ ptr, %"class.Eigen::Product.532", [8 x i8] }>
%"class.Eigen::Product.532" = type { %"class.Eigen::Product.539", %"class.Eigen::Transpose.221" }
%"class.Eigen::Product.539" = type { ptr, ptr }
%"class.Eigen::Product.553" = type { %"class.Eigen::Product.539", ptr }
%"class.Eigen::CwiseBinaryOp.561" = type <{ ptr, %"class.Eigen::CwiseBinaryOp.120", [8 x i8] }>
%"class.Eigen::Product.568" = type { ptr, %"class.Eigen::CwiseBinaryOp.471" }
%"class.Eigen::CwiseBinaryOp.575" = type <{ ptr, %"class.Eigen::Product", [8 x i8] }>
%"class.Eigen::Product" = type { ptr, ptr }
%"class.Eigen::Product.582" = type { ptr, %"class.Eigen::CwiseBinaryOp.519" }
%"class.Eigen::CwiseBinaryOp.589" = type <{ ptr, %"class.Eigen::Product.168", [8 x i8] }>
%"class.Eigen::Product.168" = type { ptr, ptr }
%"class.Eigen::Product.176" = type { ptr, ptr }
%"class.Eigen::NoAlias" = type { ptr }
%"class.Eigen::Product.332" = type { ptr, ptr }
%"class.Eigen::Inverse" = type { %"class.Eigen::Product.339" }
%"class.Eigen::Product.339" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::Product.374" = type { ptr, ptr }
%"class.Eigen::Inverse.513" = type { %"class.Eigen::Product.381" }
%"class.Eigen::Product.381" = type { %"class.Eigen::Transpose.221", ptr }
%"class.Eigen::CwiseBinaryOp.682" = type <{ ptr, %"class.Eigen::CwiseBinaryOp.435", [8 x i8] }>
%"class.Eigen::NoAlias.457" = type { ptr }
%class.Vector3_t = type { %"class.Eigen::Matrix" }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"class.Eigen::CwiseBinaryOp.689" = type <{ ptr, %"class.Eigen::Product.505", [8 x i8] }>
%"class.Eigen::Matrix.57" = type { %"class.Eigen::PlainObjectBase.58" }
%"class.Eigen::PlainObjectBase.58" = type { %"class.Eigen::DenseStorage.65" }
%"class.Eigen::DenseStorage.65" = type { ptr, i64 }
%"class.Eigen::CwiseBinaryOp.696" = type <{ ptr, %"class.Eigen::Product.553", [8 x i8] }>
%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%class.Matrix3_t = type { %"class.Eigen::Matrix.104" }
%"struct.RigidBodyDynamics::Model" = type { %"class.std::vector", %"class.std::vector", %"class.std::vector.1", i32, i32, i32, i32, %class.Vector3_t, %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.14", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector", %"class.std::vector.21", %"class.std::vector", %"class.std::vector.28", %"class.std::vector.28", %"class.std::vector.35", %"class.std::vector.40", %"class.std::vector", %"class.std::vector.45", %"class.std::vector.8", %"class.std::vector.50", %"class.std::vector.8", %"class.std::vector.8", %"class.Eigen::Matrix.57", %"class.Eigen::Matrix.57", %"class.std::vector.8", %"class.std::vector.66", %"class.std::vector.66", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.73", i32, %"class.std::vector.80", %"class.std::map" }
%"class.std::vector.1" = type { %"struct.std::_Vector_base.2" }
%"struct.std::_Vector_base.2" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.14" = type { %"class.std::vector.15" }
%"class.std::vector.15" = type { %"struct.std::_Vector_base.16" }
%"struct.std::_Vector_base.16" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.28" = type { %"class.std::vector.29" }
%"class.std::vector.29" = type { %"struct.std::_Vector_base.30" }
%"struct.std::_Vector_base.30" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.35" = type { %"struct.std::_Vector_base.36" }
%"struct.std::_Vector_base.36" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.40" = type { %"struct.std::_Vector_base.41" }
%"struct.std::_Vector_base.41" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.45" = type { %"struct.std::_Vector_base.46" }
%"struct.std::_Vector_base.46" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.50" = type { %"class.std::vector.51" }
%"class.std::vector.51" = type { %"struct.std::_Vector_base.52" }
%"struct.std::_Vector_base.52" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.66" = type { %"class.std::vector.67" }
%"class.std::vector.67" = type { %"struct.std::_Vector_base.68" }
%"struct.std::_Vector_base.68" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.8" = type { %"class.std::vector.9" }
%"class.std::vector.9" = type { %"struct.std::_Vector_base.10" }
%"struct.std::_Vector_base.10" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.21" = type { %"class.std::vector.22" }
%"class.std::vector.22" = type { %"struct.std::_Vector_base.23" }
%"struct.std::_Vector_base.23" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.73" = type { %"class.std::vector.74" }
%"class.std::vector.74" = type { %"struct.std::_Vector_base.75" }
%"struct.std::_Vector_base.75" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.80" = type { %"class.std::vector.81" }
%"class.std::vector.81" = type { %"struct.std::_Vector_base.82" }
%"struct.std::_Vector_base.82" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"struct.std::_Rb_tree_header" = type { %"struct.std::_Rb_tree_node_base", i64 }
%"struct.std::_Rb_tree_node_base" = type { i32, ptr, ptr, ptr }
%"struct.RigidBodyDynamics::Joint" = type { ptr, i32, i32, i32, i32 }
%"struct.RigidBodyDynamics::CustomJoint" = type { ptr, i32, %"struct.RigidBodyDynamics::Math::SpatialTransform", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.57", %"class.Eigen::Matrix.57" }

; 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) #0 align 2

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

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #1 align 2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #0 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) #0 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) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 16 dereferenceable(48)) #3 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)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #0 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #0 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #4 align 2

; 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) #0 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)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 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)) #3 align 2

declare void @_ZN17RigidBodyDynamics16jcalc_X_lambda_SERNS_5ModelEjRKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(872), i32 noundef, ptr noundef nonnull align 8 dereferenceable(16)) #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi3ELi0ELi6ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransform17toMatrixTransposeEv(ptr dead_on_unwind noalias writable sret(%class.SpatialMatrix_t) align 16, ptr noundef nonnull align 8 dereferenceable(96)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(144) ptr @_ZN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEaSINS_7ProductINS0_IdLi6ELi6ELi0ELi6ELi6EEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(144), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLin1ELin1ELi0ELin1ELin1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_7ProductINS0_IdLi6ELi6ELi0ELi6ELi6EEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math23SpatialRigidBodyInertia16setSpatialMatrixER15SpatialMatrix_t(ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 16 dereferenceable(288)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #0 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)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS1_IdLi6ELi1ELi0ELi6ELi1EEENS_9TransposeIKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKS6_KNS_14CwiseNullaryOpINS9_18scalar_constant_opIdEESC_EEEEEELi0EEEEEKNS8_INS9_20scalar_difference_opIdNS9_6traitsIT_E6ScalarEEEKS2_KSO_EERKNS0_ISO_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.395") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlINS_9TransposeIKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKS2_KNS_14CwiseNullaryOpINS7_18scalar_constant_opIdEESA_EEEEEEEEKNS_7ProductIS2_T_Li0EEERKNS0_ISK_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.401") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEdvIdEEKNS_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.414") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEE9transposeEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Transpose.408") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS6_IdLi6ELi1ELi0ELi6ELi1EEENS1_9TransposeIKNS2_INS3_18scalar_quotient_opIddEEKSA_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEESE_EEEEEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEdvIdEEKNS1_INS2_18scalar_quotient_opIdNS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdSI_NSG_IdSI_EEEEEE5valueEE4typeEEEKSD_KNS2_19plain_constant_typeISD_SN_E4typeEEERKSI_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.435") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEES3_Li0EEEEmlIS3_EEKNS1_IS4_T_Li0EEERKNS0_IS7_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.443") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind noalias writable sret(%class.SpatialMatrix_t) align 16, ptr noundef nonnull align 8 dereferenceable(96)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS_10MatrixBaseEEpLINS_7ProductINS6_IS2_S2_Li0EEES2_Li0EEEEERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEENS_10MatrixBaseEEpLIS2_EERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEES4_Li0EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_7InverseINS_7ProductINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEES5_Li0EEEEEE4evalEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.104") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(72) ptr @_ZN9Matrix3_taSIN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.471") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_7ProductINS1_9TransposeINS6_IdLi6ELi3ELi0ELi6ELi3EEEEENS6_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS5_INS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS_9TransposeIS6_EELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSD_6traitsIT_E6ScalarEEEKS2_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.478") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS2_IdLi3ELi3ELi0ELi3ELi3EEELi0EEEEmlINS_9TransposeIS3_EEEEKNS1_IS5_T_Li0EEERKNS0_ISA_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.484") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS1_9TransposeISA_EELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS2_IdLi3ELi3ELi0ELi3ELi3EEELi0EEEEmlINS2_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS1_IS5_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.505") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEES4_Li0EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_7InverseINS_7ProductINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEES5_Li0EEEEEE4evalEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.153") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEEKNS3_18ConstFixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.462") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_5BlockIKS1_Lin1ELin1ELb0EEEEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(56)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.519") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS_7ProductINS_9TransposeINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS5_INS1_IdLin1ELin1ELi0ELin1ELin1EEES6_Li0EEENS_9TransposeIS6_EELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.526") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEES3_Li0EEEEmlINS_9TransposeIS3_EEEEKNS1_IS4_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.532") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESA_Li0EEENS1_9TransposeISA_EELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEES3_Li0EEEEmlINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS1_IS4_T_Li0EEERKNS0_IS8_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.553") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2ERKS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEES9_EEEEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEES9_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.561") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEmlINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKNS1_IdLi3ELi1ELi0ELi3ELi1EEEKNS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEEKNSB_IS2_T_Li0EEERKNS0_ISJ_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.568") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2IN5Eigen7ProductINS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEENS1_13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS3_IdLi3ELi1ELi0ELi3ELi1EEEKNS2_INS1_9TransposeINS3_IdLi6ELi3ELi0ELi6ELi3EEEEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.575") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKNS1_IdLin1ELi1ELi0ELin1ELi1EEEKNS_7ProductINS_9TransposeIS2_EENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEEKNSB_IS2_T_Li0EEERKNS0_ISI_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.582") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_7ProductINS0_IdLin1ELin1ELi0ELin1ELin1EEENS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS3_INS_9TransposeIS4_EENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLin1ELin1ELi0ELin1ELin1EEENS1_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.589") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLin1ELin1ELi0ELin1ELin1EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics16CalcMInvTimesTauERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_RS4_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 nonnull align 8 dereferenceable(16) %3, i1 noundef zeroext %4) #3 personality ptr @__gxx_personality_v0 {
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca i8, align 1
  %11 = alloca i32, align 4
  %12 = alloca i32, align 4
  %13 = alloca i32, align 4
  %14 = alloca i32, align 4
  %15 = alloca %"class.Eigen::Product.176", align 8
  %16 = alloca i32, align 4
  %17 = alloca %class.SpatialMatrix_t, align 16
  %18 = alloca %"class.Eigen::CwiseBinaryOp.395", align 8
  %19 = alloca %"class.Eigen::Product.401", align 8
  %20 = alloca %"class.Eigen::Transpose.408", align 8
  %21 = alloca %"class.Eigen::CwiseBinaryOp.414", align 8
  %22 = alloca %"class.Eigen::Product.443", align 8
  %23 = alloca %"class.Eigen::Product.450", align 8
  %24 = alloca %class.SpatialMatrix_t, align 16
  %25 = alloca %class.SpatialMatrix_t, align 16
  %26 = alloca %"class.Eigen::NoAlias", align 8
  %27 = alloca %"class.Eigen::Product.332", align 8
  %28 = alloca %"class.Eigen::Matrix.104", align 8
  %29 = alloca %"class.Eigen::Inverse", align 8
  %30 = alloca %"class.Eigen::Product.339", align 8
  %31 = alloca %"class.Eigen::Transpose", align 8
  %32 = alloca i32, align 4
  %33 = alloca %class.SpatialMatrix_t, align 16
  %34 = alloca %"class.Eigen::CwiseBinaryOp.478", align 8
  %35 = alloca %"class.Eigen::Product.484", align 8
  %36 = alloca %"class.Eigen::Product.491", align 8
  %37 = alloca %"class.Eigen::Transpose", align 8
  %38 = alloca %"class.Eigen::Product.443", align 8
  %39 = alloca %"class.Eigen::Product.450", align 8
  %40 = alloca %class.SpatialMatrix_t, align 16
  %41 = alloca %class.SpatialMatrix_t, align 16
  %42 = alloca %"class.Eigen::NoAlias", align 8
  %43 = alloca i32, align 4
  %44 = alloca i32, align 4
  %45 = alloca %"class.Eigen::Product.374", align 8
  %46 = alloca %"class.Eigen::Matrix.153", align 8
  %47 = alloca %"class.Eigen::Inverse.513", align 8
  %48 = alloca %"class.Eigen::Product.381", align 8
  %49 = alloca %"class.Eigen::Transpose.221", align 8
  %50 = alloca ptr, align 8
  %51 = alloca i32, align 4
  %52 = alloca i32, align 4
  %53 = alloca %class.SpatialMatrix_t, align 16
  %54 = alloca %"class.Eigen::CwiseBinaryOp.526", align 8
  %55 = alloca %"class.Eigen::Product.532", align 8
  %56 = alloca %"class.Eigen::Product.539", align 8
  %57 = alloca %"class.Eigen::Transpose.221", align 8
  %58 = alloca %"class.Eigen::Product.443", align 8
  %59 = alloca %"class.Eigen::Product.450", align 8
  %60 = alloca %class.SpatialMatrix_t, align 16
  %61 = alloca %class.SpatialMatrix_t, align 16
  %62 = alloca %"class.Eigen::NoAlias", align 8
  %63 = alloca i32, align 4
  %64 = alloca i32, align 4
  %65 = alloca i32, align 4
  %66 = alloca %class.SpatialVector_t, align 16
  %67 = alloca %"class.Eigen::CwiseBinaryOp.682", align 8
  %68 = alloca %"class.Eigen::CwiseBinaryOp.435", align 8
  %69 = alloca %"class.Eigen::CwiseBinaryOp.120", align 8
  %70 = alloca %class.SpatialVector_t, align 16
  %71 = alloca %"class.Eigen::NoAlias.457", align 8
  %72 = alloca %class.Vector3_t, align 8
  %73 = alloca %"class.Eigen::CwiseBinaryOp.471", align 8
  %74 = alloca %"class.Eigen::Product.193", align 8
  %75 = alloca %"class.Eigen::Transpose", align 8
  %76 = alloca i32, align 4
  %77 = alloca %class.SpatialVector_t, align 16
  %78 = alloca %"class.Eigen::CwiseBinaryOp.689", align 8
  %79 = alloca %"class.Eigen::Product.505", align 8
  %80 = alloca %"class.Eigen::Product.491", align 8
  %81 = alloca %class.SpatialVector_t, align 16
  %82 = alloca %"class.Eigen::NoAlias.457", align 8
  %83 = alloca i32, align 4
  %84 = alloca i32, align 4
  %85 = alloca %"class.Eigen::Matrix.57", align 8
  %86 = alloca %"class.Eigen::Block.462", align 8
  %87 = alloca %"class.Eigen::CwiseBinaryOp.519", align 8
  %88 = alloca %"class.Eigen::Product.214", align 8
  %89 = alloca %"class.Eigen::Transpose.221", align 8
  %90 = alloca i32, align 4
  %91 = alloca %class.SpatialVector_t, align 16
  %92 = alloca %"class.Eigen::CwiseBinaryOp.696", align 8
  %93 = alloca %"class.Eigen::Product.553", align 8
  %94 = alloca %"class.Eigen::Product.539", align 8
  %95 = alloca %class.SpatialVector_t, align 16
  %96 = alloca %"class.Eigen::NoAlias.457", align 8
  %97 = alloca i32, align 4
  %98 = alloca i32, align 4
  %99 = alloca i32, align 4
  %100 = alloca i32, align 4
  %101 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %102 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %103 = alloca %class.SpatialVector_t, align 16
  %104 = alloca %"class.Eigen::CwiseBinaryOp.561", align 8
  %105 = alloca %"class.Eigen::CwiseBinaryOp.120", align 8
  %106 = alloca %class.Vector3_t, align 8
  %107 = alloca %"class.Eigen::Product.568", align 8
  %108 = alloca %"class.Eigen::CwiseBinaryOp.471", align 8
  %109 = alloca %"class.Eigen::Product.193", align 8
  %110 = alloca %"class.Eigen::Transpose", align 8
  %111 = alloca %"class.Eigen::CwiseBinaryOp.575", align 8
  %112 = alloca %"class.Eigen::Product", align 8
  %113 = alloca i32, align 4
  %114 = alloca i32, align 4
  %115 = alloca %"class.Eigen::Matrix.57", align 8
  %116 = alloca %"class.Eigen::Product.582", align 8
  %117 = alloca %"class.Eigen::CwiseBinaryOp.519", align 8
  %118 = alloca %"class.Eigen::Product.214", align 8
  %119 = alloca %"class.Eigen::Transpose.221", align 8
  %120 = alloca i32, align 4
  %121 = alloca %"class.Eigen::CwiseBinaryOp.589", align 8
  %122 = alloca %"class.Eigen::Product.168", align 8
  store ptr %0, ptr %6, align 8, !tbaa !5
  store ptr %1, ptr %7, align 8, !tbaa !5
  store ptr %2, ptr %8, align 8, !tbaa !5
  store ptr %3, ptr %9, align 8, !tbaa !5
  %123 = zext i1 %4 to i8
  store i8 %123, ptr %10, align 1, !tbaa !9
  %124 = load ptr, ptr %6, align 8, !tbaa !5
  %125 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %124, i32 0, i32 8
  %126 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %125, i64 noundef 0) #6
  %127 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %126)
  %128 = load ptr, ptr %6, align 8, !tbaa !5
  %129 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %128, i32 0, i32 9
  %130 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %129, i64 noundef 0) #6
  %131 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %130)
  %132 = load i8, ptr %10, align 1, !tbaa !9, !range !11, !noundef !12
  %133 = trunc i8 %132 to i1
  br i1 %133, label %134, label %190

134:                                              ; preds = %5
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #6
  store i32 1, ptr %11, align 4, !tbaa !13
  br label %135

135:                                              ; preds = %186, %134
  %136 = load i32, ptr %11, align 4, !tbaa !13
  %137 = zext i32 %136 to i64
  %138 = load ptr, ptr %6, align 8, !tbaa !5
  %139 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %138, i32 0, i32 38
  %140 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %139) #6
  %141 = icmp ult i64 %137, %140
  br i1 %141, label %143, label %142

142:                                              ; preds = %135
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #6
  br label %189

143:                                              ; preds = %135
  %144 = load ptr, ptr %6, align 8, !tbaa !5
  %145 = load ptr, ptr %6, align 8, !tbaa !5
  %146 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %145, i32 0, i32 14
  %147 = load i32, ptr %11, align 4, !tbaa !13
  %148 = zext i32 %147 to i64
  %149 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %146, i64 noundef %148) #6
  %150 = load i32, ptr %149, align 4, !tbaa !13
  %151 = load ptr, ptr %7, align 8, !tbaa !5
  call void @_ZN17RigidBodyDynamics16jcalc_X_lambda_SERNS_5ModelEjRKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(872) %144, i32 noundef %150, ptr noundef nonnull align 8 dereferenceable(16) %151)
  %152 = load ptr, ptr %6, align 8, !tbaa !5
  %153 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %152, i32 0, i32 12
  %154 = load i32, ptr %11, align 4, !tbaa !13
  %155 = zext i32 %154 to i64
  %156 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %153, i64 noundef %155) #6
  %157 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %156)
  %158 = load ptr, ptr %6, align 8, !tbaa !5
  %159 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %158, i32 0, i32 8
  %160 = load i32, ptr %11, align 4, !tbaa !13
  %161 = zext i32 %160 to i64
  %162 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %159, i64 noundef %161) #6
  %163 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %162)
  %164 = load ptr, ptr %6, align 8, !tbaa !5
  %165 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %164, i32 0, i32 23
  %166 = load i32, ptr %11, align 4, !tbaa !13
  %167 = zext i32 %166 to i64
  %168 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %165, i64 noundef %167) #6
  %169 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %168)
  %170 = load ptr, ptr %6, align 8, !tbaa !5
  %171 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %170, i32 0, i32 25
  %172 = load i32, ptr %11, align 4, !tbaa !13
  %173 = zext i32 %172 to i64
  %174 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %171, i64 noundef %173) #6
  %175 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %174)
  %176 = load ptr, ptr %6, align 8, !tbaa !5
  %177 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %176, i32 0, i32 30
  %178 = load i32, ptr %11, align 4, !tbaa !13
  %179 = zext i32 %178 to i64
  %180 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %177, i64 noundef %179) #6
  %181 = load ptr, ptr %6, align 8, !tbaa !5
  %182 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %181, i32 0, i32 24
  %183 = load i32, ptr %11, align 4, !tbaa !13
  %184 = zext i32 %183 to i64
  %185 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %182, i64 noundef %184) #6
  call void @_ZNK17RigidBodyDynamics4Math23SpatialRigidBodyInertia16setSpatialMatrixER15SpatialMatrix_t(ptr noundef nonnull align 8 dereferenceable(80) %180, ptr noundef nonnull align 16 dereferenceable(288) %185)
  br label %186

186:                                              ; preds = %143
  %187 = load i32, ptr %11, align 4, !tbaa !13
  %188 = add i32 %187, 1
  store i32 %188, ptr %11, align 4, !tbaa !13
  br label %135, !llvm.loop !15

189:                                              ; preds = %142
  br label %190

190:                                              ; preds = %189, %5
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #6
  store i32 1, ptr %12, align 4, !tbaa !13
  br label %191

191:                                              ; preds = %206, %190
  %192 = load i32, ptr %12, align 4, !tbaa !13
  %193 = zext i32 %192 to i64
  %194 = load ptr, ptr %6, align 8, !tbaa !5
  %195 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %194, i32 0, i32 38
  %196 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %195) #6
  %197 = icmp ult i64 %193, %196
  br i1 %197, label %199, label %198

198:                                              ; preds = %191
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #6
  br label %209

199:                                              ; preds = %191
  %200 = load ptr, ptr %6, align 8, !tbaa !5
  %201 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %200, i32 0, i32 25
  %202 = load i32, ptr %12, align 4, !tbaa !13
  %203 = zext i32 %202 to i64
  %204 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %201, i64 noundef %203) #6
  %205 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %204)
  br label %206

206:                                              ; preds = %199
  %207 = load i32, ptr %12, align 4, !tbaa !13
  %208 = add i32 %207, 1
  store i32 %208, ptr %12, align 4, !tbaa !13
  br label %191, !llvm.loop !17

209:                                              ; preds = %198
  %210 = load i8, ptr %10, align 1, !tbaa !9, !range !11, !noundef !12
  %211 = trunc i8 %210 to i1
  br i1 %211, label %212, label %630

212:                                              ; preds = %209
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #6
  %213 = load ptr, ptr %6, align 8, !tbaa !5
  %214 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %213, i32 0, i32 38
  %215 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %214) #6
  %216 = sub i64 %215, 1
  %217 = trunc i64 %216 to i32
  store i32 %217, ptr %13, align 4, !tbaa !13
  br label %218

218:                                              ; preds = %626, %212
  %219 = load i32, ptr %13, align 4, !tbaa !13
  %220 = icmp ugt i32 %219, 0
  br i1 %220, label %222, label %221

221:                                              ; preds = %218
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #6
  br label %629

222:                                              ; preds = %218
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #6
  %223 = load ptr, ptr %6, align 8, !tbaa !5
  %224 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %223, i32 0, i32 10
  %225 = load i32, ptr %13, align 4, !tbaa !13
  %226 = zext i32 %225 to i64
  %227 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %224, i64 noundef %226) #6
  %228 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %227, i32 0, i32 3
  %229 = load i32, ptr %228, align 8, !tbaa !18
  store i32 %229, ptr %14, align 4, !tbaa !13
  %230 = load ptr, ptr %6, align 8, !tbaa !5
  %231 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %230, i32 0, i32 10
  %232 = load i32, ptr %13, align 4, !tbaa !13
  %233 = zext i32 %232 to i64
  %234 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %231, i64 noundef %233) #6
  %235 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %234, i32 0, i32 2
  %236 = load i32, ptr %235, align 4, !tbaa !21
  %237 = icmp eq i32 %236, 1
  br i1 %237, label %238, label %338

238:                                              ; preds = %222
  %239 = load ptr, ptr %6, align 8, !tbaa !5
  %240 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %239, i32 0, i32 10
  %241 = load i32, ptr %13, align 4, !tbaa !13
  %242 = zext i32 %241 to i64
  %243 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %240, i64 noundef %242) #6
  %244 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %243, i32 0, i32 1
  %245 = load i32, ptr %244, align 8, !tbaa !22
  %246 = icmp ne i32 %245, 21
  br i1 %246, label %247, label %338

247:                                              ; preds = %238
  call void @llvm.lifetime.start.p0(i64 16, ptr %15) #6
  %248 = load ptr, ptr %6, align 8, !tbaa !5
  %249 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %248, i32 0, i32 24
  %250 = load i32, ptr %13, align 4, !tbaa !13
  %251 = zext i32 %250 to i64
  %252 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %249, i64 noundef %251) #6
  %253 = load ptr, ptr %6, align 8, !tbaa !5
  %254 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %253, i32 0, i32 11
  %255 = load i32, ptr %13, align 4, !tbaa !13
  %256 = zext i32 %255 to i64
  %257 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %254, i64 noundef %256) #6
  %258 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %252, ptr noundef nonnull align 1 dereferenceable(1) %257)
  %259 = getelementptr inbounds { ptr, ptr }, ptr %15, i32 0, i32 0
  %260 = extractvalue { ptr, ptr } %258, 0
  store ptr %260, ptr %259, align 8
  %261 = getelementptr inbounds { ptr, ptr }, ptr %15, i32 0, i32 1
  %262 = extractvalue { ptr, ptr } %258, 1
  store ptr %262, ptr %261, align 8
  %263 = load ptr, ptr %6, align 8, !tbaa !5
  %264 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %263, i32 0, i32 26
  %265 = load i32, ptr %13, align 4, !tbaa !13
  %266 = zext i32 %265 to i64
  %267 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %264, i64 noundef %266) #6
  %268 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen7ProductINS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %267, ptr noundef nonnull align 1 dereferenceable(1) %15)
  call void @llvm.lifetime.end.p0(i64 16, ptr %15) #6
  %269 = load ptr, ptr %6, align 8, !tbaa !5
  %270 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %269, i32 0, i32 11
  %271 = load i32, ptr %13, align 4, !tbaa !13
  %272 = zext i32 %271 to i64
  %273 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %270, i64 noundef %272) #6
  %274 = load ptr, ptr %6, align 8, !tbaa !5
  %275 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %274, i32 0, i32 26
  %276 = load i32, ptr %13, align 4, !tbaa !13
  %277 = zext i32 %276 to i64
  %278 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %275, i64 noundef %277) #6
  %279 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %273, ptr noundef nonnull align 1 dereferenceable(1) %278)
  %280 = load ptr, ptr %6, align 8, !tbaa !5
  %281 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %280, i32 0, i32 27
  %282 = load i32, ptr %13, align 4, !tbaa !13
  %283 = zext i32 %282 to i64
  %284 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %281, i64 noundef %283)
  store double %279, ptr %284, align 8, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #6
  %285 = load ptr, ptr %6, align 8, !tbaa !5
  %286 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %285, i32 0, i32 0
  %287 = load i32, ptr %13, align 4, !tbaa !13
  %288 = zext i32 %287 to i64
  %289 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %286, i64 noundef %288) #6
  %290 = load i32, ptr %289, align 4, !tbaa !13
  store i32 %290, ptr %16, align 4, !tbaa !13
  %291 = load i32, ptr %16, align 4, !tbaa !13
  %292 = icmp ne i32 %291, 0
  br i1 %292, label %293, label %337

293:                                              ; preds = %247
  call void @llvm.lifetime.start.p0(i64 288, ptr %17) #6
  call void @llvm.lifetime.start.p0(i64 56, ptr %18) #6
  %294 = load ptr, ptr %6, align 8, !tbaa !5
  %295 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %294, i32 0, i32 24
  %296 = load i32, ptr %13, align 4, !tbaa !13
  %297 = zext i32 %296 to i64
  %298 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %295, i64 noundef %297) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %19) #6
  %299 = load ptr, ptr %6, align 8, !tbaa !5
  %300 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %299, i32 0, i32 26
  %301 = load i32, ptr %13, align 4, !tbaa !13
  %302 = zext i32 %301 to i64
  %303 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %300, i64 noundef %302) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %20) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %21) #6
  %304 = load ptr, ptr %6, align 8, !tbaa !5
  %305 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %304, i32 0, i32 26
  %306 = load i32, ptr %13, align 4, !tbaa !13
  %307 = zext i32 %306 to i64
  %308 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %305, i64 noundef %307) #6
  %309 = load ptr, ptr %6, align 8, !tbaa !5
  %310 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %309, i32 0, i32 27
  %311 = load i32, ptr %13, align 4, !tbaa !13
  %312 = zext i32 %311 to i64
  %313 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %310, i64 noundef %312)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEdvIdEEKNS_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.414") align 8 %21, ptr noundef nonnull align 1 dereferenceable(1) %308, ptr noundef nonnull align 8 dereferenceable(8) %313)
  call void @_ZNK5Eigen9DenseBaseINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEE9transposeEv(ptr dead_on_unwind writable sret(%"class.Eigen::Transpose.408") align 8 %20, ptr noundef nonnull align 1 dereferenceable(1) %21)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlINS_9TransposeIKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKS2_KNS_14CwiseNullaryOpINS7_18scalar_constant_opIdEESA_EEEEEEEEKNS_7ProductIS2_T_Li0EEERKNS0_ISK_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.401") align 8 %19, ptr noundef nonnull align 1 dereferenceable(1) %303, ptr noundef nonnull align 1 dereferenceable(1) %20)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS1_IdLi6ELi1ELi0ELi6ELi1EEENS_9TransposeIKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKS6_KNS_14CwiseNullaryOpINS9_18scalar_constant_opIdEESC_EEEEEELi0EEEEEKNS8_INS9_20scalar_difference_opIdNS9_6traitsIT_E6ScalarEEEKS2_KSO_EERKNS0_ISO_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.395") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %298, ptr noundef nonnull align 1 dereferenceable(1) %19)
  call void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS6_IdLi6ELi1ELi0ELi6ELi1EEENS1_9TransposeIKNS2_INS3_18scalar_quotient_opIddEEKSA_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEESE_EEEEEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288) %17, ptr noundef nonnull align 1 dereferenceable(1) %18)
  call void @llvm.lifetime.end.p0(i64 32, ptr %21) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %20) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %19) #6
  call void @llvm.lifetime.end.p0(i64 56, ptr %18) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %22) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %23) #6
  call void @llvm.lifetime.start.p0(i64 288, ptr %24) #6
  %314 = load ptr, ptr %6, align 8, !tbaa !5
  %315 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %314, i32 0, i32 34
  %316 = load i32, ptr %13, align 4, !tbaa !13
  %317 = zext i32 %316 to i64
  %318 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %315, i64 noundef %317) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform17toMatrixTransposeEv(ptr dead_on_unwind writable sret(%class.SpatialMatrix_t) align 16 %24, ptr noundef nonnull align 8 dereferenceable(96) %318)
  %319 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %24, ptr noundef nonnull align 1 dereferenceable(1) %17)
  %320 = getelementptr inbounds { ptr, ptr }, ptr %23, i32 0, i32 0
  %321 = extractvalue { ptr, ptr } %319, 0
  store ptr %321, ptr %320, align 8
  %322 = getelementptr inbounds { ptr, ptr }, ptr %23, i32 0, i32 1
  %323 = extractvalue { ptr, ptr } %319, 1
  store ptr %323, ptr %322, align 8
  call void @llvm.lifetime.start.p0(i64 288, ptr %25) #6
  %324 = load ptr, ptr %6, align 8, !tbaa !5
  %325 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %324, i32 0, i32 34
  %326 = load i32, ptr %13, align 4, !tbaa !13
  %327 = zext i32 %326 to i64
  %328 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %325, i64 noundef %327) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind writable sret(%class.SpatialMatrix_t) align 16 %25, ptr noundef nonnull align 8 dereferenceable(96) %328)
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEES3_Li0EEEEmlIS3_EEKNS1_IS4_T_Li0EEERKNS0_IS7_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.443") align 8 %22, ptr noundef nonnull align 1 dereferenceable(1) %23, ptr noundef nonnull align 1 dereferenceable(1) %25)
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #6
  %329 = load ptr, ptr %6, align 8, !tbaa !5
  %330 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %329, i32 0, i32 24
  %331 = load i32, ptr %16, align 4, !tbaa !13
  %332 = zext i32 %331 to i64
  %333 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %330, i64 noundef %332) #6
  %334 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %333)
  %335 = getelementptr inbounds %"class.Eigen::NoAlias", ptr %26, i32 0, i32 0
  store ptr %334, ptr %335, align 8
  %336 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS_10MatrixBaseEEpLINS_7ProductINS6_IS2_S2_Li0EEES2_Li0EEEEERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %26, ptr noundef nonnull align 1 dereferenceable(1) %22)
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr %25) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr %24) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %23) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %22) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr %17) #6
  br label %337

337:                                              ; preds = %293, %247
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #6
  br label %625

338:                                              ; preds = %238, %222
  %339 = load ptr, ptr %6, align 8, !tbaa !5
  %340 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %339, i32 0, i32 10
  %341 = load i32, ptr %13, align 4, !tbaa !13
  %342 = zext i32 %341 to i64
  %343 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %340, i64 noundef %342) #6
  %344 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %343, i32 0, i32 2
  %345 = load i32, ptr %344, align 4, !tbaa !21
  %346 = icmp eq i32 %345, 3
  br i1 %346, label %347, label %467

347:                                              ; preds = %338
  %348 = load ptr, ptr %6, align 8, !tbaa !5
  %349 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %348, i32 0, i32 10
  %350 = load i32, ptr %13, align 4, !tbaa !13
  %351 = zext i32 %350 to i64
  %352 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %349, i64 noundef %351) #6
  %353 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %352, i32 0, i32 1
  %354 = load i32, ptr %353, align 8, !tbaa !22
  %355 = icmp ne i32 %354, 21
  br i1 %355, label %356, label %467

356:                                              ; preds = %347
  call void @llvm.lifetime.start.p0(i64 16, ptr %27) #6
  %357 = load ptr, ptr %6, align 8, !tbaa !5
  %358 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %357, i32 0, i32 24
  %359 = load i32, ptr %13, align 4, !tbaa !13
  %360 = zext i32 %359 to i64
  %361 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %358, i64 noundef %360) #6
  %362 = load ptr, ptr %6, align 8, !tbaa !5
  %363 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %362, i32 0, i32 17
  %364 = load i32, ptr %13, align 4, !tbaa !13
  %365 = zext i32 %364 to i64
  %366 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %363, i64 noundef %365) #6
  %367 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi3ELi0ELi6ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %361, ptr noundef nonnull align 1 dereferenceable(1) %366)
  %368 = getelementptr inbounds { ptr, ptr }, ptr %27, i32 0, i32 0
  %369 = extractvalue { ptr, ptr } %367, 0
  store ptr %369, ptr %368, align 8
  %370 = getelementptr inbounds { ptr, ptr }, ptr %27, i32 0, i32 1
  %371 = extractvalue { ptr, ptr } %367, 1
  store ptr %371, ptr %370, align 8
  %372 = load ptr, ptr %6, align 8, !tbaa !5
  %373 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %372, i32 0, i32 18
  %374 = load i32, ptr %13, align 4, !tbaa !13
  %375 = zext i32 %374 to i64
  %376 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %373, i64 noundef %375) #6
  %377 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEaSINS_7ProductINS0_IdLi6ELi6ELi0ELi6ELi6EEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(144) %376, ptr noundef nonnull align 1 dereferenceable(1) %27)
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #6
  call void @llvm.lifetime.start.p0(i64 72, ptr %28) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %29) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %30) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #6
  %378 = load ptr, ptr %6, align 8, !tbaa !5
  %379 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %378, i32 0, i32 17
  %380 = load i32, ptr %13, align 4, !tbaa !13
  %381 = zext i32 %380 to i64
  %382 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %379, i64 noundef %381) #6
  %383 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %382)
  %384 = getelementptr inbounds %"class.Eigen::Transpose", ptr %31, i32 0, i32 0
  store ptr %383, ptr %384, align 8
  %385 = load ptr, ptr %6, align 8, !tbaa !5
  %386 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %385, i32 0, i32 18
  %387 = load i32, ptr %13, align 4, !tbaa !13
  %388 = zext i32 %387 to i64
  %389 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %386, i64 noundef %388) #6
  %390 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %31, ptr noundef nonnull align 1 dereferenceable(1) %389)
  %391 = getelementptr inbounds { ptr, ptr }, ptr %30, i32 0, i32 0
  %392 = extractvalue { ptr, ptr } %390, 0
  store ptr %392, ptr %391, align 8
  %393 = getelementptr inbounds { ptr, ptr }, ptr %30, i32 0, i32 1
  %394 = extractvalue { ptr, ptr } %390, 1
  store ptr %394, ptr %393, align 8
  %395 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEES4_Li0EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1) %30)
  %396 = getelementptr inbounds %"class.Eigen::Inverse", ptr %29, i32 0, i32 0
  %397 = getelementptr inbounds { ptr, ptr }, ptr %396, i32 0, i32 0
  %398 = extractvalue { ptr, ptr } %395, 0
  store ptr %398, ptr %397, align 8
  %399 = getelementptr inbounds { ptr, ptr }, ptr %396, i32 0, i32 1
  %400 = extractvalue { ptr, ptr } %395, 1
  store ptr %400, ptr %399, align 8
  call void @_ZNK5Eigen9DenseBaseINS_7InverseINS_7ProductINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEES5_Li0EEEEEE4evalEv(ptr dead_on_unwind writable sret(%"class.Eigen::Matrix.104") align 8 %28, ptr noundef nonnull align 1 dereferenceable(1) %29)
  %401 = load ptr, ptr %6, align 8, !tbaa !5
  %402 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %401, i32 0, i32 19
  %403 = load i32, ptr %13, align 4, !tbaa !13
  %404 = zext i32 %403 to i64
  %405 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %402, i64 noundef %404) #6
  %406 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZN9Matrix3_taSIN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72) %405, ptr noundef nonnull align 1 dereferenceable(1) %28)
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %30) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %29) #6
  call void @llvm.lifetime.end.p0(i64 72, ptr %28) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %32) #6
  %407 = load ptr, ptr %6, align 8, !tbaa !5
  %408 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %407, i32 0, i32 0
  %409 = load i32, ptr %13, align 4, !tbaa !13
  %410 = zext i32 %409 to i64
  %411 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %408, i64 noundef %410) #6
  %412 = load i32, ptr %411, align 4, !tbaa !13
  store i32 %412, ptr %32, align 4, !tbaa !13
  %413 = load i32, ptr %32, align 4, !tbaa !13
  %414 = icmp ne i32 %413, 0
  br i1 %414, label %415, label %466

415:                                              ; preds = %356
  call void @llvm.lifetime.start.p0(i64 288, ptr %33) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %34) #6
  %416 = load ptr, ptr %6, align 8, !tbaa !5
  %417 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %416, i32 0, i32 24
  %418 = load i32, ptr %13, align 4, !tbaa !13
  %419 = zext i32 %418 to i64
  %420 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %417, i64 noundef %419) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %35) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %36) #6
  %421 = load ptr, ptr %6, align 8, !tbaa !5
  %422 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %421, i32 0, i32 18
  %423 = load i32, ptr %13, align 4, !tbaa !13
  %424 = zext i32 %423 to i64
  %425 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %422, i64 noundef %424) #6
  %426 = load ptr, ptr %6, align 8, !tbaa !5
  %427 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %426, i32 0, i32 19
  %428 = load i32, ptr %13, align 4, !tbaa !13
  %429 = zext i32 %428 to i64
  %430 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %427, i64 noundef %429) #6
  %431 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %425, ptr noundef nonnull align 1 dereferenceable(1) %430)
  %432 = getelementptr inbounds { ptr, ptr }, ptr %36, i32 0, i32 0
  %433 = extractvalue { ptr, ptr } %431, 0
  store ptr %433, ptr %432, align 8
  %434 = getelementptr inbounds { ptr, ptr }, ptr %36, i32 0, i32 1
  %435 = extractvalue { ptr, ptr } %431, 1
  store ptr %435, ptr %434, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #6
  %436 = load ptr, ptr %6, align 8, !tbaa !5
  %437 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %436, i32 0, i32 18
  %438 = load i32, ptr %13, align 4, !tbaa !13
  %439 = zext i32 %438 to i64
  %440 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %437, i64 noundef %439) #6
  %441 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %440)
  %442 = getelementptr inbounds %"class.Eigen::Transpose", ptr %37, i32 0, i32 0
  store ptr %441, ptr %442, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS2_IdLi3ELi3ELi0ELi3ELi3EEELi0EEEEmlINS_9TransposeIS3_EEEEKNS1_IS5_T_Li0EEERKNS0_ISA_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.484") align 8 %35, ptr noundef nonnull align 1 dereferenceable(1) %36, ptr noundef nonnull align 1 dereferenceable(1) %37)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS5_INS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS_9TransposeIS6_EELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSD_6traitsIT_E6ScalarEEEKS2_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.478") align 8 %34, ptr noundef nonnull align 1 dereferenceable(1) %420, ptr noundef nonnull align 1 dereferenceable(1) %35)
  call void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS1_9TransposeISA_EELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288) %33, ptr noundef nonnull align 1 dereferenceable(1) %34)
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %36) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %35) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %34) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %38) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %39) #6
  call void @llvm.lifetime.start.p0(i64 288, ptr %40) #6
  %443 = load ptr, ptr %6, align 8, !tbaa !5
  %444 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %443, i32 0, i32 34
  %445 = load i32, ptr %13, align 4, !tbaa !13
  %446 = zext i32 %445 to i64
  %447 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %444, i64 noundef %446) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform17toMatrixTransposeEv(ptr dead_on_unwind writable sret(%class.SpatialMatrix_t) align 16 %40, ptr noundef nonnull align 8 dereferenceable(96) %447)
  %448 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %40, ptr noundef nonnull align 1 dereferenceable(1) %33)
  %449 = getelementptr inbounds { ptr, ptr }, ptr %39, i32 0, i32 0
  %450 = extractvalue { ptr, ptr } %448, 0
  store ptr %450, ptr %449, align 8
  %451 = getelementptr inbounds { ptr, ptr }, ptr %39, i32 0, i32 1
  %452 = extractvalue { ptr, ptr } %448, 1
  store ptr %452, ptr %451, align 8
  call void @llvm.lifetime.start.p0(i64 288, ptr %41) #6
  %453 = load ptr, ptr %6, align 8, !tbaa !5
  %454 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %453, i32 0, i32 34
  %455 = load i32, ptr %13, align 4, !tbaa !13
  %456 = zext i32 %455 to i64
  %457 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %454, i64 noundef %456) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind writable sret(%class.SpatialMatrix_t) align 16 %41, ptr noundef nonnull align 8 dereferenceable(96) %457)
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEES3_Li0EEEEmlIS3_EEKNS1_IS4_T_Li0EEERKNS0_IS7_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.443") align 8 %38, ptr noundef nonnull align 1 dereferenceable(1) %39, ptr noundef nonnull align 1 dereferenceable(1) %41)
  call void @llvm.lifetime.start.p0(i64 8, ptr %42) #6
  %458 = load ptr, ptr %6, align 8, !tbaa !5
  %459 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %458, i32 0, i32 24
  %460 = load i32, ptr %32, align 4, !tbaa !13
  %461 = zext i32 %460 to i64
  %462 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %459, i64 noundef %461) #6
  %463 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %462)
  %464 = getelementptr inbounds %"class.Eigen::NoAlias", ptr %42, i32 0, i32 0
  store ptr %463, ptr %464, align 8
  %465 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS_10MatrixBaseEEpLINS_7ProductINS6_IS2_S2_Li0EEES2_Li0EEEEERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %42, ptr noundef nonnull align 1 dereferenceable(1) %38)
  call void @llvm.lifetime.end.p0(i64 8, ptr %42) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr %41) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr %40) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %39) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %38) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr %33) #6
  br label %466

466:                                              ; preds = %415, %356
  call void @llvm.lifetime.end.p0(i64 4, ptr %32) #6
  br label %624

467:                                              ; preds = %347, %338
  %468 = load ptr, ptr %6, align 8, !tbaa !5
  %469 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %468, i32 0, i32 10
  %470 = load i32, ptr %13, align 4, !tbaa !13
  %471 = zext i32 %470 to i64
  %472 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %469, i64 noundef %471) #6
  %473 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %472, i32 0, i32 1
  %474 = load i32, ptr %473, align 8, !tbaa !22
  %475 = icmp eq i32 %474, 21
  br i1 %475, label %476, label %623

476:                                              ; preds = %467
  call void @llvm.lifetime.start.p0(i64 4, ptr %43) #6
  %477 = load ptr, ptr %6, align 8, !tbaa !5
  %478 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %477, i32 0, i32 10
  %479 = load i32, ptr %13, align 4, !tbaa !13
  %480 = zext i32 %479 to i64
  %481 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %478, i64 noundef %480) #6
  %482 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %481, i32 0, i32 4
  %483 = load i32, ptr %482, align 4, !tbaa !25
  store i32 %483, ptr %43, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %44) #6
  %484 = load ptr, ptr %6, align 8, !tbaa !5
  %485 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %484, i32 0, i32 22
  %486 = load i32, ptr %43, align 4, !tbaa !13
  %487 = zext i32 %486 to i64
  %488 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %485, i64 noundef %487) #6
  %489 = load ptr, ptr %488, align 8, !tbaa !5
  %490 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %489, i32 0, i32 1
  %491 = load i32, ptr %490, align 8, !tbaa !26
  store i32 %491, ptr %44, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 16, ptr %45) #6
  %492 = load ptr, ptr %6, align 8, !tbaa !5
  %493 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %492, i32 0, i32 24
  %494 = load i32, ptr %13, align 4, !tbaa !13
  %495 = zext i32 %494 to i64
  %496 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %493, i64 noundef %495) #6
  %497 = load ptr, ptr %6, align 8, !tbaa !5
  %498 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %497, i32 0, i32 22
  %499 = load i32, ptr %43, align 4, !tbaa !13
  %500 = zext i32 %499 to i64
  %501 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %498, i64 noundef %500) #6
  %502 = load ptr, ptr %501, align 8, !tbaa !5
  %503 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %502, i32 0, i32 3
  %504 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLin1ELin1ELi0ELin1ELin1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %496, ptr noundef nonnull align 1 dereferenceable(1) %503)
  %505 = getelementptr inbounds { ptr, ptr }, ptr %45, i32 0, i32 0
  %506 = extractvalue { ptr, ptr } %504, 0
  store ptr %506, ptr %505, align 8
  %507 = getelementptr inbounds { ptr, ptr }, ptr %45, i32 0, i32 1
  %508 = extractvalue { ptr, ptr } %504, 1
  store ptr %508, ptr %507, align 8
  %509 = load ptr, ptr %6, align 8, !tbaa !5
  %510 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %509, i32 0, i32 22
  %511 = load i32, ptr %43, align 4, !tbaa !13
  %512 = zext i32 %511 to i64
  %513 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %510, i64 noundef %512) #6
  %514 = load ptr, ptr %513, align 8, !tbaa !5
  %515 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %514, i32 0, i32 4
  %516 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_7ProductINS0_IdLi6ELi6ELi0ELi6ELi6EEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %515, ptr noundef nonnull align 1 dereferenceable(1) %45)
  call void @llvm.lifetime.end.p0(i64 16, ptr %45) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %46) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %47) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %48) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %49) #6
  %517 = load ptr, ptr %6, align 8, !tbaa !5
  %518 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %517, i32 0, i32 22
  %519 = load i32, ptr %43, align 4, !tbaa !13
  %520 = zext i32 %519 to i64
  %521 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %518, i64 noundef %520) #6
  %522 = load ptr, ptr %521, align 8, !tbaa !5
  %523 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %522, i32 0, i32 3
  %524 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %523)
  %525 = getelementptr inbounds %"class.Eigen::Transpose.221", ptr %49, i32 0, i32 0
  store ptr %524, ptr %525, align 8
  %526 = load ptr, ptr %6, align 8, !tbaa !5
  %527 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %526, i32 0, i32 22
  %528 = load i32, ptr %43, align 4, !tbaa !13
  %529 = zext i32 %528 to i64
  %530 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %527, i64 noundef %529) #6
  %531 = load ptr, ptr %530, align 8, !tbaa !5
  %532 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %531, i32 0, i32 4
  %533 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %49, ptr noundef nonnull align 1 dereferenceable(1) %532)
  %534 = getelementptr inbounds { ptr, ptr }, ptr %48, i32 0, i32 0
  %535 = extractvalue { ptr, ptr } %533, 0
  store ptr %535, ptr %534, align 8
  %536 = getelementptr inbounds { ptr, ptr }, ptr %48, i32 0, i32 1
  %537 = extractvalue { ptr, ptr } %533, 1
  store ptr %537, ptr %536, align 8
  %538 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEES4_Li0EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1) %48)
  %539 = getelementptr inbounds %"class.Eigen::Inverse.513", ptr %47, i32 0, i32 0
  %540 = getelementptr inbounds { ptr, ptr }, ptr %539, i32 0, i32 0
  %541 = extractvalue { ptr, ptr } %538, 0
  store ptr %541, ptr %540, align 8
  %542 = getelementptr inbounds { ptr, ptr }, ptr %539, i32 0, i32 1
  %543 = extractvalue { ptr, ptr } %538, 1
  store ptr %543, ptr %542, align 8
  call void @_ZNK5Eigen9DenseBaseINS_7InverseINS_7ProductINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEES5_Li0EEEEEE4evalEv(ptr dead_on_unwind writable sret(%"class.Eigen::Matrix.153") align 8 %46, ptr noundef nonnull align 1 dereferenceable(1) %47)
  %544 = load ptr, ptr %6, align 8, !tbaa !5
  %545 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %544, i32 0, i32 22
  %546 = load i32, ptr %43, align 4, !tbaa !13
  %547 = zext i32 %546 to i64
  %548 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %545, i64 noundef %547) #6
  %549 = load ptr, ptr %548, align 8, !tbaa !5
  %550 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %549, i32 0, i32 5
  %551 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %550, ptr noundef nonnull align 8 dereferenceable(24) %46)
          to label %552 unwind label %618

552:                                              ; preds = %476
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %46) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %49) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %48) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %47) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %46) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %52) #6
  %553 = load ptr, ptr %6, align 8, !tbaa !5
  %554 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %553, i32 0, i32 0
  %555 = load i32, ptr %13, align 4, !tbaa !13
  %556 = zext i32 %555 to i64
  %557 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %554, i64 noundef %556) #6
  %558 = load i32, ptr %557, align 4, !tbaa !13
  store i32 %558, ptr %52, align 4, !tbaa !13
  %559 = load i32, ptr %52, align 4, !tbaa !13
  %560 = icmp ne i32 %559, 0
  br i1 %560, label %561, label %622

561:                                              ; preds = %552
  call void @llvm.lifetime.start.p0(i64 288, ptr %53) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %54) #6
  %562 = load ptr, ptr %6, align 8, !tbaa !5
  %563 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %562, i32 0, i32 24
  %564 = load i32, ptr %13, align 4, !tbaa !13
  %565 = zext i32 %564 to i64
  %566 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %563, i64 noundef %565) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %55) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %56) #6
  %567 = load ptr, ptr %6, align 8, !tbaa !5
  %568 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %567, i32 0, i32 22
  %569 = load i32, ptr %43, align 4, !tbaa !13
  %570 = zext i32 %569 to i64
  %571 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %568, i64 noundef %570) #6
  %572 = load ptr, ptr %571, align 8, !tbaa !5
  %573 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %572, i32 0, i32 4
  %574 = load ptr, ptr %6, align 8, !tbaa !5
  %575 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %574, i32 0, i32 22
  %576 = load i32, ptr %43, align 4, !tbaa !13
  %577 = zext i32 %576 to i64
  %578 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %575, i64 noundef %577) #6
  %579 = load ptr, ptr %578, align 8, !tbaa !5
  %580 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %579, i32 0, i32 5
  %581 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %573, ptr noundef nonnull align 1 dereferenceable(1) %580)
  %582 = getelementptr inbounds { ptr, ptr }, ptr %56, i32 0, i32 0
  %583 = extractvalue { ptr, ptr } %581, 0
  store ptr %583, ptr %582, align 8
  %584 = getelementptr inbounds { ptr, ptr }, ptr %56, i32 0, i32 1
  %585 = extractvalue { ptr, ptr } %581, 1
  store ptr %585, ptr %584, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %57) #6
  %586 = load ptr, ptr %6, align 8, !tbaa !5
  %587 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %586, i32 0, i32 22
  %588 = load i32, ptr %43, align 4, !tbaa !13
  %589 = zext i32 %588 to i64
  %590 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %587, i64 noundef %589) #6
  %591 = load ptr, ptr %590, align 8, !tbaa !5
  %592 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %591, i32 0, i32 4
  %593 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %592)
  %594 = getelementptr inbounds %"class.Eigen::Transpose.221", ptr %57, i32 0, i32 0
  store ptr %593, ptr %594, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEES3_Li0EEEEmlINS_9TransposeIS3_EEEEKNS1_IS4_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.532") align 8 %55, ptr noundef nonnull align 1 dereferenceable(1) %56, ptr noundef nonnull align 1 dereferenceable(1) %57)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS5_INS1_IdLin1ELin1ELi0ELin1ELin1EEES6_Li0EEENS_9TransposeIS6_EELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.526") align 8 %54, ptr noundef nonnull align 1 dereferenceable(1) %566, ptr noundef nonnull align 1 dereferenceable(1) %55)
  call void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESA_Li0EEENS1_9TransposeISA_EELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288) %53, ptr noundef nonnull align 1 dereferenceable(1) %54)
  call void @llvm.lifetime.end.p0(i64 8, ptr %57) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %56) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %55) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %54) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %58) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %59) #6
  call void @llvm.lifetime.start.p0(i64 288, ptr %60) #6
  %595 = load ptr, ptr %6, align 8, !tbaa !5
  %596 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %595, i32 0, i32 34
  %597 = load i32, ptr %13, align 4, !tbaa !13
  %598 = zext i32 %597 to i64
  %599 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %596, i64 noundef %598) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform17toMatrixTransposeEv(ptr dead_on_unwind writable sret(%class.SpatialMatrix_t) align 16 %60, ptr noundef nonnull align 8 dereferenceable(96) %599)
  %600 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %60, ptr noundef nonnull align 1 dereferenceable(1) %53)
  %601 = getelementptr inbounds { ptr, ptr }, ptr %59, i32 0, i32 0
  %602 = extractvalue { ptr, ptr } %600, 0
  store ptr %602, ptr %601, align 8
  %603 = getelementptr inbounds { ptr, ptr }, ptr %59, i32 0, i32 1
  %604 = extractvalue { ptr, ptr } %600, 1
  store ptr %604, ptr %603, align 8
  call void @llvm.lifetime.start.p0(i64 288, ptr %61) #6
  %605 = load ptr, ptr %6, align 8, !tbaa !5
  %606 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %605, i32 0, i32 34
  %607 = load i32, ptr %13, align 4, !tbaa !13
  %608 = zext i32 %607 to i64
  %609 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %606, i64 noundef %608) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind writable sret(%class.SpatialMatrix_t) align 16 %61, ptr noundef nonnull align 8 dereferenceable(96) %609)
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEES3_Li0EEEEmlIS3_EEKNS1_IS4_T_Li0EEERKNS0_IS7_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.443") align 8 %58, ptr noundef nonnull align 1 dereferenceable(1) %59, ptr noundef nonnull align 1 dereferenceable(1) %61)
  call void @llvm.lifetime.start.p0(i64 8, ptr %62) #6
  %610 = load ptr, ptr %6, align 8, !tbaa !5
  %611 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %610, i32 0, i32 24
  %612 = load i32, ptr %52, align 4, !tbaa !13
  %613 = zext i32 %612 to i64
  %614 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %611, i64 noundef %613) #6
  %615 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %614)
  %616 = getelementptr inbounds %"class.Eigen::NoAlias", ptr %62, i32 0, i32 0
  store ptr %615, ptr %616, align 8
  %617 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS_10MatrixBaseEEpLINS_7ProductINS6_IS2_S2_Li0EEES2_Li0EEEEERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %62, ptr noundef nonnull align 1 dereferenceable(1) %58)
  call void @llvm.lifetime.end.p0(i64 8, ptr %62) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr %61) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr %60) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %59) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %58) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr %53) #6
  br label %622

618:                                              ; preds = %476
  %619 = landingpad { ptr, i32 }
          cleanup
  %620 = extractvalue { ptr, i32 } %619, 0
  store ptr %620, ptr %50, align 8
  %621 = extractvalue { ptr, i32 } %619, 1
  store i32 %621, ptr %51, align 4
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %46) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %49) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %48) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %47) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %46) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %44) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %43) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #6
  br label %1302

622:                                              ; preds = %561, %552
  call void @llvm.lifetime.end.p0(i64 4, ptr %52) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %44) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %43) #6
  br label %623

623:                                              ; preds = %622, %467
  br label %624

624:                                              ; preds = %623, %466
  br label %625

625:                                              ; preds = %624, %337
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #6
  br label %626

626:                                              ; preds = %625
  %627 = load i32, ptr %13, align 4, !tbaa !13
  %628 = add i32 %627, -1
  store i32 %628, ptr %13, align 4, !tbaa !13
  br label %218, !llvm.loop !46

629:                                              ; preds = %221
  br label %630

630:                                              ; preds = %629, %209
  call void @llvm.lifetime.start.p0(i64 4, ptr %63) #6
  %631 = load ptr, ptr %6, align 8, !tbaa !5
  %632 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %631, i32 0, i32 38
  %633 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %632) #6
  %634 = sub i64 %633, 1
  %635 = trunc i64 %634 to i32
  store i32 %635, ptr %63, align 4, !tbaa !13
  br label %636

636:                                              ; preds = %978, %630
  %637 = load i32, ptr %63, align 4, !tbaa !13
  %638 = icmp ugt i32 %637, 0
  br i1 %638, label %640, label %639

639:                                              ; preds = %636
  call void @llvm.lifetime.end.p0(i64 4, ptr %63) #6
  br label %981

640:                                              ; preds = %636
  call void @llvm.lifetime.start.p0(i64 4, ptr %64) #6
  %641 = load ptr, ptr %6, align 8, !tbaa !5
  %642 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %641, i32 0, i32 10
  %643 = load i32, ptr %63, align 4, !tbaa !13
  %644 = zext i32 %643 to i64
  %645 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %642, i64 noundef %644) #6
  %646 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %645, i32 0, i32 3
  %647 = load i32, ptr %646, align 8, !tbaa !18
  store i32 %647, ptr %64, align 4, !tbaa !13
  %648 = load ptr, ptr %6, align 8, !tbaa !5
  %649 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %648, i32 0, i32 10
  %650 = load i32, ptr %63, align 4, !tbaa !13
  %651 = zext i32 %650 to i64
  %652 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %649, i64 noundef %651) #6
  %653 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %652, i32 0, i32 2
  %654 = load i32, ptr %653, align 4, !tbaa !21
  %655 = icmp eq i32 %654, 1
  br i1 %655, label %656, label %731

656:                                              ; preds = %640
  %657 = load ptr, ptr %6, align 8, !tbaa !5
  %658 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %657, i32 0, i32 10
  %659 = load i32, ptr %63, align 4, !tbaa !13
  %660 = zext i32 %659 to i64
  %661 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %658, i64 noundef %660) #6
  %662 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %661, i32 0, i32 1
  %663 = load i32, ptr %662, align 8, !tbaa !22
  %664 = icmp ne i32 %663, 21
  br i1 %664, label %665, label %731

665:                                              ; preds = %656
  %666 = load ptr, ptr %8, align 8, !tbaa !5
  %667 = load i32, ptr %64, align 4, !tbaa !13
  %668 = zext i32 %667 to i64
  %669 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %666, i64 noundef %668)
  %670 = load double, ptr %669, align 8, !tbaa !23
  %671 = load ptr, ptr %6, align 8, !tbaa !5
  %672 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %671, i32 0, i32 11
  %673 = load i32, ptr %63, align 4, !tbaa !13
  %674 = zext i32 %673 to i64
  %675 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %672, i64 noundef %674) #6
  %676 = load ptr, ptr %6, align 8, !tbaa !5
  %677 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %676, i32 0, i32 25
  %678 = load i32, ptr %63, align 4, !tbaa !13
  %679 = zext i32 %678 to i64
  %680 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %677, i64 noundef %679) #6
  %681 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %675, ptr noundef nonnull align 1 dereferenceable(1) %680)
  %682 = fsub double %670, %681
  %683 = load ptr, ptr %6, align 8, !tbaa !5
  %684 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %683, i32 0, i32 28
  %685 = load i32, ptr %63, align 4, !tbaa !13
  %686 = zext i32 %685 to i64
  %687 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %684, i64 noundef %686)
  store double %682, ptr %687, align 8, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 4, ptr %65) #6
  %688 = load ptr, ptr %6, align 8, !tbaa !5
  %689 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %688, i32 0, i32 0
  %690 = load i32, ptr %63, align 4, !tbaa !13
  %691 = zext i32 %690 to i64
  %692 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %689, i64 noundef %691) #6
  %693 = load i32, ptr %692, align 4, !tbaa !13
  store i32 %693, ptr %65, align 4, !tbaa !13
  %694 = load i32, ptr %65, align 4, !tbaa !13
  %695 = icmp ne i32 %694, 0
  br i1 %695, label %696, label %730

696:                                              ; preds = %665
  call void @llvm.lifetime.start.p0(i64 48, ptr %66) #6
  call void @llvm.lifetime.start.p0(i64 80, ptr %67) #6
  %697 = load ptr, ptr %6, align 8, !tbaa !5
  %698 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %697, i32 0, i32 25
  %699 = load i32, ptr %63, align 4, !tbaa !13
  %700 = zext i32 %699 to i64
  %701 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %698, i64 noundef %700) #6
  call void @llvm.lifetime.start.p0(i64 64, ptr %68) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %69) #6
  %702 = load ptr, ptr %6, align 8, !tbaa !5
  %703 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %702, i32 0, i32 26
  %704 = load i32, ptr %63, align 4, !tbaa !13
  %705 = zext i32 %704 to i64
  %706 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %703, i64 noundef %705) #6
  %707 = load ptr, ptr %6, align 8, !tbaa !5
  %708 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %707, i32 0, i32 28
  %709 = load i32, ptr %63, align 4, !tbaa !13
  %710 = zext i32 %709 to i64
  %711 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %708, i64 noundef %710)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8 %69, ptr noundef nonnull align 1 dereferenceable(1) %706, ptr noundef nonnull align 8 dereferenceable(8) %711)
  %712 = load ptr, ptr %6, align 8, !tbaa !5
  %713 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %712, i32 0, i32 27
  %714 = load i32, ptr %63, align 4, !tbaa !13
  %715 = zext i32 %714 to i64
  %716 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %713, i64 noundef %715)
  call void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEdvIdEEKNS1_INS2_18scalar_quotient_opIdNS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdSI_NSG_IdSI_EEEEEE5valueEE4typeEEEKSD_KNS2_19plain_constant_typeISD_SN_E4typeEEERKSI_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.435") align 8 %68, ptr noundef nonnull align 1 dereferenceable(1) %69, ptr noundef nonnull align 8 dereferenceable(8) %716)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS5_INS6_17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEESB_EEEESG_EEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEESB_KSM_EERKNS0_ISM_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.682") align 8 %67, ptr noundef nonnull align 1 dereferenceable(1) %701, ptr noundef nonnull align 1 dereferenceable(1) %68)
  call void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_18scalar_quotient_opIddEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEESH_EEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %66, ptr noundef nonnull align 1 dereferenceable(1) %67)
  call void @llvm.lifetime.end.p0(i64 32, ptr %69) #6
  call void @llvm.lifetime.end.p0(i64 64, ptr %68) #6
  call void @llvm.lifetime.end.p0(i64 80, ptr %67) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %70) #6
  %717 = load ptr, ptr %6, align 8, !tbaa !5
  %718 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %717, i32 0, i32 34
  %719 = load i32, ptr %63, align 4, !tbaa !13
  %720 = zext i32 %719 to i64
  %721 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %718, i64 noundef %720) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %70, ptr noundef nonnull align 8 dereferenceable(96) %721, ptr noundef nonnull align 16 dereferenceable(48) %66)
  call void @llvm.lifetime.start.p0(i64 8, ptr %71) #6
  %722 = load ptr, ptr %6, align 8, !tbaa !5
  %723 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %722, i32 0, i32 25
  %724 = load i32, ptr %65, align 4, !tbaa !13
  %725 = zext i32 %724 to i64
  %726 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %723, i64 noundef %725) #6
  %727 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %726)
  %728 = getelementptr inbounds %"class.Eigen::NoAlias.457", ptr %71, i32 0, i32 0
  store ptr %727, ptr %728, align 8
  %729 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEENS_10MatrixBaseEEpLIS2_EERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %71, ptr noundef nonnull align 1 dereferenceable(1) %70)
  call void @llvm.lifetime.end.p0(i64 8, ptr %71) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %70) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %66) #6
  br label %730

730:                                              ; preds = %696, %665
  call void @llvm.lifetime.end.p0(i64 4, ptr %65) #6
  br label %977

731:                                              ; preds = %656, %640
  %732 = load ptr, ptr %6, align 8, !tbaa !5
  %733 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %732, i32 0, i32 10
  %734 = load i32, ptr %63, align 4, !tbaa !13
  %735 = zext i32 %734 to i64
  %736 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %733, i64 noundef %735) #6
  %737 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %736, i32 0, i32 2
  %738 = load i32, ptr %737, align 4, !tbaa !21
  %739 = icmp eq i32 %738, 3
  br i1 %739, label %740, label %835

740:                                              ; preds = %731
  %741 = load ptr, ptr %6, align 8, !tbaa !5
  %742 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %741, i32 0, i32 10
  %743 = load i32, ptr %63, align 4, !tbaa !13
  %744 = zext i32 %743 to i64
  %745 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %742, i64 noundef %744) #6
  %746 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %745, i32 0, i32 1
  %747 = load i32, ptr %746, align 8, !tbaa !22
  %748 = icmp ne i32 %747, 21
  br i1 %748, label %749, label %835

749:                                              ; preds = %740
  call void @llvm.lifetime.start.p0(i64 24, ptr %72) #6
  %750 = load ptr, ptr %8, align 8, !tbaa !5
  %751 = load i32, ptr %64, align 4, !tbaa !13
  %752 = zext i32 %751 to i64
  %753 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %750, i64 noundef %752)
  %754 = load ptr, ptr %8, align 8, !tbaa !5
  %755 = load i32, ptr %64, align 4, !tbaa !13
  %756 = add i32 %755, 1
  %757 = zext i32 %756 to i64
  %758 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %754, i64 noundef %757)
  %759 = load ptr, ptr %8, align 8, !tbaa !5
  %760 = load i32, ptr %64, align 4, !tbaa !13
  %761 = add i32 %760, 2
  %762 = zext i32 %761 to i64
  %763 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %759, i64 noundef %762)
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %72, ptr noundef nonnull align 8 dereferenceable(8) %753, ptr noundef nonnull align 8 dereferenceable(8) %758, ptr noundef nonnull align 8 dereferenceable(8) %763)
  call void @llvm.lifetime.start.p0(i64 32, ptr %73) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %74) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %75) #6
  %764 = load ptr, ptr %6, align 8, !tbaa !5
  %765 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %764, i32 0, i32 17
  %766 = load i32, ptr %63, align 4, !tbaa !13
  %767 = zext i32 %766 to i64
  %768 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %765, i64 noundef %767) #6
  %769 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %768)
  %770 = getelementptr inbounds %"class.Eigen::Transpose", ptr %75, i32 0, i32 0
  store ptr %769, ptr %770, align 8
  %771 = load ptr, ptr %6, align 8, !tbaa !5
  %772 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %771, i32 0, i32 25
  %773 = load i32, ptr %63, align 4, !tbaa !13
  %774 = zext i32 %773 to i64
  %775 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %772, i64 noundef %774) #6
  %776 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %75, ptr noundef nonnull align 1 dereferenceable(1) %775)
  %777 = getelementptr inbounds { ptr, ptr }, ptr %74, i32 0, i32 0
  %778 = extractvalue { ptr, ptr } %776, 0
  store ptr %778, ptr %777, align 8
  %779 = getelementptr inbounds { ptr, ptr }, ptr %74, i32 0, i32 1
  %780 = extractvalue { ptr, ptr } %776, 1
  store ptr %780, ptr %779, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.471") align 8 %73, ptr noundef nonnull align 1 dereferenceable(1) %72, ptr noundef nonnull align 1 dereferenceable(1) %74)
  %781 = load ptr, ptr %6, align 8, !tbaa !5
  %782 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %781, i32 0, i32 20
  %783 = load i32, ptr %63, align 4, !tbaa !13
  %784 = zext i32 %783 to i64
  %785 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %782, i64 noundef %784) #6
  %786 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_7ProductINS1_9TransposeINS6_IdLi6ELi3ELi0ELi6ELi3EEEEENS6_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %785, ptr noundef nonnull align 1 dereferenceable(1) %73)
  call void @llvm.lifetime.end.p0(i64 8, ptr %75) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %74) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %73) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %76) #6
  %787 = load ptr, ptr %6, align 8, !tbaa !5
  %788 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %787, i32 0, i32 0
  %789 = load i32, ptr %63, align 4, !tbaa !13
  %790 = zext i32 %789 to i64
  %791 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %788, i64 noundef %790) #6
  %792 = load i32, ptr %791, align 4, !tbaa !13
  store i32 %792, ptr %76, align 4, !tbaa !13
  %793 = load i32, ptr %76, align 4, !tbaa !13
  %794 = icmp ne i32 %793, 0
  br i1 %794, label %795, label %834

795:                                              ; preds = %749
  call void @llvm.lifetime.start.p0(i64 48, ptr %77) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %78) #6
  %796 = load ptr, ptr %6, align 8, !tbaa !5
  %797 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %796, i32 0, i32 25
  %798 = load i32, ptr %63, align 4, !tbaa !13
  %799 = zext i32 %798 to i64
  %800 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %797, i64 noundef %799) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %79) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %80) #6
  %801 = load ptr, ptr %6, align 8, !tbaa !5
  %802 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %801, i32 0, i32 18
  %803 = load i32, ptr %63, align 4, !tbaa !13
  %804 = zext i32 %803 to i64
  %805 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %802, i64 noundef %804) #6
  %806 = load ptr, ptr %6, align 8, !tbaa !5
  %807 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %806, i32 0, i32 19
  %808 = load i32, ptr %63, align 4, !tbaa !13
  %809 = zext i32 %808 to i64
  %810 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %807, i64 noundef %809) #6
  %811 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %805, ptr noundef nonnull align 1 dereferenceable(1) %810)
  %812 = getelementptr inbounds { ptr, ptr }, ptr %80, i32 0, i32 0
  %813 = extractvalue { ptr, ptr } %811, 0
  store ptr %813, ptr %812, align 8
  %814 = getelementptr inbounds { ptr, ptr }, ptr %80, i32 0, i32 1
  %815 = extractvalue { ptr, ptr } %811, 1
  store ptr %815, ptr %814, align 8
  %816 = load ptr, ptr %6, align 8, !tbaa !5
  %817 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %816, i32 0, i32 20
  %818 = load i32, ptr %63, align 4, !tbaa !13
  %819 = zext i32 %818 to i64
  %820 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %817, i64 noundef %819) #6
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS2_IdLi3ELi3ELi0ELi3ELi3EEELi0EEEEmlINS2_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS1_IS5_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.505") align 8 %79, ptr noundef nonnull align 1 dereferenceable(1) %80, ptr noundef nonnull align 1 dereferenceable(1) %820)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS5_INS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.689") align 8 %78, ptr noundef nonnull align 1 dereferenceable(1) %800, ptr noundef nonnull align 1 dereferenceable(1) %79)
  call void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %77, ptr noundef nonnull align 1 dereferenceable(1) %78)
  call void @llvm.lifetime.end.p0(i64 16, ptr %80) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %79) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %78) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %81) #6
  %821 = load ptr, ptr %6, align 8, !tbaa !5
  %822 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %821, i32 0, i32 34
  %823 = load i32, ptr %63, align 4, !tbaa !13
  %824 = zext i32 %823 to i64
  %825 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %822, i64 noundef %824) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %81, ptr noundef nonnull align 8 dereferenceable(96) %825, ptr noundef nonnull align 16 dereferenceable(48) %77)
  call void @llvm.lifetime.start.p0(i64 8, ptr %82) #6
  %826 = load ptr, ptr %6, align 8, !tbaa !5
  %827 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %826, i32 0, i32 25
  %828 = load i32, ptr %76, align 4, !tbaa !13
  %829 = zext i32 %828 to i64
  %830 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %827, i64 noundef %829) #6
  %831 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %830)
  %832 = getelementptr inbounds %"class.Eigen::NoAlias.457", ptr %82, i32 0, i32 0
  store ptr %831, ptr %832, align 8
  %833 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEENS_10MatrixBaseEEpLIS2_EERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %82, ptr noundef nonnull align 1 dereferenceable(1) %81)
  call void @llvm.lifetime.end.p0(i64 8, ptr %82) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %81) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %77) #6
  br label %834

834:                                              ; preds = %795, %749
  call void @llvm.lifetime.end.p0(i64 4, ptr %76) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %72) #6
  br label %976

835:                                              ; preds = %740, %731
  %836 = load ptr, ptr %6, align 8, !tbaa !5
  %837 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %836, i32 0, i32 10
  %838 = load i32, ptr %63, align 4, !tbaa !13
  %839 = zext i32 %838 to i64
  %840 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %837, i64 noundef %839) #6
  %841 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %840, i32 0, i32 1
  %842 = load i32, ptr %841, align 8, !tbaa !22
  %843 = icmp eq i32 %842, 21
  br i1 %843, label %844, label %975

844:                                              ; preds = %835
  call void @llvm.lifetime.start.p0(i64 4, ptr %83) #6
  %845 = load ptr, ptr %6, align 8, !tbaa !5
  %846 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %845, i32 0, i32 10
  %847 = load i32, ptr %63, align 4, !tbaa !13
  %848 = zext i32 %847 to i64
  %849 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %846, i64 noundef %848) #6
  %850 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %849, i32 0, i32 4
  %851 = load i32, ptr %850, align 4, !tbaa !25
  store i32 %851, ptr %83, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %84) #6
  %852 = load ptr, ptr %6, align 8, !tbaa !5
  %853 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %852, i32 0, i32 22
  %854 = load i32, ptr %83, align 4, !tbaa !13
  %855 = zext i32 %854 to i64
  %856 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %853, i64 noundef %855) #6
  %857 = load ptr, ptr %856, align 8, !tbaa !5
  %858 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %857, i32 0, i32 1
  %859 = load i32, ptr %858, align 8, !tbaa !26
  store i32 %859, ptr %84, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 16, ptr %85) #6
  call void @llvm.lifetime.start.p0(i64 56, ptr %86) #6
  %860 = load ptr, ptr %8, align 8, !tbaa !5
  %861 = load i32, ptr %64, align 4, !tbaa !13
  %862 = zext i32 %861 to i64
  %863 = load i32, ptr %84, align 4, !tbaa !13
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEEKNS3_18ConstFixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block.462") align 8 %86, ptr noundef nonnull align 1 dereferenceable(1) %860, i64 noundef %862, i64 noundef 0, i32 noundef %863, i32 noundef 1)
  call void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_5BlockIKS1_Lin1ELin1ELb0EEEEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %85, ptr noundef nonnull align 8 dereferenceable(56) %86)
  call void @llvm.lifetime.end.p0(i64 56, ptr %86) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %87) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %88) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %89) #6
  %864 = load ptr, ptr %6, align 8, !tbaa !5
  %865 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %864, i32 0, i32 22
  %866 = load i32, ptr %83, align 4, !tbaa !13
  %867 = zext i32 %866 to i64
  %868 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %865, i64 noundef %867) #6
  %869 = load ptr, ptr %868, align 8, !tbaa !5
  %870 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %869, i32 0, i32 3
  %871 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %870)
          to label %872 unwind label %955

872:                                              ; preds = %844
  %873 = getelementptr inbounds %"class.Eigen::Transpose.221", ptr %89, i32 0, i32 0
  store ptr %871, ptr %873, align 8
  %874 = load ptr, ptr %6, align 8, !tbaa !5
  %875 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %874, i32 0, i32 25
  %876 = load i32, ptr %63, align 4, !tbaa !13
  %877 = zext i32 %876 to i64
  %878 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %875, i64 noundef %877) #6
  %879 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %89, ptr noundef nonnull align 1 dereferenceable(1) %878)
          to label %880 unwind label %955

880:                                              ; preds = %872
  %881 = getelementptr inbounds { ptr, ptr }, ptr %88, i32 0, i32 0
  %882 = extractvalue { ptr, ptr } %879, 0
  store ptr %882, ptr %881, align 8
  %883 = getelementptr inbounds { ptr, ptr }, ptr %88, i32 0, i32 1
  %884 = extractvalue { ptr, ptr } %879, 1
  store ptr %884, ptr %883, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.519") align 8 %87, ptr noundef nonnull align 1 dereferenceable(1) %85, ptr noundef nonnull align 1 dereferenceable(1) %88)
          to label %885 unwind label %955

885:                                              ; preds = %880
  %886 = load ptr, ptr %6, align 8, !tbaa !5
  %887 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %886, i32 0, i32 22
  %888 = load i32, ptr %83, align 4, !tbaa !13
  %889 = zext i32 %888 to i64
  %890 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %887, i64 noundef %889) #6
  %891 = load ptr, ptr %890, align 8, !tbaa !5
  %892 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %891, i32 0, i32 6
  %893 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS_7ProductINS_9TransposeINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %892, ptr noundef nonnull align 1 dereferenceable(1) %87)
          to label %894 unwind label %955

894:                                              ; preds = %885
  call void @llvm.lifetime.end.p0(i64 8, ptr %89) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %88) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %87) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %90) #6
  %895 = load ptr, ptr %6, align 8, !tbaa !5
  %896 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %895, i32 0, i32 0
  %897 = load i32, ptr %63, align 4, !tbaa !13
  %898 = zext i32 %897 to i64
  %899 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %896, i64 noundef %898) #6
  %900 = load i32, ptr %899, align 4, !tbaa !13
  store i32 %900, ptr %90, align 4, !tbaa !13
  %901 = load i32, ptr %90, align 4, !tbaa !13
  %902 = icmp ne i32 %901, 0
  br i1 %902, label %903, label %973

903:                                              ; preds = %894
  call void @llvm.lifetime.start.p0(i64 48, ptr %91) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %92) #6
  %904 = load ptr, ptr %6, align 8, !tbaa !5
  %905 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %904, i32 0, i32 25
  %906 = load i32, ptr %63, align 4, !tbaa !13
  %907 = zext i32 %906 to i64
  %908 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %905, i64 noundef %907) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %93) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %94) #6
  %909 = load ptr, ptr %6, align 8, !tbaa !5
  %910 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %909, i32 0, i32 22
  %911 = load i32, ptr %83, align 4, !tbaa !13
  %912 = zext i32 %911 to i64
  %913 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %910, i64 noundef %912) #6
  %914 = load ptr, ptr %913, align 8, !tbaa !5
  %915 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %914, i32 0, i32 4
  %916 = load ptr, ptr %6, align 8, !tbaa !5
  %917 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %916, i32 0, i32 22
  %918 = load i32, ptr %83, align 4, !tbaa !13
  %919 = zext i32 %918 to i64
  %920 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %917, i64 noundef %919) #6
  %921 = load ptr, ptr %920, align 8, !tbaa !5
  %922 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %921, i32 0, i32 5
  %923 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %915, ptr noundef nonnull align 1 dereferenceable(1) %922)
          to label %924 unwind label %959

924:                                              ; preds = %903
  %925 = getelementptr inbounds { ptr, ptr }, ptr %94, i32 0, i32 0
  %926 = extractvalue { ptr, ptr } %923, 0
  store ptr %926, ptr %925, align 8
  %927 = getelementptr inbounds { ptr, ptr }, ptr %94, i32 0, i32 1
  %928 = extractvalue { ptr, ptr } %923, 1
  store ptr %928, ptr %927, align 8
  %929 = load ptr, ptr %6, align 8, !tbaa !5
  %930 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %929, i32 0, i32 22
  %931 = load i32, ptr %83, align 4, !tbaa !13
  %932 = zext i32 %931 to i64
  %933 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %930, i64 noundef %932) #6
  %934 = load ptr, ptr %933, align 8, !tbaa !5
  %935 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %934, i32 0, i32 6
  invoke void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEES3_Li0EEEEmlINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS1_IS4_T_Li0EEERKNS0_IS8_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.553") align 8 %93, ptr noundef nonnull align 1 dereferenceable(1) %94, ptr noundef nonnull align 1 dereferenceable(1) %935)
          to label %936 unwind label %959

936:                                              ; preds = %924
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS5_INS1_IdLin1ELin1ELi0ELin1ELin1EEES6_Li0EEENS1_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSB_6traitsIT_E6ScalarEEEKS2_KSE_EERKNS0_ISE_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.696") align 8 %92, ptr noundef nonnull align 1 dereferenceable(1) %908, ptr noundef nonnull align 1 dereferenceable(1) %93)
          to label %937 unwind label %959

937:                                              ; preds = %936
  invoke void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESA_Li0EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %91, ptr noundef nonnull align 1 dereferenceable(1) %92)
          to label %938 unwind label %959

938:                                              ; preds = %937
  call void @llvm.lifetime.end.p0(i64 16, ptr %94) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %93) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %92) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %95) #6
  %939 = load ptr, ptr %6, align 8, !tbaa !5
  %940 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %939, i32 0, i32 34
  %941 = load i32, ptr %63, align 4, !tbaa !13
  %942 = zext i32 %941 to i64
  %943 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %940, i64 noundef %942) #6
  invoke void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %95, ptr noundef nonnull align 8 dereferenceable(96) %943, ptr noundef nonnull align 16 dereferenceable(48) %91)
          to label %944 unwind label %963

944:                                              ; preds = %938
  call void @llvm.lifetime.start.p0(i64 8, ptr %96) #6
  %945 = load ptr, ptr %6, align 8, !tbaa !5
  %946 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %945, i32 0, i32 25
  %947 = load i32, ptr %90, align 4, !tbaa !13
  %948 = zext i32 %947 to i64
  %949 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %946, i64 noundef %948) #6
  %950 = invoke ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %949)
          to label %951 unwind label %967

951:                                              ; preds = %944
  %952 = getelementptr inbounds %"class.Eigen::NoAlias.457", ptr %96, i32 0, i32 0
  store ptr %950, ptr %952, align 8
  %953 = invoke noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEENS_10MatrixBaseEEpLIS2_EERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %96, ptr noundef nonnull align 1 dereferenceable(1) %95)
          to label %954 unwind label %967

954:                                              ; preds = %951
  call void @llvm.lifetime.end.p0(i64 8, ptr %96) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %95) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %91) #6
  br label %973

955:                                              ; preds = %885, %880, %872, %844
  %956 = landingpad { ptr, i32 }
          cleanup
  %957 = extractvalue { ptr, i32 } %956, 0
  store ptr %957, ptr %50, align 8
  %958 = extractvalue { ptr, i32 } %956, 1
  store i32 %958, ptr %51, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %89) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %88) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %87) #6
  br label %974

959:                                              ; preds = %937, %936, %924, %903
  %960 = landingpad { ptr, i32 }
          cleanup
  %961 = extractvalue { ptr, i32 } %960, 0
  store ptr %961, ptr %50, align 8
  %962 = extractvalue { ptr, i32 } %960, 1
  store i32 %962, ptr %51, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %94) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %93) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %92) #6
  br label %972

963:                                              ; preds = %938
  %964 = landingpad { ptr, i32 }
          cleanup
  %965 = extractvalue { ptr, i32 } %964, 0
  store ptr %965, ptr %50, align 8
  %966 = extractvalue { ptr, i32 } %964, 1
  store i32 %966, ptr %51, align 4
  br label %971

967:                                              ; preds = %951, %944
  %968 = landingpad { ptr, i32 }
          cleanup
  %969 = extractvalue { ptr, i32 } %968, 0
  store ptr %969, ptr %50, align 8
  %970 = extractvalue { ptr, i32 } %968, 1
  store i32 %970, ptr %51, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %96) #6
  br label %971

971:                                              ; preds = %967, %963
  call void @llvm.lifetime.end.p0(i64 48, ptr %95) #6
  br label %972

972:                                              ; preds = %971, %959
  call void @llvm.lifetime.end.p0(i64 48, ptr %91) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %90) #6
  br label %974

973:                                              ; preds = %954, %894
  call void @llvm.lifetime.end.p0(i64 4, ptr %90) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %85) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %85) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %84) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %83) #6
  br label %975

974:                                              ; preds = %972, %955
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %85) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %85) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %84) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %83) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %64) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %63) #6
  br label %1302

975:                                              ; preds = %973, %835
  br label %976

976:                                              ; preds = %975, %834
  br label %977

977:                                              ; preds = %976, %730
  call void @llvm.lifetime.end.p0(i64 4, ptr %64) #6
  br label %978

978:                                              ; preds = %977
  %979 = load i32, ptr %63, align 4, !tbaa !13
  %980 = add i32 %979, -1
  store i32 %980, ptr %63, align 4, !tbaa !13
  br label %636, !llvm.loop !47

981:                                              ; preds = %639
  call void @llvm.lifetime.start.p0(i64 4, ptr %97) #6
  store i32 1, ptr %97, align 4, !tbaa !13
  br label %982

982:                                              ; preds = %1298, %981
  %983 = load i32, ptr %97, align 4, !tbaa !13
  %984 = zext i32 %983 to i64
  %985 = load ptr, ptr %6, align 8, !tbaa !5
  %986 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %985, i32 0, i32 38
  %987 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %986) #6
  %988 = icmp ult i64 %984, %987
  br i1 %988, label %990, label %989

989:                                              ; preds = %982
  store i32 14, ptr %98, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %97) #6
  br label %1301

990:                                              ; preds = %982
  call void @llvm.lifetime.start.p0(i64 4, ptr %99) #6
  %991 = load ptr, ptr %6, align 8, !tbaa !5
  %992 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %991, i32 0, i32 10
  %993 = load i32, ptr %97, align 4, !tbaa !13
  %994 = zext i32 %993 to i64
  %995 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %992, i64 noundef %994) #6
  %996 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %995, i32 0, i32 3
  %997 = load i32, ptr %996, align 8, !tbaa !18
  store i32 %997, ptr %99, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %100) #6
  %998 = load ptr, ptr %6, align 8, !tbaa !5
  %999 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %998, i32 0, i32 0
  %1000 = load i32, ptr %97, align 4, !tbaa !13
  %1001 = zext i32 %1000 to i64
  %1002 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %999, i64 noundef %1001) #6
  %1003 = load i32, ptr %1002, align 4, !tbaa !13
  store i32 %1003, ptr %100, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 96, ptr %101) #6
  %1004 = load ptr, ptr %6, align 8, !tbaa !5
  %1005 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1004, i32 0, i32 34
  %1006 = load i32, ptr %97, align 4, !tbaa !13
  %1007 = zext i32 %1006 to i64
  %1008 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1005, i64 noundef %1007) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2ERKS1_(ptr noundef nonnull align 8 dereferenceable(96) %101, ptr noundef nonnull align 8 dereferenceable(96) %1008)
  call void @llvm.lifetime.start.p0(i64 24, ptr %102) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %103) #6
  %1009 = load ptr, ptr %6, align 8, !tbaa !5
  %1010 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1009, i32 0, i32 9
  %1011 = load i32, ptr %100, align 4, !tbaa !13
  %1012 = zext i32 %1011 to i64
  %1013 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1010, i64 noundef %1012) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %103, ptr noundef nonnull align 8 dereferenceable(96) %101, ptr noundef nonnull align 16 dereferenceable(48) %1013)
  %1014 = load ptr, ptr %6, align 8, !tbaa !5
  %1015 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1014, i32 0, i32 23
  %1016 = load i32, ptr %97, align 4, !tbaa !13
  %1017 = zext i32 %1016 to i64
  %1018 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1015, i64 noundef %1017) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %102, ptr noundef nonnull align 1 dereferenceable(1) %103, ptr noundef nonnull align 1 dereferenceable(1) %1018)
  %1019 = load ptr, ptr %6, align 8, !tbaa !5
  %1020 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1019, i32 0, i32 9
  %1021 = load i32, ptr %97, align 4, !tbaa !13
  %1022 = zext i32 %1021 to i64
  %1023 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1020, i64 noundef %1022) #6
  %1024 = 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) %1023, ptr noundef nonnull align 1 dereferenceable(1) %102)
  call void @llvm.lifetime.end.p0(i64 48, ptr %103) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %102) #6
  %1025 = load ptr, ptr %6, align 8, !tbaa !5
  %1026 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1025, i32 0, i32 10
  %1027 = load i32, ptr %97, align 4, !tbaa !13
  %1028 = zext i32 %1027 to i64
  %1029 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1026, i64 noundef %1028) #6
  %1030 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %1029, i32 0, i32 2
  %1031 = load i32, ptr %1030, align 4, !tbaa !21
  %1032 = icmp eq i32 %1031, 1
  br i1 %1032, label %1033, label %1093

1033:                                             ; preds = %990
  %1034 = load ptr, ptr %6, align 8, !tbaa !5
  %1035 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1034, i32 0, i32 10
  %1036 = load i32, ptr %97, align 4, !tbaa !13
  %1037 = zext i32 %1036 to i64
  %1038 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1035, i64 noundef %1037) #6
  %1039 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %1038, i32 0, i32 1
  %1040 = load i32, ptr %1039, align 8, !tbaa !22
  %1041 = icmp ne i32 %1040, 21
  br i1 %1041, label %1042, label %1093

1042:                                             ; preds = %1033
  %1043 = load ptr, ptr %6, align 8, !tbaa !5
  %1044 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1043, i32 0, i32 27
  %1045 = load i32, ptr %97, align 4, !tbaa !13
  %1046 = zext i32 %1045 to i64
  %1047 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %1044, i64 noundef %1046)
  %1048 = load double, ptr %1047, align 8, !tbaa !23
  %1049 = fdiv double 1.000000e+00, %1048
  %1050 = load ptr, ptr %6, align 8, !tbaa !5
  %1051 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1050, i32 0, i32 28
  %1052 = load i32, ptr %97, align 4, !tbaa !13
  %1053 = zext i32 %1052 to i64
  %1054 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %1051, i64 noundef %1053)
  %1055 = load double, ptr %1054, align 8, !tbaa !23
  %1056 = load ptr, ptr %6, align 8, !tbaa !5
  %1057 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1056, i32 0, i32 26
  %1058 = load i32, ptr %97, align 4, !tbaa !13
  %1059 = zext i32 %1058 to i64
  %1060 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1057, i64 noundef %1059) #6
  %1061 = load ptr, ptr %6, align 8, !tbaa !5
  %1062 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1061, i32 0, i32 9
  %1063 = load i32, ptr %97, align 4, !tbaa !13
  %1064 = zext i32 %1063 to i64
  %1065 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1062, i64 noundef %1064) #6
  %1066 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %1060, ptr noundef nonnull align 1 dereferenceable(1) %1065)
  %1067 = fsub double %1055, %1066
  %1068 = fmul double %1049, %1067
  %1069 = load ptr, ptr %9, align 8, !tbaa !5
  %1070 = load i32, ptr %99, align 4, !tbaa !13
  %1071 = zext i32 %1070 to i64
  %1072 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %1069, i64 noundef %1071)
  store double %1068, ptr %1072, align 8, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 48, ptr %104) #6
  %1073 = load ptr, ptr %6, align 8, !tbaa !5
  %1074 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1073, i32 0, i32 9
  %1075 = load i32, ptr %97, align 4, !tbaa !13
  %1076 = zext i32 %1075 to i64
  %1077 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1074, i64 noundef %1076) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %105) #6
  %1078 = load ptr, ptr %6, align 8, !tbaa !5
  %1079 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1078, i32 0, i32 11
  %1080 = load i32, ptr %97, align 4, !tbaa !13
  %1081 = zext i32 %1080 to i64
  %1082 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1079, i64 noundef %1081) #6
  %1083 = load ptr, ptr %9, align 8, !tbaa !5
  %1084 = load i32, ptr %99, align 4, !tbaa !13
  %1085 = zext i32 %1084 to i64
  %1086 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %1083, i64 noundef %1085)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8 %105, ptr noundef nonnull align 1 dereferenceable(1) %1082, ptr noundef nonnull align 8 dereferenceable(8) %1086)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEES9_EEEEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEES9_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.561") align 8 %104, ptr noundef nonnull align 1 dereferenceable(1) %1077, ptr noundef nonnull align 1 dereferenceable(1) %105)
  %1087 = load ptr, ptr %6, align 8, !tbaa !5
  %1088 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1087, i32 0, i32 9
  %1089 = load i32, ptr %97, align 4, !tbaa !13
  %1090 = zext i32 %1089 to i64
  %1091 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1088, i64 noundef %1090) #6
  %1092 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %1091, ptr noundef nonnull align 1 dereferenceable(1) %104)
  call void @llvm.lifetime.end.p0(i64 32, ptr %105) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %104) #6
  br label %1297

1093:                                             ; preds = %1033, %990
  %1094 = load ptr, ptr %6, align 8, !tbaa !5
  %1095 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1094, i32 0, i32 10
  %1096 = load i32, ptr %97, align 4, !tbaa !13
  %1097 = zext i32 %1096 to i64
  %1098 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1095, i64 noundef %1097) #6
  %1099 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %1098, i32 0, i32 2
  %1100 = load i32, ptr %1099, align 4, !tbaa !21
  %1101 = icmp eq i32 %1100, 3
  br i1 %1101, label %1102, label %1180

1102:                                             ; preds = %1093
  %1103 = load ptr, ptr %6, align 8, !tbaa !5
  %1104 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1103, i32 0, i32 10
  %1105 = load i32, ptr %97, align 4, !tbaa !13
  %1106 = zext i32 %1105 to i64
  %1107 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1104, i64 noundef %1106) #6
  %1108 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %1107, i32 0, i32 1
  %1109 = load i32, ptr %1108, align 8, !tbaa !22
  %1110 = icmp ne i32 %1109, 21
  br i1 %1110, label %1111, label %1180

1111:                                             ; preds = %1102
  call void @llvm.lifetime.start.p0(i64 24, ptr %106) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %107) #6
  %1112 = load ptr, ptr %6, align 8, !tbaa !5
  %1113 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1112, i32 0, i32 19
  %1114 = load i32, ptr %97, align 4, !tbaa !13
  %1115 = zext i32 %1114 to i64
  %1116 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1113, i64 noundef %1115) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %108) #6
  %1117 = load ptr, ptr %6, align 8, !tbaa !5
  %1118 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1117, i32 0, i32 20
  %1119 = load i32, ptr %97, align 4, !tbaa !13
  %1120 = zext i32 %1119 to i64
  %1121 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1118, i64 noundef %1120) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %109) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %110) #6
  %1122 = load ptr, ptr %6, align 8, !tbaa !5
  %1123 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1122, i32 0, i32 18
  %1124 = load i32, ptr %97, align 4, !tbaa !13
  %1125 = zext i32 %1124 to i64
  %1126 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1123, i64 noundef %1125) #6
  %1127 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %1126)
  %1128 = getelementptr inbounds %"class.Eigen::Transpose", ptr %110, i32 0, i32 0
  store ptr %1127, ptr %1128, align 8
  %1129 = load ptr, ptr %6, align 8, !tbaa !5
  %1130 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1129, i32 0, i32 9
  %1131 = load i32, ptr %97, align 4, !tbaa !13
  %1132 = zext i32 %1131 to i64
  %1133 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1130, i64 noundef %1132) #6
  %1134 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %110, ptr noundef nonnull align 1 dereferenceable(1) %1133)
  %1135 = getelementptr inbounds { ptr, ptr }, ptr %109, i32 0, i32 0
  %1136 = extractvalue { ptr, ptr } %1134, 0
  store ptr %1136, ptr %1135, align 8
  %1137 = getelementptr inbounds { ptr, ptr }, ptr %109, i32 0, i32 1
  %1138 = extractvalue { ptr, ptr } %1134, 1
  store ptr %1138, ptr %1137, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.471") align 8 %108, ptr noundef nonnull align 1 dereferenceable(1) %1121, ptr noundef nonnull align 1 dereferenceable(1) %109)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEmlINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKNS1_IdLi3ELi1ELi0ELi3ELi1EEEKNS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEEKNSB_IS2_T_Li0EEERKNS0_ISJ_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.568") align 8 %107, ptr noundef nonnull align 1 dereferenceable(1) %1116, ptr noundef nonnull align 1 dereferenceable(1) %108)
  call void @_ZN9Vector3_tC2IN5Eigen7ProductINS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEENS1_13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS3_IdLi3ELi1ELi0ELi3ELi1EEEKNS2_INS1_9TransposeINS3_IdLi6ELi3ELi0ELi6ELi3EEEEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %106, ptr noundef nonnull align 1 dereferenceable(1) %107)
  call void @llvm.lifetime.end.p0(i64 8, ptr %110) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %109) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %108) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %107) #6
  %1139 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %106, i64 noundef 0)
  %1140 = load double, ptr %1139, align 8, !tbaa !23
  %1141 = load ptr, ptr %9, align 8, !tbaa !5
  %1142 = load i32, ptr %99, align 4, !tbaa !13
  %1143 = zext i32 %1142 to i64
  %1144 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %1141, i64 noundef %1143)
  store double %1140, ptr %1144, align 8, !tbaa !23
  %1145 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %106, i64 noundef 1)
  %1146 = load double, ptr %1145, align 8, !tbaa !23
  %1147 = load ptr, ptr %9, align 8, !tbaa !5
  %1148 = load i32, ptr %99, align 4, !tbaa !13
  %1149 = add i32 %1148, 1
  %1150 = zext i32 %1149 to i64
  %1151 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %1147, i64 noundef %1150)
  store double %1146, ptr %1151, align 8, !tbaa !23
  %1152 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %106, i64 noundef 2)
  %1153 = load double, ptr %1152, align 8, !tbaa !23
  %1154 = load ptr, ptr %9, align 8, !tbaa !5
  %1155 = load i32, ptr %99, align 4, !tbaa !13
  %1156 = add i32 %1155, 2
  %1157 = zext i32 %1156 to i64
  %1158 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %1154, i64 noundef %1157)
  store double %1153, ptr %1158, align 8, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 32, ptr %111) #6
  %1159 = load ptr, ptr %6, align 8, !tbaa !5
  %1160 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1159, i32 0, i32 9
  %1161 = load i32, ptr %97, align 4, !tbaa !13
  %1162 = zext i32 %1161 to i64
  %1163 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1160, i64 noundef %1162) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %112) #6
  %1164 = load ptr, ptr %6, align 8, !tbaa !5
  %1165 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1164, i32 0, i32 17
  %1166 = load i32, ptr %97, align 4, !tbaa !13
  %1167 = zext i32 %1166 to i64
  %1168 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1165, i64 noundef %1167) #6
  %1169 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %1168, ptr noundef nonnull align 1 dereferenceable(1) %106)
  %1170 = getelementptr inbounds { ptr, ptr }, ptr %112, i32 0, i32 0
  %1171 = extractvalue { ptr, ptr } %1169, 0
  store ptr %1171, ptr %1170, align 8
  %1172 = getelementptr inbounds { ptr, ptr }, ptr %112, i32 0, i32 1
  %1173 = extractvalue { ptr, ptr } %1169, 1
  store ptr %1173, ptr %1172, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.575") align 8 %111, ptr noundef nonnull align 1 dereferenceable(1) %1163, ptr noundef nonnull align 1 dereferenceable(1) %112)
  %1174 = load ptr, ptr %6, align 8, !tbaa !5
  %1175 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1174, i32 0, i32 9
  %1176 = load i32, ptr %97, align 4, !tbaa !13
  %1177 = zext i32 %1176 to i64
  %1178 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1175, i64 noundef %1177) #6
  %1179 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %1178, ptr noundef nonnull align 1 dereferenceable(1) %111)
  call void @llvm.lifetime.end.p0(i64 16, ptr %112) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %111) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %106) #6
  br label %1296

1180:                                             ; preds = %1102, %1093
  %1181 = load ptr, ptr %6, align 8, !tbaa !5
  %1182 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1181, i32 0, i32 10
  %1183 = load i32, ptr %97, align 4, !tbaa !13
  %1184 = zext i32 %1183 to i64
  %1185 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1182, i64 noundef %1184) #6
  %1186 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %1185, i32 0, i32 1
  %1187 = load i32, ptr %1186, align 8, !tbaa !22
  %1188 = icmp eq i32 %1187, 21
  br i1 %1188, label %1189, label %1295

1189:                                             ; preds = %1180
  call void @llvm.lifetime.start.p0(i64 4, ptr %113) #6
  %1190 = load ptr, ptr %6, align 8, !tbaa !5
  %1191 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1190, i32 0, i32 10
  %1192 = load i32, ptr %97, align 4, !tbaa !13
  %1193 = zext i32 %1192 to i64
  %1194 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1191, i64 noundef %1193) #6
  %1195 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %1194, i32 0, i32 4
  %1196 = load i32, ptr %1195, align 4, !tbaa !25
  store i32 %1196, ptr %113, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %114) #6
  %1197 = load ptr, ptr %6, align 8, !tbaa !5
  %1198 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1197, i32 0, i32 22
  %1199 = load i32, ptr %113, align 4, !tbaa !13
  %1200 = zext i32 %1199 to i64
  %1201 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1198, i64 noundef %1200) #6
  %1202 = load ptr, ptr %1201, align 8, !tbaa !5
  %1203 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %1202, i32 0, i32 1
  %1204 = load i32, ptr %1203, align 8, !tbaa !26
  store i32 %1204, ptr %114, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 16, ptr %115) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %116) #6
  %1205 = load ptr, ptr %6, align 8, !tbaa !5
  %1206 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1205, i32 0, i32 22
  %1207 = load i32, ptr %113, align 4, !tbaa !13
  %1208 = zext i32 %1207 to i64
  %1209 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1206, i64 noundef %1208) #6
  %1210 = load ptr, ptr %1209, align 8, !tbaa !5
  %1211 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %1210, i32 0, i32 5
  call void @llvm.lifetime.start.p0(i64 32, ptr %117) #6
  %1212 = load ptr, ptr %6, align 8, !tbaa !5
  %1213 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1212, i32 0, i32 22
  %1214 = load i32, ptr %113, align 4, !tbaa !13
  %1215 = zext i32 %1214 to i64
  %1216 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1213, i64 noundef %1215) #6
  %1217 = load ptr, ptr %1216, align 8, !tbaa !5
  %1218 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %1217, i32 0, i32 6
  call void @llvm.lifetime.start.p0(i64 16, ptr %118) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %119) #6
  %1219 = load ptr, ptr %6, align 8, !tbaa !5
  %1220 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1219, i32 0, i32 22
  %1221 = load i32, ptr %113, align 4, !tbaa !13
  %1222 = zext i32 %1221 to i64
  %1223 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1220, i64 noundef %1222) #6
  %1224 = load ptr, ptr %1223, align 8, !tbaa !5
  %1225 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %1224, i32 0, i32 4
  %1226 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %1225)
  %1227 = getelementptr inbounds %"class.Eigen::Transpose.221", ptr %119, i32 0, i32 0
  store ptr %1226, ptr %1227, align 8
  %1228 = load ptr, ptr %6, align 8, !tbaa !5
  %1229 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1228, i32 0, i32 9
  %1230 = load i32, ptr %97, align 4, !tbaa !13
  %1231 = zext i32 %1230 to i64
  %1232 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1229, i64 noundef %1231) #6
  %1233 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %119, ptr noundef nonnull align 1 dereferenceable(1) %1232)
  %1234 = getelementptr inbounds { ptr, ptr }, ptr %118, i32 0, i32 0
  %1235 = extractvalue { ptr, ptr } %1233, 0
  store ptr %1235, ptr %1234, align 8
  %1236 = getelementptr inbounds { ptr, ptr }, ptr %118, i32 0, i32 1
  %1237 = extractvalue { ptr, ptr } %1233, 1
  store ptr %1237, ptr %1236, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.519") align 8 %117, ptr noundef nonnull align 1 dereferenceable(1) %1218, ptr noundef nonnull align 1 dereferenceable(1) %118)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKNS1_IdLin1ELi1ELi0ELin1ELi1EEEKNS_7ProductINS_9TransposeIS2_EENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEEKNSB_IS2_T_Li0EEERKNS0_ISI_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.582") align 8 %116, ptr noundef nonnull align 1 dereferenceable(1) %1211, ptr noundef nonnull align 1 dereferenceable(1) %117)
  call void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_7ProductINS0_IdLin1ELin1ELi0ELin1ELin1EEENS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS3_INS_9TransposeIS4_EENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %115, ptr noundef nonnull align 1 dereferenceable(1) %116)
  call void @llvm.lifetime.end.p0(i64 8, ptr %119) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %118) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %117) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %116) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %120) #6
  store i32 0, ptr %120, align 4, !tbaa !13
  br label %1238

1238:                                             ; preds = %1256, %1189
  %1239 = load i32, ptr %120, align 4, !tbaa !13
  %1240 = load i32, ptr %114, align 4, !tbaa !13
  %1241 = icmp ult i32 %1239, %1240
  br i1 %1241, label %1243, label %1242

1242:                                             ; preds = %1238
  store i32 17, ptr %98, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %120) #6
  br label %1263

1243:                                             ; preds = %1238
  %1244 = load i32, ptr %120, align 4, !tbaa !13
  %1245 = zext i32 %1244 to i64
  %1246 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %115, i64 noundef %1245)
          to label %1247 unwind label %1259

1247:                                             ; preds = %1243
  %1248 = load double, ptr %1246, align 8, !tbaa !23
  %1249 = load ptr, ptr %9, align 8, !tbaa !5
  %1250 = load i32, ptr %99, align 4, !tbaa !13
  %1251 = load i32, ptr %120, align 4, !tbaa !13
  %1252 = add i32 %1250, %1251
  %1253 = zext i32 %1252 to i64
  %1254 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %1249, i64 noundef %1253)
          to label %1255 unwind label %1259

1255:                                             ; preds = %1247
  store double %1248, ptr %1254, align 8, !tbaa !23
  br label %1256

1256:                                             ; preds = %1255
  %1257 = load i32, ptr %120, align 4, !tbaa !13
  %1258 = add i32 %1257, 1
  store i32 %1258, ptr %120, align 4, !tbaa !13
  br label %1238, !llvm.loop !48

1259:                                             ; preds = %1247, %1243
  %1260 = landingpad { ptr, i32 }
          cleanup
  %1261 = extractvalue { ptr, i32 } %1260, 0
  store ptr %1261, ptr %50, align 8
  %1262 = extractvalue { ptr, i32 } %1260, 1
  store i32 %1262, ptr %51, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %120) #6
  br label %1294

1263:                                             ; preds = %1242
  call void @llvm.lifetime.start.p0(i64 32, ptr %121) #6
  %1264 = load ptr, ptr %6, align 8, !tbaa !5
  %1265 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1264, i32 0, i32 9
  %1266 = load i32, ptr %97, align 4, !tbaa !13
  %1267 = zext i32 %1266 to i64
  %1268 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1265, i64 noundef %1267) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %122) #6
  %1269 = load ptr, ptr %6, align 8, !tbaa !5
  %1270 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1269, i32 0, i32 22
  %1271 = load i32, ptr %113, align 4, !tbaa !13
  %1272 = zext i32 %1271 to i64
  %1273 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1270, i64 noundef %1272) #6
  %1274 = load ptr, ptr %1273, align 8, !tbaa !5
  %1275 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %1274, i32 0, i32 3
  %1276 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %1275, ptr noundef nonnull align 1 dereferenceable(1) %115)
          to label %1277 unwind label %1290

1277:                                             ; preds = %1263
  %1278 = getelementptr inbounds { ptr, ptr }, ptr %122, i32 0, i32 0
  %1279 = extractvalue { ptr, ptr } %1276, 0
  store ptr %1279, ptr %1278, align 8
  %1280 = getelementptr inbounds { ptr, ptr }, ptr %122, i32 0, i32 1
  %1281 = extractvalue { ptr, ptr } %1276, 1
  store ptr %1281, ptr %1280, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLin1ELin1ELi0ELin1ELin1EEENS1_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.589") align 8 %121, ptr noundef nonnull align 1 dereferenceable(1) %1268, ptr noundef nonnull align 1 dereferenceable(1) %122)
          to label %1282 unwind label %1290

1282:                                             ; preds = %1277
  %1283 = load ptr, ptr %6, align 8, !tbaa !5
  %1284 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1283, i32 0, i32 9
  %1285 = load i32, ptr %97, align 4, !tbaa !13
  %1286 = zext i32 %1285 to i64
  %1287 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1284, i64 noundef %1286) #6
  %1288 = invoke noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLin1ELin1ELi0ELin1ELin1EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %1287, ptr noundef nonnull align 1 dereferenceable(1) %121)
          to label %1289 unwind label %1290

1289:                                             ; preds = %1282
  call void @llvm.lifetime.end.p0(i64 16, ptr %122) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %121) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %115) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %115) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %114) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %113) #6
  br label %1295

1290:                                             ; preds = %1282, %1277, %1263
  %1291 = landingpad { ptr, i32 }
          cleanup
  %1292 = extractvalue { ptr, i32 } %1291, 0
  store ptr %1292, ptr %50, align 8
  %1293 = extractvalue { ptr, i32 } %1291, 1
  store i32 %1293, ptr %51, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %122) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %121) #6
  br label %1294

1294:                                             ; preds = %1290, %1259
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %115) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %115) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %114) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %113) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr %101) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %100) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %99) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %97) #6
  br label %1302

1295:                                             ; preds = %1289, %1180
  br label %1296

1296:                                             ; preds = %1295, %1111
  br label %1297

1297:                                             ; preds = %1296, %1042
  call void @llvm.lifetime.end.p0(i64 96, ptr %101) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %100) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %99) #6
  br label %1298

1298:                                             ; preds = %1297
  %1299 = load i32, ptr %97, align 4, !tbaa !13
  %1300 = add i32 %1299, 1
  store i32 %1300, ptr %97, align 4, !tbaa !13
  br label %982, !llvm.loop !49

1301:                                             ; preds = %989
  ret void

1302:                                             ; preds = %1294, %974, %618
  %1303 = load ptr, ptr %50, align 8
  %1304 = load i32, ptr %51, align 4
  %1305 = insertvalue { ptr, i32 } poison, ptr %1303, 0
  %1306 = insertvalue { ptr, i32 } %1305, i32 %1304, 1
  resume { ptr, i32 } %1306
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS5_INS6_17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEESB_EEEESG_EEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEESB_KSM_EERKNS0_ISM_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.682") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_18scalar_quotient_opIddEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEESH_EEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS5_INS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.689") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS5_INS1_IdLin1ELin1ELi0ELin1ELin1EEES6_Li0EEENS1_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSB_6traitsIT_E6ScalarEEEKS2_KSE_EERKNS0_ISE_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.696") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESA_Li0EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

attributes #0 = { 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 #1 = { 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 #2 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { 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 = { 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 #5 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { 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 = !{!"int", !7, i64 0}
!15 = distinct !{!15, !16}
!16 = !{!"llvm.loop.mustprogress"}
!17 = distinct !{!17, !16}
!18 = !{!19, !14, i64 16}
!19 = !{!"_ZTSN17RigidBodyDynamics5JointE", !6, i64 0, !20, i64 8, !14, i64 12, !14, i64 16, !14, i64 20}
!20 = !{!"_ZTSN17RigidBodyDynamics9JointTypeE", !7, i64 0}
!21 = !{!19, !14, i64 12}
!22 = !{!19, !20, i64 8}
!23 = !{!24, !24, i64 0}
!24 = !{!"double", !7, i64 0}
!25 = !{!19, !14, i64 20}
!26 = !{!27, !14, i64 8}
!27 = !{!"_ZTSN17RigidBodyDynamics11CustomJointE", !14, i64 8, !28, i64 16, !39, i64 112, !39, i64 136, !39, i64 160, !43, i64 184, !43, i64 200}
!28 = !{!"_ZTSN17RigidBodyDynamics4Math16SpatialTransformE", !29, i64 0, !34, i64 72}
!29 = !{!"_ZTS9Matrix3_t", !30, i64 0}
!30 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !31, i64 0}
!31 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !32, i64 0}
!32 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !33, i64 0}
!33 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !7, i64 0}
!34 = !{!"_ZTS9Vector3_t", !35, i64 0}
!35 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !36, i64 0}
!36 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !37, i64 0}
!37 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !38, i64 0}
!38 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!39 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !40, i64 0}
!40 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !41, i64 0}
!41 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !6, i64 0, !42, i64 8, !42, i64 16}
!42 = !{!"long", !7, i64 0}
!43 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !44, i64 0}
!44 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !45, i64 0}
!45 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !42, i64 8}
!46 = distinct !{!46, !16}
!47 = distinct !{!47, !16}
!48 = distinct !{!48, !16}
!49 = distinct !{!49, !16}


; 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.SpatialVector_t = type { %"class.Eigen::Matrix.90" }
%"class.Eigen::Matrix.90" = type { %"class.Eigen::PlainObjectBase.91" }
%"class.Eigen::PlainObjectBase.91" = type { %"class.Eigen::DenseStorage.98" }
%"class.Eigen::DenseStorage.98" = type { %"struct.Eigen::internal::plain_array.99" }
%"struct.Eigen::internal::plain_array.99" = type { [6 x double] }
%"class.Eigen::CwiseBinaryOp" = type <{ ptr, ptr, [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.120" = type <{ ptr, %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%class.SpatialMatrix_t = type { %"class.Eigen::Matrix.183" }
%"class.Eigen::Matrix.183" = type { %"class.Eigen::PlainObjectBase.184" }
%"class.Eigen::PlainObjectBase.184" = type { %"class.Eigen::DenseStorage.191" }
%"class.Eigen::DenseStorage.191" = type { %"struct.Eigen::internal::plain_array.192" }
%"struct.Eigen::internal::plain_array.192" = type { [36 x double] }
%"class.Eigen::CwiseBinaryOp.395" = type <{ ptr, %"class.Eigen::Product.401", [8 x i8] }>
%"class.Eigen::Product.401" = type { ptr, %"class.Eigen::Transpose.408" }
%"class.Eigen::Transpose.408" = type { %"class.Eigen::CwiseBinaryOp.414" }
%"class.Eigen::CwiseBinaryOp.414" = type <{ ptr, %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.435" = type <{ [8 x i8], %"class.Eigen::CwiseBinaryOp.120", %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::Product.443" = type { %"class.Eigen::Product.450", ptr }
%"class.Eigen::Product.450" = type { ptr, ptr }
%"class.Eigen::Matrix.104" = type { %"class.Eigen::PlainObjectBase.105" }
%"class.Eigen::PlainObjectBase.105" = type { %"class.Eigen::DenseStorage.112" }
%"class.Eigen::DenseStorage.112" = type { %"struct.Eigen::internal::plain_array.113" }
%"struct.Eigen::internal::plain_array.113" = type { [9 x double] }
%"class.Eigen::CwiseBinaryOp.471" = type <{ ptr, %"class.Eigen::Product.193", [8 x i8] }>
%"class.Eigen::Product.193" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::CwiseBinaryOp.478" = type <{ ptr, %"class.Eigen::Product.484", [8 x i8] }>
%"class.Eigen::Product.484" = type { %"class.Eigen::Product.491", %"class.Eigen::Transpose" }
%"class.Eigen::Product.491" = type { ptr, ptr }
%"class.Eigen::Product.505" = type { %"class.Eigen::Product.491", ptr }
%"class.Eigen::Matrix.153" = type { %"class.Eigen::PlainObjectBase.154" }
%"class.Eigen::PlainObjectBase.154" = type { %"class.Eigen::DenseStorage.161" }
%"class.Eigen::DenseStorage.161" = type { ptr, i64, i64 }
%"class.Eigen::Block.462" = type { %"class.Eigen::BlockImpl.463" }
%"class.Eigen::BlockImpl.463" = type { %"class.Eigen::internal::BlockImpl_dense.464" }
%"class.Eigen::internal::BlockImpl_dense.464" = type { %"class.Eigen::MapBase.465", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.465" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"class.Eigen::CwiseBinaryOp.519" = type <{ ptr, %"class.Eigen::Product.214", [8 x i8] }>
%"class.Eigen::Product.214" = type { %"class.Eigen::Transpose.221", ptr }
%"class.Eigen::Transpose.221" = type { ptr }
%"class.Eigen::CwiseBinaryOp.526" = type <{ ptr, %"class.Eigen::Product.532", [8 x i8] }>
%"class.Eigen::Product.532" = type { %"class.Eigen::Product.539", %"class.Eigen::Transpose.221" }
%"class.Eigen::Product.539" = type { ptr, ptr }
%"class.Eigen::Product.553" = type { %"class.Eigen::Product.539", ptr }
%"class.Eigen::CwiseBinaryOp.561" = type <{ ptr, %"class.Eigen::CwiseBinaryOp.120", [8 x i8] }>
%"class.Eigen::Product.568" = type { ptr, %"class.Eigen::CwiseBinaryOp.471" }
%"class.Eigen::CwiseBinaryOp.575" = type <{ ptr, %"class.Eigen::Product", [8 x i8] }>
%"class.Eigen::Product" = type { ptr, ptr }
%"class.Eigen::Product.582" = type { ptr, %"class.Eigen::CwiseBinaryOp.519" }
%"class.Eigen::CwiseBinaryOp.589" = type <{ ptr, %"class.Eigen::Product.168", [8 x i8] }>
%"class.Eigen::Product.168" = type { ptr, ptr }
%"class.Eigen::Product.176" = type { ptr, ptr }
%"class.Eigen::NoAlias" = type { ptr }
%"class.Eigen::Product.332" = type { ptr, ptr }
%"class.Eigen::Inverse" = type { %"class.Eigen::Product.339" }
%"class.Eigen::Product.339" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::Product.374" = type { ptr, ptr }
%"class.Eigen::Inverse.513" = type { %"class.Eigen::Product.381" }
%"class.Eigen::Product.381" = type { %"class.Eigen::Transpose.221", ptr }
%"class.Eigen::CwiseBinaryOp.682" = type <{ ptr, %"class.Eigen::CwiseBinaryOp.435", [8 x i8] }>
%"class.Eigen::NoAlias.457" = type { ptr }
%class.Vector3_t = type { %"class.Eigen::Matrix" }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"class.Eigen::CwiseBinaryOp.689" = type <{ ptr, %"class.Eigen::Product.505", [8 x i8] }>
%"class.Eigen::Matrix.57" = type { %"class.Eigen::PlainObjectBase.58" }
%"class.Eigen::PlainObjectBase.58" = type { %"class.Eigen::DenseStorage.65" }
%"class.Eigen::DenseStorage.65" = type { ptr, i64 }
%"class.Eigen::CwiseBinaryOp.696" = type <{ ptr, %"class.Eigen::Product.553", [8 x i8] }>
%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%class.Matrix3_t = type { %"class.Eigen::Matrix.104" }

; 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 #0 align 2

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

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #0 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 #0 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 #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #3 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 #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #0 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #0 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #4 align 2

; 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 #0 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 #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 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 #3 align 2

declare void @_ZN17RigidBodyDynamics16jcalc_X_lambda_SERNS_5ModelEjRKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(872), i32 noundef, ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi3ELi0ELi6ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransform17toMatrixTransposeEv(ptr dead_on_unwind noalias writable sret(%class.SpatialMatrix_t) align 16, ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(144) ptr @_ZN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEaSINS_7ProductINS0_IdLi6ELi6ELi0ELi6ELi6EEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(144), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLin1ELin1ELi0ELin1ELin1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_7ProductINS0_IdLi6ELi6ELi0ELi6ELi6EEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math23SpatialRigidBodyInertia16setSpatialMatrixER15SpatialMatrix_t(ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 16 dereferenceable(288)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #0 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 #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS1_IdLi6ELi1ELi0ELi6ELi1EEENS_9TransposeIKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKS6_KNS_14CwiseNullaryOpINS9_18scalar_constant_opIdEESC_EEEEEELi0EEEEEKNS8_INS9_20scalar_difference_opIdNS9_6traitsIT_E6ScalarEEEKS2_KSO_EERKNS0_ISO_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.395") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlINS_9TransposeIKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKS2_KNS_14CwiseNullaryOpINS7_18scalar_constant_opIdEESA_EEEEEEEEKNS_7ProductIS2_T_Li0EEERKNS0_ISK_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.401") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEdvIdEEKNS_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.414") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEE9transposeEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Transpose.408") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS6_IdLi6ELi1ELi0ELi6ELi1EEENS1_9TransposeIKNS2_INS3_18scalar_quotient_opIddEEKSA_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEESE_EEEEEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEdvIdEEKNS1_INS2_18scalar_quotient_opIdNS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdSI_NSG_IdSI_EEEEEE5valueEE4typeEEEKSD_KNS2_19plain_constant_typeISD_SN_E4typeEEERKSI_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.435") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEES3_Li0EEEEmlIS3_EEKNS1_IS4_T_Li0EEERKNS0_IS7_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.443") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind noalias writable sret(%class.SpatialMatrix_t) align 16, ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS_10MatrixBaseEEpLINS_7ProductINS6_IS2_S2_Li0EEES2_Li0EEEEERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEENS_10MatrixBaseEEpLIS2_EERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEES4_Li0EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_7InverseINS_7ProductINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEES5_Li0EEEEEE4evalEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.104") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(72) ptr @_ZN9Matrix3_taSIN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.471") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_7ProductINS1_9TransposeINS6_IdLi6ELi3ELi0ELi6ELi3EEEEENS6_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS5_INS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS_9TransposeIS6_EELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSD_6traitsIT_E6ScalarEEEKS2_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.478") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS2_IdLi3ELi3ELi0ELi3ELi3EEELi0EEEEmlINS_9TransposeIS3_EEEEKNS1_IS5_T_Li0EEERKNS0_ISA_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.484") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS1_9TransposeISA_EELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS2_IdLi3ELi3ELi0ELi3ELi3EEELi0EEEEmlINS2_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS1_IS5_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.505") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEES4_Li0EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_7InverseINS_7ProductINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEES5_Li0EEEEEE4evalEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.153") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEEKNS3_18ConstFixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.462") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_5BlockIKS1_Lin1ELin1ELb0EEEEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(56)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.519") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS_7ProductINS_9TransposeINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS5_INS1_IdLin1ELin1ELi0ELin1ELin1EEES6_Li0EEENS_9TransposeIS6_EELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.526") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEES3_Li0EEEEmlINS_9TransposeIS3_EEEEKNS1_IS4_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.532") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESA_Li0EEENS1_9TransposeISA_EELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEES3_Li0EEEEmlINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS1_IS4_T_Li0EEERKNS0_IS8_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.553") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2ERKS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEES9_EEEEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEES9_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.561") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEmlINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKNS1_IdLi3ELi1ELi0ELi3ELi1EEEKNS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEEKNSB_IS2_T_Li0EEERKNS0_ISJ_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.568") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2IN5Eigen7ProductINS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEENS1_13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS3_IdLi3ELi1ELi0ELi3ELi1EEEKNS2_INS1_9TransposeINS3_IdLi6ELi3ELi0ELi6ELi3EEEEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.575") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKNS1_IdLin1ELi1ELi0ELin1ELi1EEEKNS_7ProductINS_9TransposeIS2_EENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEEKNSB_IS2_T_Li0EEERKNS0_ISI_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.582") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_7ProductINS0_IdLin1ELin1ELi0ELin1ELin1EEENS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS3_INS_9TransposeIS4_EENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLin1ELin1ELi0ELin1ELin1EEENS1_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.589") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLin1ELin1ELi0ELin1ELin1EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics16CalcMInvTimesTauERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_RS4_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 nonnull align 8 dereferenceable(16) %3, i1 noundef zeroext %4) local_unnamed_addr #3 personality ptr @__gxx_personality_v0 {
  %6 = alloca %"class.Eigen::Product.176", align 8
  %7 = alloca %class.SpatialMatrix_t, align 16
  %8 = alloca %"class.Eigen::CwiseBinaryOp.395", align 8
  %9 = alloca %"class.Eigen::Product.401", align 8
  %10 = alloca %"class.Eigen::Transpose.408", align 8
  %11 = alloca %"class.Eigen::CwiseBinaryOp.414", align 8
  %12 = alloca %"class.Eigen::Product.443", align 8
  %13 = alloca %"class.Eigen::Product.450", align 8
  %14 = alloca %class.SpatialMatrix_t, align 16
  %15 = alloca %class.SpatialMatrix_t, align 16
  %16 = alloca %"class.Eigen::NoAlias", align 8
  %17 = alloca %"class.Eigen::Product.332", align 8
  %18 = alloca %"class.Eigen::Matrix.104", align 8
  %19 = alloca %"class.Eigen::Inverse", align 8
  %20 = alloca %"class.Eigen::Product.339", align 8
  %21 = alloca %"class.Eigen::Transpose", align 8
  %22 = alloca %class.SpatialMatrix_t, align 16
  %23 = alloca %"class.Eigen::CwiseBinaryOp.478", align 8
  %24 = alloca %"class.Eigen::Product.484", align 8
  %25 = alloca %"class.Eigen::Product.491", align 8
  %26 = alloca %"class.Eigen::Transpose", align 8
  %27 = alloca %"class.Eigen::Product.443", align 8
  %28 = alloca %"class.Eigen::Product.450", align 8
  %29 = alloca %class.SpatialMatrix_t, align 16
  %30 = alloca %class.SpatialMatrix_t, align 16
  %31 = alloca %"class.Eigen::NoAlias", align 8
  %32 = alloca %"class.Eigen::Product.374", align 8
  %33 = alloca %"class.Eigen::Matrix.153", align 8
  %34 = alloca %"class.Eigen::Inverse.513", align 8
  %35 = alloca %"class.Eigen::Product.381", align 8
  %36 = alloca %"class.Eigen::Transpose.221", align 8
  %37 = alloca %class.SpatialMatrix_t, align 16
  %38 = alloca %"class.Eigen::CwiseBinaryOp.526", align 8
  %39 = alloca %"class.Eigen::Product.532", align 8
  %40 = alloca %"class.Eigen::Product.539", align 8
  %41 = alloca %"class.Eigen::Transpose.221", align 8
  %42 = alloca %"class.Eigen::Product.443", align 8
  %43 = alloca %"class.Eigen::Product.450", align 8
  %44 = alloca %class.SpatialMatrix_t, align 16
  %45 = alloca %class.SpatialMatrix_t, align 16
  %46 = alloca %"class.Eigen::NoAlias", align 8
  %47 = alloca %class.SpatialVector_t, align 16
  %48 = alloca %"class.Eigen::CwiseBinaryOp.682", align 8
  %49 = alloca %"class.Eigen::CwiseBinaryOp.435", align 8
  %50 = alloca %"class.Eigen::CwiseBinaryOp.120", align 8
  %51 = alloca %class.SpatialVector_t, align 16
  %52 = alloca %"class.Eigen::NoAlias.457", align 8
  %53 = alloca %class.Vector3_t, align 8
  %54 = alloca %"class.Eigen::CwiseBinaryOp.471", align 8
  %55 = alloca %"class.Eigen::Product.193", align 8
  %56 = alloca %"class.Eigen::Transpose", align 8
  %57 = alloca %class.SpatialVector_t, align 16
  %58 = alloca %"class.Eigen::CwiseBinaryOp.689", align 8
  %59 = alloca %"class.Eigen::Product.505", align 8
  %60 = alloca %"class.Eigen::Product.491", align 8
  %61 = alloca %class.SpatialVector_t, align 16
  %62 = alloca %"class.Eigen::NoAlias.457", align 8
  %63 = alloca %"class.Eigen::Matrix.57", align 8
  %64 = alloca %"class.Eigen::Block.462", align 8
  %65 = alloca %"class.Eigen::CwiseBinaryOp.519", align 8
  %66 = alloca %"class.Eigen::Product.214", align 8
  %67 = alloca %"class.Eigen::Transpose.221", align 8
  %68 = alloca %class.SpatialVector_t, align 16
  %69 = alloca %"class.Eigen::CwiseBinaryOp.696", align 8
  %70 = alloca %"class.Eigen::Product.553", align 8
  %71 = alloca %"class.Eigen::Product.539", align 8
  %72 = alloca %class.SpatialVector_t, align 16
  %73 = alloca %"class.Eigen::NoAlias.457", align 8
  %74 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %75 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %76 = alloca %class.SpatialVector_t, align 16
  %77 = alloca %"class.Eigen::CwiseBinaryOp.561", align 8
  %78 = alloca %"class.Eigen::CwiseBinaryOp.120", align 8
  %79 = alloca %class.Vector3_t, align 8
  %80 = alloca %"class.Eigen::Product.568", align 8
  %81 = alloca %"class.Eigen::CwiseBinaryOp.471", align 8
  %82 = alloca %"class.Eigen::Product.193", align 8
  %83 = alloca %"class.Eigen::Transpose", align 8
  %84 = alloca %"class.Eigen::CwiseBinaryOp.575", align 8
  %85 = alloca %"class.Eigen::Product", align 8
  %86 = alloca %"class.Eigen::Matrix.57", align 8
  %87 = alloca %"class.Eigen::Product.582", align 8
  %88 = alloca %"class.Eigen::CwiseBinaryOp.519", align 8
  %89 = alloca %"class.Eigen::Product.214", align 8
  %90 = alloca %"class.Eigen::Transpose.221", align 8
  %91 = alloca %"class.Eigen::CwiseBinaryOp.589", align 8
  %92 = alloca %"class.Eigen::Product.168", align 8
  %93 = getelementptr inbounds i8, ptr %0, i64 112
  %94 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %93, i64 noundef 0) #6
  %95 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %94)
  %96 = getelementptr inbounds i8, ptr %0, i64 136
  %97 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %96, i64 noundef 0) #6
  %98 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %97)
  br i1 %4, label %.preheader356, label %.loopexit357

.preheader356:                                    ; preds = %5
  %99 = getelementptr inbounds i8, ptr %0, i64 800
  %100 = tail call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %99) #6
  %101 = icmp ugt i64 %100, 1
  br i1 %101, label %.lr.ph, label %.loopexit357

.lr.ph:                                           ; preds = %.preheader356
  %102 = getelementptr inbounds i8, ptr %0, i64 256
  %103 = getelementptr inbounds i8, ptr %0, i64 208
  %104 = getelementptr inbounds i8, ptr %0, i64 472
  %105 = getelementptr inbounds i8, ptr %0, i64 520
  %106 = getelementptr inbounds i8, ptr %0, i64 624
  %107 = getelementptr inbounds i8, ptr %0, i64 496
  br label %108

108:                                              ; preds = %.lr.ph, %108
  %109 = phi i64 [ 1, %.lr.ph ], [ %123, %108 ]
  %.0316358 = phi i32 [ 1, %.lr.ph ], [ %122, %108 ]
  %110 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %102, i64 noundef %109) #6
  %111 = load i32, ptr %110, align 4, !tbaa !5
  tail call void @_ZN17RigidBodyDynamics16jcalc_X_lambda_SERNS_5ModelEjRKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(872) %0, i32 noundef %111, ptr noundef nonnull align 8 dereferenceable(16) %1)
  %112 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %103, i64 noundef %109) #6
  %113 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %112)
  %114 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %93, i64 noundef %109) #6
  %115 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %114)
  %116 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %104, i64 noundef %109) #6
  %117 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %116)
  %118 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %105, i64 noundef %109) #6
  %119 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %118)
  %120 = tail call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %106, i64 noundef %109) #6
  %121 = tail call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %107, i64 noundef %109) #6
  tail call void @_ZNK17RigidBodyDynamics4Math23SpatialRigidBodyInertia16setSpatialMatrixER15SpatialMatrix_t(ptr noundef nonnull align 8 dereferenceable(80) %120, ptr noundef nonnull align 16 dereferenceable(288) %121)
  %122 = add i32 %.0316358, 1
  %123 = zext i32 %122 to i64
  %124 = tail call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %99) #6
  %125 = icmp ugt i64 %124, %123
  br i1 %125, label %108, label %.loopexit357, !llvm.loop !9

.loopexit357:                                     ; preds = %108, %.preheader356, %5
  %126 = getelementptr inbounds i8, ptr %0, i64 800
  %127 = tail call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %126) #6
  %128 = icmp ugt i64 %127, 1
  br i1 %128, label %.lr.ph360, label %._crit_edge

.lr.ph360:                                        ; preds = %.loopexit357
  %129 = getelementptr inbounds i8, ptr %0, i64 520
  br label %130

._crit_edge:                                      ; preds = %130, %.loopexit357
  br i1 %4, label %138, label %.loopexit

130:                                              ; preds = %.lr.ph360, %130
  %131 = phi i64 [ 1, %.lr.ph360 ], [ %135, %130 ]
  %.0317359 = phi i32 [ 1, %.lr.ph360 ], [ %134, %130 ]
  %132 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %129, i64 noundef %131) #6
  %133 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %132)
  %134 = add i32 %.0317359, 1
  %135 = zext i32 %134 to i64
  %136 = tail call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %126) #6
  %137 = icmp ugt i64 %136, %135
  br i1 %137, label %130, label %._crit_edge, !llvm.loop !11

138:                                              ; preds = %._crit_edge
  %139 = tail call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %126) #6
  %140 = trunc i64 %139 to i32
  %.0318361 = add i32 %140, -1
  %.not362 = icmp eq i32 %.0318361, 0
  br i1 %.not362, label %.loopexit, label %.lr.ph365

.lr.ph365:                                        ; preds = %138
  %141 = getelementptr inbounds i8, ptr %0, i64 160
  %142 = getelementptr inbounds i8, ptr %0, i64 496
  %143 = getelementptr inbounds i8, ptr %0, i64 184
  %144 = getelementptr inbounds i8, ptr %6, i64 8
  %145 = getelementptr inbounds i8, ptr %0, i64 544
  %146 = getelementptr inbounds i8, ptr %0, i64 568
  %147 = getelementptr inbounds i8, ptr %0, i64 720
  %148 = getelementptr inbounds i8, ptr %13, i64 8
  %149 = getelementptr inbounds i8, ptr %0, i64 328
  %150 = getelementptr inbounds i8, ptr %17, i64 8
  %151 = getelementptr inbounds i8, ptr %0, i64 352
  %152 = getelementptr inbounds i8, ptr %20, i64 8
  %153 = getelementptr inbounds i8, ptr %19, i64 8
  %154 = getelementptr inbounds i8, ptr %0, i64 376
  %155 = getelementptr inbounds i8, ptr %25, i64 8
  %156 = getelementptr inbounds i8, ptr %28, i64 8
  %157 = getelementptr inbounds i8, ptr %0, i64 448
  %158 = getelementptr inbounds i8, ptr %32, i64 8
  %159 = getelementptr inbounds i8, ptr %35, i64 8
  %160 = getelementptr inbounds i8, ptr %34, i64 8
  %161 = getelementptr inbounds i8, ptr %40, i64 8
  %162 = getelementptr inbounds i8, ptr %43, i64 8
  %163 = zext i32 %.0318361 to i64
  br label %164

164:                                              ; preds = %.lr.ph365, %318
  %indvars.iv = phi i64 [ %163, %.lr.ph365 ], [ %indvars.iv.next, %318 ]
  %165 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %141, i64 noundef %indvars.iv) #6
  %166 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %141, i64 noundef %indvars.iv) #6
  %167 = getelementptr inbounds i8, ptr %166, i64 12
  %168 = load i32, ptr %167, align 4, !tbaa !12
  %169 = icmp eq i32 %168, 1
  br i1 %169, label %170, label %202

170:                                              ; preds = %164
  %171 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %141, i64 noundef %indvars.iv) #6
  %172 = getelementptr inbounds i8, ptr %171, i64 8
  %173 = load i32, ptr %172, align 8, !tbaa !16
  %.not349 = icmp eq i32 %173, 21
  br i1 %.not349, label %202, label %174

174:                                              ; preds = %170
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #6
  %175 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %142, i64 noundef %indvars.iv) #6
  %176 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %143, i64 noundef %indvars.iv) #6
  %177 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %175, ptr noundef nonnull align 1 dereferenceable(1) %176)
  %178 = extractvalue { ptr, ptr } %177, 0
  store ptr %178, ptr %6, align 8
  %179 = extractvalue { ptr, ptr } %177, 1
  store ptr %179, ptr %144, align 8
  %180 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %145, i64 noundef %indvars.iv) #6
  %181 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen7ProductINS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %180, ptr noundef nonnull align 1 dereferenceable(1) %6)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #6
  %182 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %143, i64 noundef %indvars.iv) #6
  %183 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %145, i64 noundef %indvars.iv) #6
  %184 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %182, ptr noundef nonnull align 1 dereferenceable(1) %183)
  %185 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %146, i64 noundef %indvars.iv)
  store double %184, ptr %185, align 8, !tbaa !17
  %186 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv) #6
  %187 = load i32, ptr %186, align 4, !tbaa !5
  %.not355 = icmp eq i32 %187, 0
  br i1 %.not355, label %318, label %188

188:                                              ; preds = %174
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %7) #6
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %8) #6
  %189 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %142, i64 noundef %indvars.iv) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %9) #6
  %190 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %145, i64 noundef %indvars.iv) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %10) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %11) #6
  %191 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %145, i64 noundef %indvars.iv) #6
  %192 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %146, i64 noundef %indvars.iv)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEdvIdEEKNS_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.414") align 8 %11, ptr noundef nonnull align 1 dereferenceable(1) %191, ptr noundef nonnull align 8 dereferenceable(8) %192)
  call void @_ZNK5Eigen9DenseBaseINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEE9transposeEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Transpose.408") align 8 %10, ptr noundef nonnull align 1 dereferenceable(1) %11)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlINS_9TransposeIKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKS2_KNS_14CwiseNullaryOpINS7_18scalar_constant_opIdEESA_EEEEEEEEKNS_7ProductIS2_T_Li0EEERKNS0_ISK_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.401") align 8 %9, ptr noundef nonnull align 1 dereferenceable(1) %190, ptr noundef nonnull align 1 dereferenceable(1) %10)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS1_IdLi6ELi1ELi0ELi6ELi1EEENS_9TransposeIKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKS6_KNS_14CwiseNullaryOpINS9_18scalar_constant_opIdEESC_EEEEEELi0EEEEEKNS8_INS9_20scalar_difference_opIdNS9_6traitsIT_E6ScalarEEEKS2_KSO_EERKNS0_ISO_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.395") align 8 %8, ptr noundef nonnull align 1 dereferenceable(1) %189, ptr noundef nonnull align 1 dereferenceable(1) %9)
  call void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS6_IdLi6ELi1ELi0ELi6ELi1EEENS1_9TransposeIKNS2_INS3_18scalar_quotient_opIddEEKSA_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEESE_EEEEEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288) %7, ptr noundef nonnull align 1 dereferenceable(1) %8)
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %11) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %10) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %9) #6
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %8) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %12) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #6
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %14) #6
  %193 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %147, i64 noundef %indvars.iv) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform17toMatrixTransposeEv(ptr dead_on_unwind nonnull writable sret(%class.SpatialMatrix_t) align 16 %14, ptr noundef nonnull align 8 dereferenceable(96) %193)
  %194 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %14, ptr noundef nonnull align 1 dereferenceable(1) %7)
  %195 = extractvalue { ptr, ptr } %194, 0
  store ptr %195, ptr %13, align 8
  %196 = extractvalue { ptr, ptr } %194, 1
  store ptr %196, ptr %148, align 8
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %15) #6
  %197 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %147, i64 noundef %indvars.iv) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind nonnull writable sret(%class.SpatialMatrix_t) align 16 %15, ptr noundef nonnull align 8 dereferenceable(96) %197)
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEES3_Li0EEEEmlIS3_EEKNS1_IS4_T_Li0EEERKNS0_IS7_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.443") align 8 %12, ptr noundef nonnull align 1 dereferenceable(1) %13, ptr noundef nonnull align 1 dereferenceable(1) %15)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #6
  %198 = zext i32 %187 to i64
  %199 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %142, i64 noundef %198) #6
  %200 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %199)
  store ptr %200, ptr %16, align 8
  %201 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS_10MatrixBaseEEpLINS_7ProductINS6_IS2_S2_Li0EEES2_Li0EEEEERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %16, ptr noundef nonnull align 1 dereferenceable(1) %12)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %15) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %14) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %12) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %7) #6
  br label %318

202:                                              ; preds = %170, %164
  %203 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %141, i64 noundef %indvars.iv) #6
  %204 = getelementptr inbounds i8, ptr %203, i64 12
  %205 = load i32, ptr %204, align 4, !tbaa !12
  %206 = icmp eq i32 %205, 3
  br i1 %206, label %207, label %250

207:                                              ; preds = %202
  %208 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %141, i64 noundef %indvars.iv) #6
  %209 = getelementptr inbounds i8, ptr %208, i64 8
  %210 = load i32, ptr %209, align 8, !tbaa !16
  %.not350 = icmp eq i32 %210, 21
  br i1 %.not350, label %250, label %211

211:                                              ; preds = %207
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #6
  %212 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %142, i64 noundef %indvars.iv) #6
  %213 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %149, i64 noundef %indvars.iv) #6
  %214 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi3ELi0ELi6ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %212, ptr noundef nonnull align 1 dereferenceable(1) %213)
  %215 = extractvalue { ptr, ptr } %214, 0
  store ptr %215, ptr %17, align 8
  %216 = extractvalue { ptr, ptr } %214, 1
  store ptr %216, ptr %150, align 8
  %217 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %151, i64 noundef %indvars.iv) #6
  %218 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEaSINS_7ProductINS0_IdLi6ELi6ELi0ELi6ELi6EEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(144) %217, ptr noundef nonnull align 1 dereferenceable(1) %17)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #6
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %18) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %19) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %20) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %21) #6
  %219 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %149, i64 noundef %indvars.iv) #6
  %220 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %219)
  store ptr %220, ptr %21, align 8
  %221 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %151, i64 noundef %indvars.iv) #6
  %222 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %21, ptr noundef nonnull align 1 dereferenceable(1) %221)
  %223 = extractvalue { ptr, ptr } %222, 0
  store ptr %223, ptr %20, align 8
  %224 = extractvalue { ptr, ptr } %222, 1
  store ptr %224, ptr %152, align 8
  %225 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEES4_Li0EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1) %20)
  %226 = extractvalue { ptr, ptr } %225, 0
  store ptr %226, ptr %19, align 8
  %227 = extractvalue { ptr, ptr } %225, 1
  store ptr %227, ptr %153, align 8
  call void @_ZNK5Eigen9DenseBaseINS_7InverseINS_7ProductINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEES5_Li0EEEEEE4evalEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix.104") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %19)
  %228 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %154, i64 noundef %indvars.iv) #6
  %229 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZN9Matrix3_taSIN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72) %228, ptr noundef nonnull align 1 dereferenceable(1) %18)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %21) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %20) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %19) #6
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %18) #6
  %230 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv) #6
  %231 = load i32, ptr %230, align 4, !tbaa !5
  %.not354 = icmp eq i32 %231, 0
  br i1 %.not354, label %318, label %232

232:                                              ; preds = %211
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %22) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %23) #6
  %233 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %142, i64 noundef %indvars.iv) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %24) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %25) #6
  %234 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %151, i64 noundef %indvars.iv) #6
  %235 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %154, i64 noundef %indvars.iv) #6
  %236 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %234, ptr noundef nonnull align 1 dereferenceable(1) %235)
  %237 = extractvalue { ptr, ptr } %236, 0
  store ptr %237, ptr %25, align 8
  %238 = extractvalue { ptr, ptr } %236, 1
  store ptr %238, ptr %155, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %26) #6
  %239 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %151, i64 noundef %indvars.iv) #6
  %240 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %239)
  store ptr %240, ptr %26, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS2_IdLi3ELi3ELi0ELi3ELi3EEELi0EEEEmlINS_9TransposeIS3_EEEEKNS1_IS5_T_Li0EEERKNS0_ISA_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.484") align 8 %24, ptr noundef nonnull align 1 dereferenceable(1) %25, ptr noundef nonnull align 1 dereferenceable(1) %26)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS5_INS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS_9TransposeIS6_EELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSD_6traitsIT_E6ScalarEEEKS2_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.478") align 8 %23, ptr noundef nonnull align 1 dereferenceable(1) %233, ptr noundef nonnull align 1 dereferenceable(1) %24)
  call void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS1_9TransposeISA_EELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288) %22, ptr noundef nonnull align 1 dereferenceable(1) %23)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %25) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %24) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %23) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %27) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %28) #6
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %29) #6
  %241 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %147, i64 noundef %indvars.iv) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform17toMatrixTransposeEv(ptr dead_on_unwind nonnull writable sret(%class.SpatialMatrix_t) align 16 %29, ptr noundef nonnull align 8 dereferenceable(96) %241)
  %242 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %29, ptr noundef nonnull align 1 dereferenceable(1) %22)
  %243 = extractvalue { ptr, ptr } %242, 0
  store ptr %243, ptr %28, align 8
  %244 = extractvalue { ptr, ptr } %242, 1
  store ptr %244, ptr %156, align 8
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %30) #6
  %245 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %147, i64 noundef %indvars.iv) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind nonnull writable sret(%class.SpatialMatrix_t) align 16 %30, ptr noundef nonnull align 8 dereferenceable(96) %245)
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEES3_Li0EEEEmlIS3_EEKNS1_IS4_T_Li0EEERKNS0_IS7_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.443") align 8 %27, ptr noundef nonnull align 1 dereferenceable(1) %28, ptr noundef nonnull align 1 dereferenceable(1) %30)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %31) #6
  %246 = zext i32 %231 to i64
  %247 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %142, i64 noundef %246) #6
  %248 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %247)
  store ptr %248, ptr %31, align 8
  %249 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS_10MatrixBaseEEpLINS_7ProductINS6_IS2_S2_Li0EEES2_Li0EEEEERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %31, ptr noundef nonnull align 1 dereferenceable(1) %27)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %30) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %29) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %28) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %27) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %22) #6
  br label %318

250:                                              ; preds = %207, %202
  %251 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %141, i64 noundef %indvars.iv) #6
  %252 = getelementptr inbounds i8, ptr %251, i64 8
  %253 = load i32, ptr %252, align 8, !tbaa !16
  %254 = icmp eq i32 %253, 21
  br i1 %254, label %255, label %318

255:                                              ; preds = %250
  %256 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %141, i64 noundef %indvars.iv) #6
  %257 = getelementptr inbounds i8, ptr %256, i64 20
  %258 = load i32, ptr %257, align 4, !tbaa !19
  %259 = zext i32 %258 to i64
  %260 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %157, i64 noundef %259) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %32) #6
  %261 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %142, i64 noundef %indvars.iv) #6
  %262 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %157, i64 noundef %259) #6
  %263 = load ptr, ptr %262, align 8, !tbaa !20
  %264 = getelementptr inbounds i8, ptr %263, i64 112
  %265 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLin1ELin1ELi0ELin1ELin1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %261, ptr noundef nonnull align 1 dereferenceable(1) %264)
  %266 = extractvalue { ptr, ptr } %265, 0
  store ptr %266, ptr %32, align 8
  %267 = extractvalue { ptr, ptr } %265, 1
  store ptr %267, ptr %158, align 8
  %268 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %157, i64 noundef %259) #6
  %269 = load ptr, ptr %268, align 8, !tbaa !20
  %270 = getelementptr inbounds i8, ptr %269, i64 136
  %271 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_7ProductINS0_IdLi6ELi6ELi0ELi6ELi6EEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %270, ptr noundef nonnull align 1 dereferenceable(1) %32)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %32) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %33) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %34) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %35) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %36) #6
  %272 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %157, i64 noundef %259) #6
  %273 = load ptr, ptr %272, align 8, !tbaa !20
  %274 = getelementptr inbounds i8, ptr %273, i64 112
  %275 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %274)
  store ptr %275, ptr %36, align 8
  %276 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %157, i64 noundef %259) #6
  %277 = load ptr, ptr %276, align 8, !tbaa !20
  %278 = getelementptr inbounds i8, ptr %277, i64 136
  %279 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %36, ptr noundef nonnull align 1 dereferenceable(1) %278)
  %280 = extractvalue { ptr, ptr } %279, 0
  store ptr %280, ptr %35, align 8
  %281 = extractvalue { ptr, ptr } %279, 1
  store ptr %281, ptr %159, align 8
  %282 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEES4_Li0EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1) %35)
  %283 = extractvalue { ptr, ptr } %282, 0
  store ptr %283, ptr %34, align 8
  %284 = extractvalue { ptr, ptr } %282, 1
  store ptr %284, ptr %160, align 8
  call void @_ZNK5Eigen9DenseBaseINS_7InverseINS_7ProductINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEES5_Li0EEEEEE4evalEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix.153") align 8 %33, ptr noundef nonnull align 1 dereferenceable(1) %34)
  %285 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %157, i64 noundef %259) #6
  %286 = load ptr, ptr %285, align 8, !tbaa !20
  %287 = getelementptr inbounds i8, ptr %286, i64 160
  %288 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %287, ptr noundef nonnull align 8 dereferenceable(24) %33)
          to label %289 unwind label %316

289:                                              ; preds = %255
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %33) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %36) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %35) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %34) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %33) #6
  %290 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv) #6
  %291 = load i32, ptr %290, align 4, !tbaa !5
  %.not353 = icmp eq i32 %291, 0
  br i1 %.not353, label %318, label %292

292:                                              ; preds = %289
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %37) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %38) #6
  %293 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %142, i64 noundef %indvars.iv) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %39) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %40) #6
  %294 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %157, i64 noundef %259) #6
  %295 = load ptr, ptr %294, align 8, !tbaa !20
  %296 = getelementptr inbounds i8, ptr %295, i64 136
  %297 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %157, i64 noundef %259) #6
  %298 = load ptr, ptr %297, align 8, !tbaa !20
  %299 = getelementptr inbounds i8, ptr %298, i64 160
  %300 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %296, ptr noundef nonnull align 1 dereferenceable(1) %299)
  %301 = extractvalue { ptr, ptr } %300, 0
  store ptr %301, ptr %40, align 8
  %302 = extractvalue { ptr, ptr } %300, 1
  store ptr %302, ptr %161, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %41) #6
  %303 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %157, i64 noundef %259) #6
  %304 = load ptr, ptr %303, align 8, !tbaa !20
  %305 = getelementptr inbounds i8, ptr %304, i64 136
  %306 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %305)
  store ptr %306, ptr %41, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEES3_Li0EEEEmlINS_9TransposeIS3_EEEEKNS1_IS4_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.532") align 8 %39, ptr noundef nonnull align 1 dereferenceable(1) %40, ptr noundef nonnull align 1 dereferenceable(1) %41)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS5_INS1_IdLin1ELin1ELi0ELin1ELin1EEES6_Li0EEENS_9TransposeIS6_EELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.526") align 8 %38, ptr noundef nonnull align 1 dereferenceable(1) %293, ptr noundef nonnull align 1 dereferenceable(1) %39)
  call void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESA_Li0EEENS1_9TransposeISA_EELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288) %37, ptr noundef nonnull align 1 dereferenceable(1) %38)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %41) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %40) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %39) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %38) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %42) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %43) #6
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %44) #6
  %307 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %147, i64 noundef %indvars.iv) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform17toMatrixTransposeEv(ptr dead_on_unwind nonnull writable sret(%class.SpatialMatrix_t) align 16 %44, ptr noundef nonnull align 8 dereferenceable(96) %307)
  %308 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %44, ptr noundef nonnull align 1 dereferenceable(1) %37)
  %309 = extractvalue { ptr, ptr } %308, 0
  store ptr %309, ptr %43, align 8
  %310 = extractvalue { ptr, ptr } %308, 1
  store ptr %310, ptr %162, align 8
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %45) #6
  %311 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %147, i64 noundef %indvars.iv) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind nonnull writable sret(%class.SpatialMatrix_t) align 16 %45, ptr noundef nonnull align 8 dereferenceable(96) %311)
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEES3_Li0EEEEmlIS3_EEKNS1_IS4_T_Li0EEERKNS0_IS7_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.443") align 8 %42, ptr noundef nonnull align 1 dereferenceable(1) %43, ptr noundef nonnull align 1 dereferenceable(1) %45)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %46) #6
  %312 = zext i32 %291 to i64
  %313 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %142, i64 noundef %312) #6
  %314 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %313)
  store ptr %314, ptr %46, align 8
  %315 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS_10MatrixBaseEEpLINS_7ProductINS6_IS2_S2_Li0EEES2_Li0EEEEERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %46, ptr noundef nonnull align 1 dereferenceable(1) %42)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %46) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %45) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %44) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %43) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %42) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %37) #6
  br label %318

316:                                              ; preds = %255
  %317 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %33) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %36) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %35) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %34) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %33) #6
  br label %641

318:                                              ; preds = %289, %292, %211, %232, %174, %188, %250
  %indvars.iv.next = add nsw i64 %indvars.iv, -1
  %319 = and i64 %indvars.iv.next, 4294967295
  %.not = icmp eq i64 %319, 0
  br i1 %.not, label %.loopexit, label %164, !llvm.loop !21

.loopexit:                                        ; preds = %318, %138, %._crit_edge
  %320 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %126) #6
  %321 = trunc i64 %320 to i32
  %.0326366 = add i32 %321, -1
  %.not336367 = icmp eq i32 %.0326366, 0
  br i1 %.not336367, label %.preheader, label %.lr.ph370

.lr.ph370:                                        ; preds = %.loopexit
  %322 = getelementptr inbounds i8, ptr %0, i64 160
  %323 = getelementptr inbounds i8, ptr %0, i64 184
  %324 = getelementptr inbounds i8, ptr %0, i64 520
  %325 = getelementptr inbounds i8, ptr %0, i64 584
  %326 = getelementptr inbounds i8, ptr %0, i64 544
  %327 = getelementptr inbounds i8, ptr %0, i64 568
  %328 = getelementptr inbounds i8, ptr %0, i64 720
  %329 = getelementptr inbounds i8, ptr %0, i64 328
  %330 = getelementptr inbounds i8, ptr %55, i64 8
  %331 = getelementptr inbounds i8, ptr %0, i64 400
  %332 = getelementptr inbounds i8, ptr %0, i64 352
  %333 = getelementptr inbounds i8, ptr %0, i64 376
  %334 = getelementptr inbounds i8, ptr %60, i64 8
  %335 = getelementptr inbounds i8, ptr %0, i64 448
  %336 = getelementptr inbounds i8, ptr %66, i64 8
  %337 = getelementptr inbounds i8, ptr %71, i64 8
  %338 = zext i32 %.0326366 to i64
  br label %357

.preheader:                                       ; preds = %503, %.loopexit
  %339 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %126) #6
  %340 = icmp ugt i64 %339, 1
  br i1 %340, label %.lr.ph376, label %._crit_edge377

.lr.ph376:                                        ; preds = %.preheader
  %341 = getelementptr inbounds i8, ptr %0, i64 160
  %342 = getelementptr inbounds i8, ptr %0, i64 720
  %343 = getelementptr inbounds i8, ptr %0, i64 472
  %344 = getelementptr inbounds i8, ptr %0, i64 568
  %345 = getelementptr inbounds i8, ptr %0, i64 584
  %346 = getelementptr inbounds i8, ptr %0, i64 544
  %347 = getelementptr inbounds i8, ptr %0, i64 184
  %348 = getelementptr inbounds i8, ptr %0, i64 376
  %349 = getelementptr inbounds i8, ptr %0, i64 400
  %350 = getelementptr inbounds i8, ptr %0, i64 352
  %351 = getelementptr inbounds i8, ptr %82, i64 8
  %352 = getelementptr inbounds i8, ptr %0, i64 328
  %353 = getelementptr inbounds i8, ptr %85, i64 8
  %354 = getelementptr inbounds i8, ptr %0, i64 448
  %355 = getelementptr inbounds i8, ptr %89, i64 8
  %356 = getelementptr inbounds i8, ptr %92, i64 8
  br label %505

357:                                              ; preds = %.lr.ph370, %503
  %indvars.iv380 = phi i64 [ %338, %.lr.ph370 ], [ %indvars.iv.next381, %503 ]
  %358 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %322, i64 noundef %indvars.iv380) #6
  %359 = getelementptr inbounds i8, ptr %358, i64 16
  %360 = load i32, ptr %359, align 8, !tbaa !22
  %361 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %322, i64 noundef %indvars.iv380) #6
  %362 = getelementptr inbounds i8, ptr %361, i64 12
  %363 = load i32, ptr %362, align 4, !tbaa !12
  %364 = icmp eq i32 %363, 1
  br i1 %364, label %365, label %390

365:                                              ; preds = %357
  %366 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %322, i64 noundef %indvars.iv380) #6
  %367 = getelementptr inbounds i8, ptr %366, i64 8
  %368 = load i32, ptr %367, align 8, !tbaa !16
  %.not340 = icmp eq i32 %368, 21
  br i1 %.not340, label %390, label %369

369:                                              ; preds = %365
  %370 = zext i32 %360 to i64
  %371 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef %370)
  %372 = load double, ptr %371, align 8, !tbaa !17
  %373 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %323, i64 noundef %indvars.iv380) #6
  %374 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %324, i64 noundef %indvars.iv380) #6
  %375 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %373, ptr noundef nonnull align 1 dereferenceable(1) %374)
  %376 = fsub double %372, %375
  %377 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %325, i64 noundef %indvars.iv380)
  store double %376, ptr %377, align 8, !tbaa !17
  %378 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv380) #6
  %379 = load i32, ptr %378, align 4, !tbaa !5
  %.not348 = icmp eq i32 %379, 0
  br i1 %.not348, label %503, label %380

380:                                              ; preds = %369
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %47) #6
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %48) #6
  %381 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %324, i64 noundef %indvars.iv380) #6
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %49) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %50) #6
  %382 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %326, i64 noundef %indvars.iv380) #6
  %383 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %325, i64 noundef %indvars.iv380)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8 %50, ptr noundef nonnull align 1 dereferenceable(1) %382, ptr noundef nonnull align 8 dereferenceable(8) %383)
  %384 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %327, i64 noundef %indvars.iv380)
  call void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEdvIdEEKNS1_INS2_18scalar_quotient_opIdNS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdSI_NSG_IdSI_EEEEEE5valueEE4typeEEEKSD_KNS2_19plain_constant_typeISD_SN_E4typeEEERKSI_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.435") align 8 %49, ptr noundef nonnull align 1 dereferenceable(1) %50, ptr noundef nonnull align 8 dereferenceable(8) %384)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS5_INS6_17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEESB_EEEESG_EEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEESB_KSM_EERKNS0_ISM_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.682") align 8 %48, ptr noundef nonnull align 1 dereferenceable(1) %381, ptr noundef nonnull align 1 dereferenceable(1) %49)
  call void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_18scalar_quotient_opIddEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEESH_EEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %47, ptr noundef nonnull align 1 dereferenceable(1) %48)
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %50) #6
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %49) #6
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %48) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %51) #6
  %385 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %328, i64 noundef %indvars.iv380) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %51, ptr noundef nonnull align 8 dereferenceable(96) %385, ptr noundef nonnull align 16 dereferenceable(48) %47)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %52) #6
  %386 = zext i32 %379 to i64
  %387 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %324, i64 noundef %386) #6
  %388 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %387)
  store ptr %388, ptr %52, align 8
  %389 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEENS_10MatrixBaseEEpLIS2_EERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %52, ptr noundef nonnull align 1 dereferenceable(1) %51)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %52) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %51) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %47) #6
  br label %503

390:                                              ; preds = %365, %357
  %391 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %322, i64 noundef %indvars.iv380) #6
  %392 = getelementptr inbounds i8, ptr %391, i64 12
  %393 = load i32, ptr %392, align 4, !tbaa !12
  %394 = icmp eq i32 %393, 3
  br i1 %394, label %395, label %432

395:                                              ; preds = %390
  %396 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %322, i64 noundef %indvars.iv380) #6
  %397 = getelementptr inbounds i8, ptr %396, i64 8
  %398 = load i32, ptr %397, align 8, !tbaa !16
  %.not341 = icmp eq i32 %398, 21
  br i1 %.not341, label %432, label %399

399:                                              ; preds = %395
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %53) #6
  %400 = zext i32 %360 to i64
  %401 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef %400)
  %402 = add i32 %360, 1
  %403 = zext i32 %402 to i64
  %404 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef %403)
  %405 = add i32 %360, 2
  %406 = zext i32 %405 to i64
  %407 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef %406)
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %53, ptr noundef nonnull align 8 dereferenceable(8) %401, ptr noundef nonnull align 8 dereferenceable(8) %404, ptr noundef nonnull align 8 dereferenceable(8) %407)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %54) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %55) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %56) #6
  %408 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %329, i64 noundef %indvars.iv380) #6
  %409 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %408)
  store ptr %409, ptr %56, align 8
  %410 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %324, i64 noundef %indvars.iv380) #6
  %411 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %56, ptr noundef nonnull align 1 dereferenceable(1) %410)
  %412 = extractvalue { ptr, ptr } %411, 0
  store ptr %412, ptr %55, align 8
  %413 = extractvalue { ptr, ptr } %411, 1
  store ptr %413, ptr %330, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.471") align 8 %54, ptr noundef nonnull align 1 dereferenceable(1) %53, ptr noundef nonnull align 1 dereferenceable(1) %55)
  %414 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %331, i64 noundef %indvars.iv380) #6
  %415 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_7ProductINS1_9TransposeINS6_IdLi6ELi3ELi0ELi6ELi3EEEEENS6_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %414, ptr noundef nonnull align 1 dereferenceable(1) %54)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %56) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %55) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %54) #6
  %416 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv380) #6
  %417 = load i32, ptr %416, align 4, !tbaa !5
  %.not347 = icmp eq i32 %417, 0
  br i1 %.not347, label %431, label %418

418:                                              ; preds = %399
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %57) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %58) #6
  %419 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %324, i64 noundef %indvars.iv380) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %59) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %60) #6
  %420 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %332, i64 noundef %indvars.iv380) #6
  %421 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %333, i64 noundef %indvars.iv380) #6
  %422 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %420, ptr noundef nonnull align 1 dereferenceable(1) %421)
  %423 = extractvalue { ptr, ptr } %422, 0
  store ptr %423, ptr %60, align 8
  %424 = extractvalue { ptr, ptr } %422, 1
  store ptr %424, ptr %334, align 8
  %425 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %331, i64 noundef %indvars.iv380) #6
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS2_IdLi3ELi3ELi0ELi3ELi3EEELi0EEEEmlINS2_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS1_IS5_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.505") align 8 %59, ptr noundef nonnull align 1 dereferenceable(1) %60, ptr noundef nonnull align 1 dereferenceable(1) %425)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS5_INS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.689") align 8 %58, ptr noundef nonnull align 1 dereferenceable(1) %419, ptr noundef nonnull align 1 dereferenceable(1) %59)
  call void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %57, ptr noundef nonnull align 1 dereferenceable(1) %58)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %60) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %59) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %58) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %61) #6
  %426 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %328, i64 noundef %indvars.iv380) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %61, ptr noundef nonnull align 8 dereferenceable(96) %426, ptr noundef nonnull align 16 dereferenceable(48) %57)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %62) #6
  %427 = zext i32 %417 to i64
  %428 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %324, i64 noundef %427) #6
  %429 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %428)
  store ptr %429, ptr %62, align 8
  %430 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEENS_10MatrixBaseEEpLIS2_EERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %62, ptr noundef nonnull align 1 dereferenceable(1) %61)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %62) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %61) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %57) #6
  br label %431

431:                                              ; preds = %418, %399
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %53) #6
  br label %503

432:                                              ; preds = %395, %390
  %433 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %322, i64 noundef %indvars.iv380) #6
  %434 = getelementptr inbounds i8, ptr %433, i64 8
  %435 = load i32, ptr %434, align 8, !tbaa !16
  %436 = icmp eq i32 %435, 21
  br i1 %436, label %437, label %503

437:                                              ; preds = %432
  %438 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %322, i64 noundef %indvars.iv380) #6
  %439 = getelementptr inbounds i8, ptr %438, i64 20
  %440 = load i32, ptr %439, align 4, !tbaa !19
  %441 = zext i32 %440 to i64
  %442 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %335, i64 noundef %441) #6
  %443 = load ptr, ptr %442, align 8, !tbaa !20
  %444 = getelementptr inbounds i8, ptr %443, i64 8
  %445 = load i32, ptr %444, align 8, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %63) #6
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %64) #6
  %446 = zext i32 %360 to i64
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEEKNS3_18ConstFixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.462") align 8 %64, ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef %446, i64 noundef 0, i32 noundef %445, i32 noundef 1)
  call void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_5BlockIKS1_Lin1ELin1ELb0EEEEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %63, ptr noundef nonnull align 8 dereferenceable(56) %64)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %64) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %65) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %66) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %67) #6
  %447 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %335, i64 noundef %441) #6
  %448 = load ptr, ptr %447, align 8, !tbaa !20
  %449 = getelementptr inbounds i8, ptr %448, i64 112
  %450 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %449)
          to label %451 unwind label %491

451:                                              ; preds = %437
  store ptr %450, ptr %67, align 8
  %452 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %324, i64 noundef %indvars.iv380) #6
  %453 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %67, ptr noundef nonnull align 1 dereferenceable(1) %452)
          to label %454 unwind label %491

454:                                              ; preds = %451
  %455 = extractvalue { ptr, ptr } %453, 0
  store ptr %455, ptr %66, align 8
  %456 = extractvalue { ptr, ptr } %453, 1
  store ptr %456, ptr %336, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.519") align 8 %65, ptr noundef nonnull align 1 dereferenceable(1) %63, ptr noundef nonnull align 1 dereferenceable(1) %66)
          to label %457 unwind label %491

457:                                              ; preds = %454
  %458 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %335, i64 noundef %441) #6
  %459 = load ptr, ptr %458, align 8, !tbaa !20
  %460 = getelementptr inbounds i8, ptr %459, i64 184
  %461 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS_7ProductINS_9TransposeINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %460, ptr noundef nonnull align 1 dereferenceable(1) %65)
          to label %462 unwind label %491

462:                                              ; preds = %457
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %67) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %66) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %65) #6
  %463 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv380) #6
  %464 = load i32, ptr %463, align 4, !tbaa !5
  %.not342 = icmp eq i32 %464, 0
  br i1 %.not342, label %501, label %465

465:                                              ; preds = %462
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %68) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %69) #6
  %466 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %324, i64 noundef %indvars.iv380) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %70) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %71) #6
  %467 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %335, i64 noundef %441) #6
  %468 = load ptr, ptr %467, align 8, !tbaa !20
  %469 = getelementptr inbounds i8, ptr %468, i64 136
  %470 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %335, i64 noundef %441) #6
  %471 = load ptr, ptr %470, align 8, !tbaa !20
  %472 = getelementptr inbounds i8, ptr %471, i64 160
  %473 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %469, ptr noundef nonnull align 1 dereferenceable(1) %472)
          to label %474 unwind label %493

474:                                              ; preds = %465
  %475 = extractvalue { ptr, ptr } %473, 0
  store ptr %475, ptr %71, align 8
  %476 = extractvalue { ptr, ptr } %473, 1
  store ptr %476, ptr %337, align 8
  %477 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %335, i64 noundef %441) #6
  %478 = load ptr, ptr %477, align 8, !tbaa !20
  %479 = getelementptr inbounds i8, ptr %478, i64 184
  invoke void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEES3_Li0EEEEmlINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS1_IS4_T_Li0EEERKNS0_IS8_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.553") align 8 %70, ptr noundef nonnull align 1 dereferenceable(1) %71, ptr noundef nonnull align 1 dereferenceable(1) %479)
          to label %480 unwind label %493

480:                                              ; preds = %474
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS5_INS1_IdLin1ELin1ELi0ELin1ELin1EEES6_Li0EEENS1_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSB_6traitsIT_E6ScalarEEEKS2_KSE_EERKNS0_ISE_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.696") align 8 %69, ptr noundef nonnull align 1 dereferenceable(1) %466, ptr noundef nonnull align 1 dereferenceable(1) %70)
          to label %481 unwind label %493

481:                                              ; preds = %480
  invoke void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESA_Li0EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %68, ptr noundef nonnull align 1 dereferenceable(1) %69)
          to label %482 unwind label %493

482:                                              ; preds = %481
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %71) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %70) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %69) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %72) #6
  %483 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %328, i64 noundef %indvars.iv380) #6
  invoke void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %72, ptr noundef nonnull align 8 dereferenceable(96) %483, ptr noundef nonnull align 16 dereferenceable(48) %68)
          to label %484 unwind label %495

484:                                              ; preds = %482
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %73) #6
  %485 = zext i32 %464 to i64
  %486 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %324, i64 noundef %485) #6
  %487 = invoke ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %486)
          to label %488 unwind label %497

488:                                              ; preds = %484
  store ptr %487, ptr %73, align 8
  %489 = invoke noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEENS_10MatrixBaseEEpLIS2_EERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %73, ptr noundef nonnull align 1 dereferenceable(1) %72)
          to label %490 unwind label %497

490:                                              ; preds = %488
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %73) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %72) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %68) #6
  br label %501

491:                                              ; preds = %457, %454, %451, %437
  %492 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %67) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %66) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %65) #6
  br label %502

493:                                              ; preds = %481, %480, %474, %465
  %494 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %71) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %70) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %69) #6
  br label %500

495:                                              ; preds = %482
  %496 = landingpad { ptr, i32 }
          cleanup
  br label %499

497:                                              ; preds = %488, %484
  %498 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %73) #6
  br label %499

499:                                              ; preds = %497, %495
  %.pn343 = phi { ptr, i32 } [ %498, %497 ], [ %496, %495 ]
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %72) #6
  br label %500

500:                                              ; preds = %499, %493
  %.pn343.pn = phi { ptr, i32 } [ %.pn343, %499 ], [ %494, %493 ]
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %68) #6
  br label %502

501:                                              ; preds = %490, %462
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %63) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %63) #6
  br label %503

502:                                              ; preds = %500, %491
  %.pn343.pn.pn = phi { ptr, i32 } [ %.pn343.pn, %500 ], [ %492, %491 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %63) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %63) #6
  br label %641

503:                                              ; preds = %369, %380, %431, %501, %432
  %indvars.iv.next381 = add nsw i64 %indvars.iv380, -1
  %504 = and i64 %indvars.iv.next381, 4294967295
  %.not336 = icmp eq i64 %504, 0
  br i1 %.not336, label %.preheader, label %357, !llvm.loop !43

._crit_edge377:                                   ; preds = %636, %.preheader
  ret void

505:                                              ; preds = %.lr.ph376, %636
  %506 = phi i64 [ 1, %.lr.ph376 ], [ %638, %636 ]
  %.0320375 = phi i32 [ 1, %.lr.ph376 ], [ %637, %636 ]
  %507 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %341, i64 noundef %506) #6
  %508 = getelementptr inbounds i8, ptr %507, i64 16
  %509 = load i32, ptr %508, align 8, !tbaa !22
  %510 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %506) #6
  %511 = load i32, ptr %510, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %74) #6
  %512 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %342, i64 noundef %506) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2ERKS1_(ptr noundef nonnull align 8 dereferenceable(96) %74, ptr noundef nonnull align 8 dereferenceable(96) %512)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %75) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %76) #6
  %513 = zext i32 %511 to i64
  %514 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %96, i64 noundef %513) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %76, ptr noundef nonnull align 8 dereferenceable(96) %74, ptr noundef nonnull align 16 dereferenceable(48) %514)
  %515 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %343, i64 noundef %506) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %75, ptr noundef nonnull align 1 dereferenceable(1) %76, ptr noundef nonnull align 1 dereferenceable(1) %515)
  %516 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %96, i64 noundef %506) #6
  %517 = 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) %516, ptr noundef nonnull align 1 dereferenceable(1) %75)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %76) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %75) #6
  %518 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %341, i64 noundef %506) #6
  %519 = getelementptr inbounds i8, ptr %518, i64 12
  %520 = load i32, ptr %519, align 4, !tbaa !12
  %521 = icmp eq i32 %520, 1
  br i1 %521, label %522, label %544

522:                                              ; preds = %505
  %523 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %341, i64 noundef %506) #6
  %524 = getelementptr inbounds i8, ptr %523, i64 8
  %525 = load i32, ptr %524, align 8, !tbaa !16
  %.not337 = icmp eq i32 %525, 21
  br i1 %.not337, label %544, label %526

526:                                              ; preds = %522
  %527 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %344, i64 noundef %506)
  %528 = load double, ptr %527, align 8, !tbaa !17
  %529 = fdiv double 1.000000e+00, %528
  %530 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %345, i64 noundef %506)
  %531 = load double, ptr %530, align 8, !tbaa !17
  %532 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %346, i64 noundef %506) #6
  %533 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %96, i64 noundef %506) #6
  %534 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %532, ptr noundef nonnull align 1 dereferenceable(1) %533)
  %535 = fsub double %531, %534
  %536 = fmul double %529, %535
  %537 = zext i32 %509 to i64
  %538 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %537)
  store double %536, ptr %538, align 8, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %77) #6
  %539 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %96, i64 noundef %506) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %78) #6
  %540 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %347, i64 noundef %506) #6
  %541 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %537)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8 %78, ptr noundef nonnull align 1 dereferenceable(1) %540, ptr noundef nonnull align 8 dereferenceable(8) %541)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEES9_EEEEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEES9_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.561") align 8 %77, ptr noundef nonnull align 1 dereferenceable(1) %539, ptr noundef nonnull align 1 dereferenceable(1) %78)
  %542 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %96, i64 noundef %506) #6
  %543 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %542, ptr noundef nonnull align 1 dereferenceable(1) %77)
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %78) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %77) #6
  br label %636

544:                                              ; preds = %522, %505
  %545 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %341, i64 noundef %506) #6
  %546 = getelementptr inbounds i8, ptr %545, i64 12
  %547 = load i32, ptr %546, align 4, !tbaa !12
  %548 = icmp eq i32 %547, 3
  br i1 %548, label %549, label %583

549:                                              ; preds = %544
  %550 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %341, i64 noundef %506) #6
  %551 = getelementptr inbounds i8, ptr %550, i64 8
  %552 = load i32, ptr %551, align 8, !tbaa !16
  %.not338 = icmp eq i32 %552, 21
  br i1 %.not338, label %583, label %553

553:                                              ; preds = %549
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %79) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %80) #6
  %554 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %348, i64 noundef %506) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %81) #6
  %555 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %349, i64 noundef %506) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %82) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %83) #6
  %556 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %350, i64 noundef %506) #6
  %557 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %556)
  store ptr %557, ptr %83, align 8
  %558 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %96, i64 noundef %506) #6
  %559 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %83, ptr noundef nonnull align 1 dereferenceable(1) %558)
  %560 = extractvalue { ptr, ptr } %559, 0
  store ptr %560, ptr %82, align 8
  %561 = extractvalue { ptr, ptr } %559, 1
  store ptr %561, ptr %351, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.471") align 8 %81, ptr noundef nonnull align 1 dereferenceable(1) %555, ptr noundef nonnull align 1 dereferenceable(1) %82)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEmlINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKNS1_IdLi3ELi1ELi0ELi3ELi1EEEKNS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEEKNSB_IS2_T_Li0EEERKNS0_ISJ_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.568") align 8 %80, ptr noundef nonnull align 1 dereferenceable(1) %554, ptr noundef nonnull align 1 dereferenceable(1) %81)
  call void @_ZN9Vector3_tC2IN5Eigen7ProductINS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEENS1_13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS3_IdLi3ELi1ELi0ELi3ELi1EEEKNS2_INS1_9TransposeINS3_IdLi6ELi3ELi0ELi6ELi3EEEEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %79, ptr noundef nonnull align 1 dereferenceable(1) %80)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %83) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %82) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %81) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %80) #6
  %562 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %79, i64 noundef 0)
  %563 = load double, ptr %562, align 8, !tbaa !17
  %564 = zext i32 %509 to i64
  %565 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %564)
  store double %563, ptr %565, align 8, !tbaa !17
  %566 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %79, i64 noundef 1)
  %567 = load double, ptr %566, align 8, !tbaa !17
  %568 = add i32 %509, 1
  %569 = zext i32 %568 to i64
  %570 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %569)
  store double %567, ptr %570, align 8, !tbaa !17
  %571 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %79, i64 noundef 2)
  %572 = load double, ptr %571, align 8, !tbaa !17
  %573 = add i32 %509, 2
  %574 = zext i32 %573 to i64
  %575 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %574)
  store double %572, ptr %575, align 8, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %84) #6
  %576 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %96, i64 noundef %506) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %85) #6
  %577 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %352, i64 noundef %506) #6
  %578 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %577, ptr noundef nonnull align 1 dereferenceable(1) %79)
  %579 = extractvalue { ptr, ptr } %578, 0
  store ptr %579, ptr %85, align 8
  %580 = extractvalue { ptr, ptr } %578, 1
  store ptr %580, ptr %353, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.575") align 8 %84, ptr noundef nonnull align 1 dereferenceable(1) %576, ptr noundef nonnull align 1 dereferenceable(1) %85)
  %581 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %96, i64 noundef %506) #6
  %582 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %581, ptr noundef nonnull align 1 dereferenceable(1) %84)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %85) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %84) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %79) #6
  br label %636

583:                                              ; preds = %549, %544
  %584 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %341, i64 noundef %506) #6
  %585 = getelementptr inbounds i8, ptr %584, i64 8
  %586 = load i32, ptr %585, align 8, !tbaa !16
  %587 = icmp eq i32 %586, 21
  br i1 %587, label %588, label %636

588:                                              ; preds = %583
  %589 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %341, i64 noundef %506) #6
  %590 = getelementptr inbounds i8, ptr %589, i64 20
  %591 = load i32, ptr %590, align 4, !tbaa !19
  %592 = zext i32 %591 to i64
  %593 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %354, i64 noundef %592) #6
  %594 = load ptr, ptr %593, align 8, !tbaa !20
  %595 = getelementptr inbounds i8, ptr %594, i64 8
  %596 = load i32, ptr %595, align 8, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %86) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %87) #6
  %597 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %354, i64 noundef %592) #6
  %598 = load ptr, ptr %597, align 8, !tbaa !20
  %599 = getelementptr inbounds i8, ptr %598, i64 160
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %88) #6
  %600 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %354, i64 noundef %592) #6
  %601 = load ptr, ptr %600, align 8, !tbaa !20
  %602 = getelementptr inbounds i8, ptr %601, i64 184
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %89) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %90) #6
  %603 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %354, i64 noundef %592) #6
  %604 = load ptr, ptr %603, align 8, !tbaa !20
  %605 = getelementptr inbounds i8, ptr %604, i64 136
  %606 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %605)
  store ptr %606, ptr %90, align 8
  %607 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %96, i64 noundef %506) #6
  %608 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %90, ptr noundef nonnull align 1 dereferenceable(1) %607)
  %609 = extractvalue { ptr, ptr } %608, 0
  store ptr %609, ptr %89, align 8
  %610 = extractvalue { ptr, ptr } %608, 1
  store ptr %610, ptr %355, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.519") align 8 %88, ptr noundef nonnull align 1 dereferenceable(1) %602, ptr noundef nonnull align 1 dereferenceable(1) %89)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKNS1_IdLin1ELi1ELi0ELin1ELi1EEEKNS_7ProductINS_9TransposeIS2_EENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEEKNSB_IS2_T_Li0EEERKNS0_ISI_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.582") align 8 %87, ptr noundef nonnull align 1 dereferenceable(1) %599, ptr noundef nonnull align 1 dereferenceable(1) %88)
  call void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_7ProductINS0_IdLin1ELin1ELi0ELin1ELin1EEENS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS3_INS_9TransposeIS4_EENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %86, ptr noundef nonnull align 1 dereferenceable(1) %87)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %90) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %89) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %88) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %87) #6
  %.not378 = icmp eq i32 %596, 0
  br i1 %.not378, label %._crit_edge374, label %.lr.ph373.preheader

.lr.ph373.preheader:                              ; preds = %588
  %wide.trip.count = zext i32 %596 to i64
  br label %.lr.ph373

._crit_edge374:                                   ; preds = %623, %588
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %91) #6
  %611 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %96, i64 noundef %506) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %92) #6
  %612 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %354, i64 noundef %592) #6
  %613 = load ptr, ptr %612, align 8, !tbaa !20
  %614 = getelementptr inbounds i8, ptr %613, i64 112
  %615 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %614, ptr noundef nonnull align 1 dereferenceable(1) %86)
          to label %626 unwind label %633

.lr.ph373:                                        ; preds = %.lr.ph373.preheader, %623
  %indvars.iv384 = phi i64 [ 0, %.lr.ph373.preheader ], [ %indvars.iv.next385, %623 ]
  %616 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %86, i64 noundef %indvars.iv384)
          to label %617 unwind label %624

617:                                              ; preds = %.lr.ph373
  %618 = load double, ptr %616, align 8, !tbaa !17
  %619 = trunc nuw i64 %indvars.iv384 to i32
  %620 = add i32 %509, %619
  %621 = zext i32 %620 to i64
  %622 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %621)
          to label %623 unwind label %624

623:                                              ; preds = %617
  store double %618, ptr %622, align 8, !tbaa !17
  %indvars.iv.next385 = add nuw nsw i64 %indvars.iv384, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next385, %wide.trip.count
  br i1 %exitcond.not, label %._crit_edge374, label %.lr.ph373, !llvm.loop !44

624:                                              ; preds = %617, %.lr.ph373
  %625 = landingpad { ptr, i32 }
          cleanup
  br label %635

626:                                              ; preds = %._crit_edge374
  %627 = extractvalue { ptr, ptr } %615, 0
  store ptr %627, ptr %92, align 8
  %628 = extractvalue { ptr, ptr } %615, 1
  store ptr %628, ptr %356, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLin1ELin1ELi0ELin1ELin1EEENS1_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.589") align 8 %91, ptr noundef nonnull align 1 dereferenceable(1) %611, ptr noundef nonnull align 1 dereferenceable(1) %92)
          to label %629 unwind label %633

629:                                              ; preds = %626
  %630 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %96, i64 noundef %506) #6
  %631 = invoke noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLin1ELin1ELi0ELin1ELin1EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %630, ptr noundef nonnull align 1 dereferenceable(1) %91)
          to label %632 unwind label %633

632:                                              ; preds = %629
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %92) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %91) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %86) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %86) #6
  br label %636

633:                                              ; preds = %629, %626, %._crit_edge374
  %634 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %92) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %91) #6
  br label %635

635:                                              ; preds = %633, %624
  %.pn = phi { ptr, i32 } [ %625, %624 ], [ %634, %633 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %86) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %86) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %74) #6
  br label %641

636:                                              ; preds = %553, %632, %583, %526
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %74) #6
  %637 = add i32 %.0320375, 1
  %638 = zext i32 %637 to i64
  %639 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %126) #6
  %640 = icmp ugt i64 %639, %638
  br i1 %640, label %505, label %._crit_edge377, !llvm.loop !45

641:                                              ; preds = %635, %502, %316
  %.pn351 = phi { ptr, i32 } [ %317, %316 ], [ %.pn343.pn.pn, %502 ], [ %.pn, %635 ]
  resume { ptr, i32 } %.pn351
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS5_INS6_17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEESB_EEEESG_EEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEESB_KSM_EERKNS0_ISM_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.682") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_18scalar_quotient_opIddEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEESH_EEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS5_INS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.689") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS5_INS1_IdLin1ELin1ELi0ELin1ELin1EEES6_Li0EEENS1_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSB_6traitsIT_E6ScalarEEEKS2_KSE_EERKNS0_ISE_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.696") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESA_Li0EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

attributes #0 = { 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 #1 = { 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 #2 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { 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 = { 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 #5 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { 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 = !{!"int", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = distinct !{!9, !10}
!10 = !{!"llvm.loop.mustprogress"}
!11 = distinct !{!11, !10}
!12 = !{!13, !6, i64 12}
!13 = !{!"_ZTSN17RigidBodyDynamics5JointE", !14, i64 0, !15, i64 8, !6, i64 12, !6, i64 16, !6, i64 20}
!14 = !{!"any pointer", !7, i64 0}
!15 = !{!"_ZTSN17RigidBodyDynamics9JointTypeE", !7, i64 0}
!16 = !{!13, !15, i64 8}
!17 = !{!18, !18, i64 0}
!18 = !{!"double", !7, i64 0}
!19 = !{!13, !6, i64 20}
!20 = !{!14, !14, i64 0}
!21 = distinct !{!21, !10}
!22 = !{!13, !6, i64 16}
!23 = !{!24, !6, i64 8}
!24 = !{!"_ZTSN17RigidBodyDynamics11CustomJointE", !6, i64 8, !25, i64 16, !36, i64 112, !36, i64 136, !36, i64 160, !40, i64 184, !40, i64 200}
!25 = !{!"_ZTSN17RigidBodyDynamics4Math16SpatialTransformE", !26, i64 0, !31, i64 72}
!26 = !{!"_ZTS9Matrix3_t", !27, i64 0}
!27 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !28, i64 0}
!28 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !29, i64 0}
!29 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !30, i64 0}
!30 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !7, i64 0}
!31 = !{!"_ZTS9Vector3_t", !32, i64 0}
!32 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !33, i64 0}
!33 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !34, i64 0}
!34 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !35, i64 0}
!35 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!36 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !37, i64 0}
!37 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !38, i64 0}
!38 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !14, i64 0, !39, i64 8, !39, i64 16}
!39 = !{!"long", !7, i64 0}
!40 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !41, i64 0}
!41 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !42, i64 0}
!42 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !14, i64 0, !39, i64 8}
!43 = distinct !{!43, !10}
!44 = distinct !{!44, !10}
!45 = distinct !{!45, !10}


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