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

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

%"class.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator" = type { i8 }
%"class.std::basic_fstream" = type { %"class.std::basic_iostream.base", %"class.std::basic_filebuf", %"class.std::basic_ios" }
%"class.std::basic_iostream.base" = type { %"class.std::basic_istream.base", %"class.std::basic_ostream.base" }
%"class.std::basic_istream.base" = type { ptr, i64 }
%"class.std::basic_ostream.base" = type { ptr }
%"class.std::basic_filebuf" = type { %"class.std::basic_streambuf", %union.pthread_mutex_t, %"class.std::__basic_file", i32, %struct.__mbstate_t, %struct.__mbstate_t, %struct.__mbstate_t, ptr, i64, i8, i8, i8, i8, ptr, ptr, i8, ptr, ptr, i64, ptr, ptr }
%"class.std::basic_streambuf" = type { ptr, ptr, ptr, ptr, ptr, ptr, ptr, %"class.std::locale" }
%union.pthread_mutex_t = type { %struct.__pthread_mutex_s }
%struct.__pthread_mutex_s = type { i32, i32, i32, i32, i32, i16, i16, %struct.__pthread_internal_list }
%struct.__pthread_internal_list = type { ptr, ptr }
%"class.std::__basic_file" = type <{ ptr, i8, [7 x i8] }>
%struct.__mbstate_t = type { i32, %union.anon.23 }
%union.anon.23 = type { i32 }
%class.my_shared_ptr.24 = type { ptr, ptr }
%class.my_shared_ptr = type { ptr, ptr }
%"class.urdf::Link" = type { %"class.std::__cxx11::basic_string", %class.my_shared_ptr.0, %class.my_shared_ptr.1, %class.my_shared_ptr.2, %"class.std::vector", %"class.std::vector.6", %class.my_shared_ptr.11, %"class.std::vector.12", %"class.std::vector.17", i32, ptr }
%class.my_shared_ptr.0 = type { ptr, ptr }
%class.my_shared_ptr.1 = type { ptr, ptr }
%class.my_shared_ptr.2 = type { ptr, ptr }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<my_shared_ptr<urdf::Collision>, std::allocator<my_shared_ptr<urdf::Collision>>>::_Vector_impl" }
%"struct.std::_Vector_base<my_shared_ptr<urdf::Collision>, std::allocator<my_shared_ptr<urdf::Collision>>>::_Vector_impl" = type { %"struct.std::_Vector_base<my_shared_ptr<urdf::Collision>, std::allocator<my_shared_ptr<urdf::Collision>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<my_shared_ptr<urdf::Collision>, std::allocator<my_shared_ptr<urdf::Collision>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.6" = type { %"struct.std::_Vector_base.7" }
%"struct.std::_Vector_base.7" = type { %"struct.std::_Vector_base<my_shared_ptr<urdf::Visual>, std::allocator<my_shared_ptr<urdf::Visual>>>::_Vector_impl" }
%"struct.std::_Vector_base<my_shared_ptr<urdf::Visual>, std::allocator<my_shared_ptr<urdf::Visual>>>::_Vector_impl" = type { %"struct.std::_Vector_base<my_shared_ptr<urdf::Visual>, std::allocator<my_shared_ptr<urdf::Visual>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<my_shared_ptr<urdf::Visual>, std::allocator<my_shared_ptr<urdf::Visual>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%class.my_shared_ptr.11 = type { ptr, ptr }
%"class.std::vector.12" = type { %"struct.std::_Vector_base.13" }
%"struct.std::_Vector_base.13" = type { %"struct.std::_Vector_base<my_shared_ptr<urdf::Joint>, std::allocator<my_shared_ptr<urdf::Joint>>>::_Vector_impl" }
%"struct.std::_Vector_base<my_shared_ptr<urdf::Joint>, std::allocator<my_shared_ptr<urdf::Joint>>>::_Vector_impl" = type { %"struct.std::_Vector_base<my_shared_ptr<urdf::Joint>, std::allocator<my_shared_ptr<urdf::Joint>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<my_shared_ptr<urdf::Joint>, std::allocator<my_shared_ptr<urdf::Joint>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.17" = type { %"struct.std::_Vector_base.18" }
%"struct.std::_Vector_base.18" = type { %"struct.std::_Vector_base<my_shared_ptr<urdf::Link>, std::allocator<my_shared_ptr<urdf::Link>>>::_Vector_impl" }
%"struct.std::_Vector_base<my_shared_ptr<urdf::Link>, std::allocator<my_shared_ptr<urdf::Link>>>::_Vector_impl" = type { %"struct.std::_Vector_base<my_shared_ptr<urdf::Link>, std::allocator<my_shared_ptr<urdf::Link>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<my_shared_ptr<urdf::Link>, std::allocator<my_shared_ptr<urdf::Link>>>::_Vector_impl_data" = type { ptr, ptr, ptr }

@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@urdf_char = external dso_local global ptr, align 8
@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@.str.7 = external hidden unnamed_addr constant [52 x i8], align 1
@.str.8 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [36 x i8], align 1
@.str.10 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.11 = external hidden unnamed_addr constant [51 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.14 = external hidden unnamed_addr constant [12 x i8], align 1

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z9printTree13my_shared_ptrIKN4urdf4LinkEEi(ptr noundef, i32 noundef) #0

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN13my_shared_ptrIKN4urdf4LinkEEptEv(ptr noundef nonnull align 8 dereferenceable(16)) #2 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #3

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(32)) #3

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #3

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN13my_shared_ptrIKN4urdf4LinkEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress norecurse uwtable
define dso_local noundef i32 @main(i32 noundef %0, ptr noundef %1) #4 personality ptr @__gxx_personality_v0 {
  %3 = alloca i32, align 4
  %4 = alloca i32, align 4
  %5 = alloca ptr, align 8
  %6 = alloca %"class.std::__cxx11::basic_string", align 8
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  %9 = alloca %"class.std::__cxx11::basic_string", align 8
  %10 = alloca %"class.std::allocator", align 1
  %11 = alloca %"class.std::basic_fstream", align 8
  %12 = alloca %"class.std::__cxx11::basic_string", align 8
  %13 = alloca %"class.std::__cxx11::basic_string", align 8
  %14 = alloca %class.my_shared_ptr.24, align 8
  %15 = alloca i32, align 4
  %16 = alloca %class.my_shared_ptr, align 8
  %17 = alloca %class.my_shared_ptr, align 8
  store i32 0, ptr %3, align 4
  store i32 %0, ptr %4, align 4, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 32, ptr %6) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #6
  %18 = load i32, ptr %4, align 4, !tbaa !5
  %19 = icmp slt i32 %18, 2
  br i1 %19, label %20, label %36

20:                                               ; preds = %2
  %21 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef @.str.7)
          to label %22 unwind label %28

22:                                               ; preds = %20
  %23 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %21, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %24 unwind label %28

24:                                               ; preds = %22
  call void @llvm.lifetime.start.p0(i64 32, ptr %9) #6
  %25 = load ptr, ptr @urdf_char, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 1, ptr %10) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %10) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %9, ptr noundef %25, ptr noundef nonnull align 1 dereferenceable(1) %10)
          to label %26 unwind label %32

26:                                               ; preds = %24
  %27 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEOS4_(ptr noundef nonnull align 8 dereferenceable(32) %6, ptr noundef nonnull align 8 dereferenceable(32) %9) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %10) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %10) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %9) #6
  br label %80

28:                                               ; preds = %22, %20
  %29 = landingpad { ptr, i32 }
          cleanup
  %30 = extractvalue { ptr, i32 } %29, 0
  store ptr %30, ptr %7, align 8
  %31 = extractvalue { ptr, i32 } %29, 1
  store i32 %31, ptr %8, align 4
  br label %159

32:                                               ; preds = %24
  %33 = landingpad { ptr, i32 }
          cleanup
  %34 = extractvalue { ptr, i32 } %33, 0
  store ptr %34, ptr %7, align 8
  %35 = extractvalue { ptr, i32 } %33, 1
  store i32 %35, ptr %8, align 4
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %10) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %10) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %9) #6
  br label %159

36:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 528, ptr %11) #6
  %37 = load ptr, ptr %5, align 8, !tbaa !9
  %38 = getelementptr inbounds ptr, ptr %37, i64 1
  %39 = load ptr, ptr %38, align 8, !tbaa !9
  invoke void @_ZNSt13basic_fstreamIcSt11char_traitsIcEEC1EPKcSt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(264) %11, ptr noundef %39, i32 noundef 8)
          to label %40 unwind label %54

40:                                               ; preds = %36
  br label %41

41:                                               ; preds = %53, %40
  %42 = load ptr, ptr %11, align 8, !tbaa !11
  %43 = getelementptr i8, ptr %42, i64 -24
  %44 = load i64, ptr %43, align 8
  %45 = getelementptr inbounds i8, ptr %11, i64 %44
  %46 = invoke noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEE4goodEv(ptr noundef nonnull align 8 dereferenceable(264) %45)
          to label %47 unwind label %58

47:                                               ; preds = %41
  br i1 %46, label %48, label %76

48:                                               ; preds = %47
  call void @llvm.lifetime.start.p0(i64 32, ptr %12) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #6
  %49 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZSt7getlineIcSt11char_traitsIcESaIcEERSt13basic_istreamIT_T0_ES7_RNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(16) %11, ptr noundef nonnull align 8 dereferenceable(32) %12)
          to label %50 unwind label %62

50:                                               ; preds = %48
  call void @llvm.lifetime.start.p0(i64 32, ptr %13) #6
  invoke void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EERKS8_PKS5_(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %13, ptr noundef nonnull align 8 dereferenceable(32) %12, ptr noundef @.str.8)
          to label %51 unwind label %66

51:                                               ; preds = %50
  %52 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEpLERKS4_(ptr noundef nonnull align 8 dereferenceable(32) %6, ptr noundef nonnull align 8 dereferenceable(32) %13)
          to label %53 unwind label %70

53:                                               ; preds = %51
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %13) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %12) #6
  br label %41, !llvm.loop !13

54:                                               ; preds = %36
  %55 = landingpad { ptr, i32 }
          cleanup
  %56 = extractvalue { ptr, i32 } %55, 0
  store ptr %56, ptr %7, align 8
  %57 = extractvalue { ptr, i32 } %55, 1
  store i32 %57, ptr %8, align 4
  br label %79

58:                                               ; preds = %76, %41
  %59 = landingpad { ptr, i32 }
          cleanup
  %60 = extractvalue { ptr, i32 } %59, 0
  store ptr %60, ptr %7, align 8
  %61 = extractvalue { ptr, i32 } %59, 1
  store i32 %61, ptr %8, align 4
  br label %78

62:                                               ; preds = %48
  %63 = landingpad { ptr, i32 }
          cleanup
  %64 = extractvalue { ptr, i32 } %63, 0
  store ptr %64, ptr %7, align 8
  %65 = extractvalue { ptr, i32 } %63, 1
  store i32 %65, ptr %8, align 4
  br label %75

66:                                               ; preds = %50
  %67 = landingpad { ptr, i32 }
          cleanup
  %68 = extractvalue { ptr, i32 } %67, 0
  store ptr %68, ptr %7, align 8
  %69 = extractvalue { ptr, i32 } %67, 1
  store i32 %69, ptr %8, align 4
  br label %74

70:                                               ; preds = %51
  %71 = landingpad { ptr, i32 }
          cleanup
  %72 = extractvalue { ptr, i32 } %71, 0
  store ptr %72, ptr %7, align 8
  %73 = extractvalue { ptr, i32 } %71, 1
  store i32 %73, ptr %8, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #6
  br label %74

74:                                               ; preds = %70, %66
  call void @llvm.lifetime.end.p0(i64 32, ptr %13) #6
  br label %75

75:                                               ; preds = %74, %62
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %12) #6
  br label %78

76:                                               ; preds = %47
  invoke void @_ZNSt13basic_fstreamIcSt11char_traitsIcEE5closeEv(ptr noundef nonnull align 8 dereferenceable(264) %11)
          to label %77 unwind label %58

77:                                               ; preds = %76
  call void @_ZNSt13basic_fstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(264) %11) #6
  call void @llvm.lifetime.end.p0(i64 528, ptr %11) #6
  br label %80

78:                                               ; preds = %75, %58
  call void @_ZNSt13basic_fstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(264) %11) #6
  br label %79

79:                                               ; preds = %78, %54
  call void @llvm.lifetime.end.p0(i64 528, ptr %11) #6
  br label %159

80:                                               ; preds = %77, %26
  call void @llvm.lifetime.start.p0(i64 16, ptr %14) #6
  invoke void @_ZN4urdf9parseURDFERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind writable sret(%class.my_shared_ptr.24) align 8 %14, ptr noundef nonnull align 8 dereferenceable(32) %6)
          to label %81 unwind label %89

81:                                               ; preds = %80
  %82 = invoke noundef zeroext i1 @_ZNK13my_shared_ptrIN4urdf14ModelInterfaceEEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %14)
          to label %83 unwind label %93

83:                                               ; preds = %81
  br i1 %82, label %97, label %84

84:                                               ; preds = %83
  %85 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef @.str.9)
          to label %86 unwind label %93

86:                                               ; preds = %84
  %87 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %85, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %88 unwind label %93

88:                                               ; preds = %86
  store i32 -1, ptr %3, align 4
  store i32 1, ptr %15, align 4
  br label %155

89:                                               ; preds = %80
  %90 = landingpad { ptr, i32 }
          cleanup
  %91 = extractvalue { ptr, i32 } %90, 0
  store ptr %91, ptr %7, align 8
  %92 = extractvalue { ptr, i32 } %90, 1
  store i32 %92, ptr %8, align 4
  br label %158

93:                                               ; preds = %109, %107, %105, %103, %101, %99, %97, %86, %84, %81
  %94 = landingpad { ptr, i32 }
          cleanup
  %95 = extractvalue { ptr, i32 } %94, 0
  store ptr %95, ptr %7, align 8
  %96 = extractvalue { ptr, i32 } %94, 1
  store i32 %96, ptr %8, align 4
  br label %157

97:                                               ; preds = %83
  %98 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.10)
          to label %99 unwind label %93

99:                                               ; preds = %97
  %100 = invoke noundef ptr @_ZN13my_shared_ptrIN4urdf14ModelInterfaceEEptEv(ptr noundef nonnull align 8 dereferenceable(16) %14)
          to label %101 unwind label %93

101:                                              ; preds = %99
  %102 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNK4urdf14ModelInterface7getNameB5cxx11Ev(ptr noundef nonnull align 8 dereferenceable(200) %100)
          to label %103 unwind label %93

103:                                              ; preds = %101
  %104 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %98, ptr noundef nonnull align 8 dereferenceable(32) %102)
          to label %105 unwind label %93

105:                                              ; preds = %103
  %106 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %104, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %107 unwind label %93

107:                                              ; preds = %105
  %108 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.11)
          to label %109 unwind label %93

109:                                              ; preds = %107
  %110 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %108, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %111 unwind label %93

111:                                              ; preds = %109
  call void @llvm.lifetime.start.p0(i64 16, ptr %16) #6
  %112 = invoke noundef ptr @_ZN13my_shared_ptrIN4urdf14ModelInterfaceEEptEv(ptr noundef nonnull align 8 dereferenceable(16) %14)
          to label %113 unwind label %118

113:                                              ; preds = %111
  invoke void @_ZNK4urdf14ModelInterface7getRootEv(ptr dead_on_unwind writable sret(%class.my_shared_ptr) align 8 %16, ptr noundef nonnull align 8 dereferenceable(200) %112)
          to label %114 unwind label %118

114:                                              ; preds = %113
  %115 = invoke noundef zeroext i1 @_ZNK13my_shared_ptrIKN4urdf4LinkEEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %16)
          to label %116 unwind label %122

116:                                              ; preds = %114
  br i1 %115, label %126, label %117

117:                                              ; preds = %116
  store i32 -1, ptr %3, align 4
  store i32 1, ptr %15, align 4
  br label %152

118:                                              ; preds = %113, %111
  %119 = landingpad { ptr, i32 }
          cleanup
  %120 = extractvalue { ptr, i32 } %119, 0
  store ptr %120, ptr %7, align 8
  %121 = extractvalue { ptr, i32 } %119, 1
  store i32 %121, ptr %8, align 4
  br label %154

122:                                              ; preds = %145, %143, %141, %137, %135, %133, %130, %128, %126, %114
  %123 = landingpad { ptr, i32 }
          cleanup
  %124 = extractvalue { ptr, i32 } %123, 0
  store ptr %124, ptr %7, align 8
  %125 = extractvalue { ptr, i32 } %123, 1
  store i32 %125, ptr %8, align 4
  br label %153

126:                                              ; preds = %116
  %127 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.12)
          to label %128 unwind label %122

128:                                              ; preds = %126
  %129 = invoke noundef ptr @_ZN13my_shared_ptrIKN4urdf4LinkEEptEv(ptr noundef nonnull align 8 dereferenceable(16) %16)
          to label %130 unwind label %122

130:                                              ; preds = %128
  %131 = getelementptr inbounds %"class.urdf::Link", ptr %129, i32 0, i32 0
  %132 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %127, ptr noundef nonnull align 8 dereferenceable(32) %131)
          to label %133 unwind label %122

133:                                              ; preds = %130
  %134 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %132, ptr noundef @.str.13)
          to label %135 unwind label %122

135:                                              ; preds = %133
  %136 = invoke noundef ptr @_ZN13my_shared_ptrIKN4urdf4LinkEEptEv(ptr noundef nonnull align 8 dereferenceable(16) %16)
          to label %137 unwind label %122

137:                                              ; preds = %135
  %138 = getelementptr inbounds %"class.urdf::Link", ptr %136, i32 0, i32 8
  %139 = call noundef i64 @_ZNKSt6vectorI13my_shared_ptrIN4urdf4LinkEESaIS3_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %138) #6
  %140 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %134, i64 noundef %139)
          to label %141 unwind label %122

141:                                              ; preds = %137
  %142 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %140, ptr noundef @.str.14)
          to label %143 unwind label %122

143:                                              ; preds = %141
  %144 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %142, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %145 unwind label %122

145:                                              ; preds = %143
  invoke void @_ZN13my_shared_ptrIKN4urdf4LinkEEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(16) %17, ptr noundef nonnull align 8 dereferenceable(16) %16)
          to label %146 unwind label %122

146:                                              ; preds = %145
  invoke void @_Z9printTree13my_shared_ptrIKN4urdf4LinkEEi(ptr noundef %17, i32 noundef 0)
          to label %147 unwind label %148

147:                                              ; preds = %146
  call void @_ZN13my_shared_ptrIKN4urdf4LinkEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %17) #6
  store i32 0, ptr %3, align 4
  store i32 1, ptr %15, align 4
  br label %152

148:                                              ; preds = %146
  %149 = landingpad { ptr, i32 }
          cleanup
  %150 = extractvalue { ptr, i32 } %149, 0
  store ptr %150, ptr %7, align 8
  %151 = extractvalue { ptr, i32 } %149, 1
  store i32 %151, ptr %8, align 4
  call void @_ZN13my_shared_ptrIKN4urdf4LinkEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %17) #6
  br label %153

152:                                              ; preds = %147, %117
  call void @_ZN13my_shared_ptrIKN4urdf4LinkEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %16) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %16) #6
  br label %155

153:                                              ; preds = %148, %122
  call void @_ZN13my_shared_ptrIKN4urdf4LinkEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %16) #6
  br label %154

154:                                              ; preds = %153, %118
  call void @llvm.lifetime.end.p0(i64 16, ptr %16) #6
  br label %157

155:                                              ; preds = %152, %88
  call void @_ZN13my_shared_ptrIN4urdf14ModelInterfaceEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %14) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %6) #6
  %156 = load i32, ptr %3, align 4
  ret i32 %156

157:                                              ; preds = %154, %93
  call void @_ZN13my_shared_ptrIN4urdf14ModelInterfaceEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %14) #6
  br label %158

158:                                              ; preds = %157, %89
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #6
  br label %159

159:                                              ; preds = %158, %79, %32, %28
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %6) #6
  br label %160

160:                                              ; preds = %159
  %161 = load ptr, ptr %7, align 8
  %162 = load i32, ptr %8, align 4
  %163 = insertvalue { ptr, i32 } poison, ptr %161, 0
  %164 = insertvalue { ptr, i32 } %163, i32 %162, 1
  resume { ptr, i32 } %164
}

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEOS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) #2 align 2

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

; Function Attrs: mustprogress uwtable
declare void @_ZNSt13basic_fstreamIcSt11char_traitsIcEEC1EPKcSt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(264), ptr noundef, i32 noundef) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEE4goodEv(ptr noundef nonnull align 8 dereferenceable(264)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(16) ptr @_ZSt7getlineIcSt11char_traitsIcESaIcEERSt13basic_istreamIT_T0_ES7_RNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(32)) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EERKS8_PKS5_(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) #3

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEpLERKS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) #0 align 2

; Function Attrs: mustprogress uwtable
declare void @_ZNSt13basic_fstreamIcSt11char_traitsIcEE5closeEv(ptr noundef nonnull align 8 dereferenceable(264)) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt13basic_fstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(264)) unnamed_addr #2 align 2

declare void @_ZN4urdf9parseURDFERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind writable sret(%class.my_shared_ptr.24) align 8, ptr noundef nonnull align 8 dereferenceable(32)) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK13my_shared_ptrIN4urdf14ModelInterfaceEEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN13my_shared_ptrIN4urdf14ModelInterfaceEEptEv(ptr noundef nonnull align 8 dereferenceable(16)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZNK4urdf14ModelInterface7getNameB5cxx11Ev(ptr noundef nonnull align 8 dereferenceable(200)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK4urdf14ModelInterface7getRootEv(ptr dead_on_unwind noalias writable sret(%class.my_shared_ptr) align 8, ptr noundef nonnull align 8 dereferenceable(200)) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK13my_shared_ptrIKN4urdf4LinkEEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) #2 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorI13my_shared_ptrIN4urdf4LinkEESaIS3_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN13my_shared_ptrIKN4urdf4LinkEEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN13my_shared_ptrIN4urdf14ModelInterfaceEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

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

attributes #0 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress norecurse 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 = !{!10, !10, i64 0}
!10 = !{!"any pointer", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"vtable pointer", !8, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}


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

%"class.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator" = type { i8 }
%"class.std::basic_fstream" = type { %"class.std::basic_iostream.base", %"class.std::basic_filebuf", %"class.std::basic_ios" }
%"class.std::basic_iostream.base" = type { %"class.std::basic_istream.base", %"class.std::basic_ostream.base" }
%"class.std::basic_istream.base" = type { ptr, i64 }
%"class.std::basic_ostream.base" = type { ptr }
%"class.std::basic_filebuf" = type { %"class.std::basic_streambuf", %union.pthread_mutex_t, %"class.std::__basic_file", i32, %struct.__mbstate_t, %struct.__mbstate_t, %struct.__mbstate_t, ptr, i64, i8, i8, i8, i8, ptr, ptr, i8, ptr, ptr, i64, ptr, ptr }
%"class.std::basic_streambuf" = type { ptr, ptr, ptr, ptr, ptr, ptr, ptr, %"class.std::locale" }
%union.pthread_mutex_t = type { %struct.__pthread_mutex_s }
%struct.__pthread_mutex_s = type { i32, i32, i32, i32, i32, i16, i16, %struct.__pthread_internal_list }
%struct.__pthread_internal_list = type { ptr, ptr }
%"class.std::__basic_file" = type <{ ptr, i8, [7 x i8] }>
%struct.__mbstate_t = type { i32, %union.anon.23 }
%union.anon.23 = type { i32 }
%class.my_shared_ptr.24 = type { ptr, ptr }
%class.my_shared_ptr = type { ptr, ptr }

@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@urdf_char = external dso_local local_unnamed_addr global ptr, align 8
@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@.str.7 = external hidden unnamed_addr constant [52 x i8], align 1
@.str.8 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [36 x i8], align 1
@.str.10 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.11 = external hidden unnamed_addr constant [51 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.14 = external hidden unnamed_addr constant [12 x i8], align 1

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z9printTree13my_shared_ptrIKN4urdf4LinkEEi(ptr noundef, i32 noundef) local_unnamed_addr #0

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN13my_shared_ptrIKN4urdf4LinkEEptEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #3

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN13my_shared_ptrIKN4urdf4LinkEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress norecurse uwtable
define dso_local noundef range(i32 -1, 1) i32 @main(i32 noundef %0, ptr nocapture noundef readonly %1) local_unnamed_addr #4 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.std::__cxx11::basic_string", align 8
  %4 = alloca %"class.std::__cxx11::basic_string", align 8
  %5 = alloca %"class.std::allocator", align 1
  %6 = alloca %"class.std::basic_fstream", align 8
  %7 = alloca %"class.std::__cxx11::basic_string", align 8
  %8 = alloca %"class.std::__cxx11::basic_string", align 8
  %9 = alloca %class.my_shared_ptr.24, align 8
  %10 = alloca %class.my_shared_ptr, align 8
  %11 = alloca %class.my_shared_ptr, align 8
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %3) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #6
  %12 = icmp slt i32 %0, 2
  br i1 %12, label %13, label %25

13:                                               ; preds = %2
  %14 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef nonnull @.str.7)
          to label %15 unwind label %21

15:                                               ; preds = %13
  %16 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %14, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %17 unwind label %21

17:                                               ; preds = %15
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %4) #6
  %18 = load ptr, ptr @urdf_char, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %5) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %4, ptr noundef %18, ptr noundef nonnull align 1 dereferenceable(1) %5)
          to label %19 unwind label %23

19:                                               ; preds = %17
  %20 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEOS4_(ptr noundef nonnull align 8 dereferenceable(32) %3, ptr noundef nonnull align 8 dereferenceable(32) %4) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %5) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #6
  br label %58

21:                                               ; preds = %15, %13
  %22 = landingpad { ptr, i32 }
          cleanup
  br label %115

23:                                               ; preds = %17
  %24 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %5) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #6
  br label %115

25:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 528, ptr nonnull %6) #6
  %26 = getelementptr inbounds i8, ptr %1, i64 8
  %27 = load ptr, ptr %26, align 8, !tbaa !5
  invoke void @_ZNSt13basic_fstreamIcSt11char_traitsIcEEC1EPKcSt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(264) %6, ptr noundef %27, i32 noundef 8)
          to label %.preheader unwind label %43

.preheader:                                       ; preds = %25
  %28 = load ptr, ptr %6, align 8, !tbaa !9
  %29 = getelementptr i8, ptr %28, i64 -24
  %30 = load i64, ptr %29, align 8
  %31 = getelementptr inbounds i8, ptr %6, i64 %30
  %32 = call noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEE4goodEv(ptr noundef nonnull align 8 dereferenceable(264) %31)
  br i1 %32, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %.preheader, %37
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %7) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #6
  %33 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZSt7getlineIcSt11char_traitsIcESaIcEERSt13basic_istreamIT_T0_ES7_RNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(16) %6, ptr noundef nonnull align 8 dereferenceable(32) %7)
          to label %34 unwind label %47

34:                                               ; preds = %.lr.ph
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %8) #6
  invoke void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EERKS8_PKS5_(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %8, ptr noundef nonnull align 8 dereferenceable(32) %7, ptr noundef nonnull @.str.8)
          to label %35 unwind label %49

35:                                               ; preds = %34
  %36 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEpLERKS4_(ptr noundef nonnull align 8 dereferenceable(32) %3, ptr noundef nonnull align 8 dereferenceable(32) %8)
          to label %37 unwind label %51

37:                                               ; preds = %35
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %7) #6
  %38 = load ptr, ptr %6, align 8, !tbaa !9
  %39 = getelementptr i8, ptr %38, i64 -24
  %40 = load i64, ptr %39, align 8
  %41 = getelementptr inbounds i8, ptr %6, i64 %40
  %42 = call noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEE4goodEv(ptr noundef nonnull align 8 dereferenceable(264) %41)
  br i1 %42, label %.lr.ph, label %._crit_edge, !llvm.loop !11

43:                                               ; preds = %25
  %44 = landingpad { ptr, i32 }
          cleanup
  br label %57

45:                                               ; preds = %._crit_edge
  %46 = landingpad { ptr, i32 }
          cleanup
  br label %56

47:                                               ; preds = %.lr.ph
  %48 = landingpad { ptr, i32 }
          cleanup
  br label %54

49:                                               ; preds = %34
  %50 = landingpad { ptr, i32 }
          cleanup
  br label %53

51:                                               ; preds = %35
  %52 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #6
  br label %53

53:                                               ; preds = %51, %49
  %.pn = phi { ptr, i32 } [ %52, %51 ], [ %50, %49 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #6
  br label %54

54:                                               ; preds = %53, %47
  %.pn.pn = phi { ptr, i32 } [ %.pn, %53 ], [ %48, %47 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %7) #6
  br label %56

._crit_edge:                                      ; preds = %37, %.preheader
  invoke void @_ZNSt13basic_fstreamIcSt11char_traitsIcEE5closeEv(ptr noundef nonnull align 8 dereferenceable(264) %6)
          to label %55 unwind label %45

55:                                               ; preds = %._crit_edge
  call void @_ZNSt13basic_fstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(264) %6) #6
  call void @llvm.lifetime.end.p0(i64 528, ptr nonnull %6) #6
  br label %58

56:                                               ; preds = %54, %45
  %.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn, %54 ], [ %46, %45 ]
  call void @_ZNSt13basic_fstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(264) %6) #6
  br label %57

57:                                               ; preds = %56, %43
  %.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn, %56 ], [ %44, %43 ]
  call void @llvm.lifetime.end.p0(i64 528, ptr nonnull %6) #6
  br label %115

58:                                               ; preds = %55, %19
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #6
  invoke void @_ZN4urdf9parseURDFERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind nonnull writable sret(%class.my_shared_ptr.24) align 8 %9, ptr noundef nonnull align 8 dereferenceable(32) %3)
          to label %59 unwind label %65

59:                                               ; preds = %58
  %60 = call noundef zeroext i1 @_ZNK13my_shared_ptrIN4urdf14ModelInterfaceEEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %9)
  br i1 %60, label %69, label %61

61:                                               ; preds = %59
  %62 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef nonnull @.str.9)
          to label %63 unwind label %67

63:                                               ; preds = %61
  %64 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %62, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %112 unwind label %67

65:                                               ; preds = %58
  %66 = landingpad { ptr, i32 }
          cleanup
  br label %114

67:                                               ; preds = %79, %77, %75, %71, %69, %63, %61
  %68 = landingpad { ptr, i32 }
          cleanup
  br label %113

69:                                               ; preds = %59
  %70 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.10)
          to label %71 unwind label %67

71:                                               ; preds = %69
  %72 = call noundef ptr @_ZN13my_shared_ptrIN4urdf14ModelInterfaceEEptEv(ptr noundef nonnull align 8 dereferenceable(16) %9)
  %73 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNK4urdf14ModelInterface7getNameB5cxx11Ev(ptr noundef nonnull align 8 dereferenceable(200) %72)
  %74 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %70, ptr noundef nonnull align 8 dereferenceable(32) %73)
          to label %75 unwind label %67

75:                                               ; preds = %71
  %76 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %74, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %77 unwind label %67

77:                                               ; preds = %75
  %78 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.11)
          to label %79 unwind label %67

79:                                               ; preds = %77
  %80 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %78, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %81 unwind label %67

81:                                               ; preds = %79
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %10) #6
  %82 = call noundef ptr @_ZN13my_shared_ptrIN4urdf14ModelInterfaceEEptEv(ptr noundef nonnull align 8 dereferenceable(16) %9)
  invoke void @_ZNK4urdf14ModelInterface7getRootEv(ptr dead_on_unwind nonnull writable sret(%class.my_shared_ptr) align 8 %10, ptr noundef nonnull align 8 dereferenceable(200) %82)
          to label %83 unwind label %85

83:                                               ; preds = %81
  %84 = call noundef zeroext i1 @_ZNK13my_shared_ptrIKN4urdf4LinkEEcvbEv(ptr noundef nonnull align 8 dereferenceable(16) %10)
  br i1 %84, label %89, label %109

85:                                               ; preds = %81
  %86 = landingpad { ptr, i32 }
          cleanup
  br label %111

87:                                               ; preds = %103, %101, %96, %94, %91, %89
  %88 = landingpad { ptr, i32 }
          cleanup
  br label %110

89:                                               ; preds = %83
  %90 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.12)
          to label %91 unwind label %87

91:                                               ; preds = %89
  %92 = call noundef ptr @_ZN13my_shared_ptrIKN4urdf4LinkEEptEv(ptr noundef nonnull align 8 dereferenceable(16) %10)
  %93 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %90, ptr noundef nonnull align 8 dereferenceable(32) %92)
          to label %94 unwind label %87

94:                                               ; preds = %91
  %95 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %93, ptr noundef nonnull @.str.13)
          to label %96 unwind label %87

96:                                               ; preds = %94
  %97 = call noundef ptr @_ZN13my_shared_ptrIKN4urdf4LinkEEptEv(ptr noundef nonnull align 8 dereferenceable(16) %10)
  %98 = getelementptr inbounds i8, ptr %97, i64 168
  %99 = call noundef i64 @_ZNKSt6vectorI13my_shared_ptrIN4urdf4LinkEESaIS3_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %98) #6
  %100 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %95, i64 noundef %99)
          to label %101 unwind label %87

101:                                              ; preds = %96
  %102 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %100, ptr noundef nonnull @.str.14)
          to label %103 unwind label %87

103:                                              ; preds = %101
  %104 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %102, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %105 unwind label %87

105:                                              ; preds = %103
  call void @_ZN13my_shared_ptrIKN4urdf4LinkEEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(16) %11, ptr noundef nonnull align 8 dereferenceable(16) %10)
  invoke void @_Z9printTree13my_shared_ptrIKN4urdf4LinkEEi(ptr noundef nonnull %11, i32 noundef 0)
          to label %106 unwind label %107

106:                                              ; preds = %105
  call void @_ZN13my_shared_ptrIKN4urdf4LinkEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %11) #6
  br label %109

107:                                              ; preds = %105
  %108 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN13my_shared_ptrIKN4urdf4LinkEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %11) #6
  br label %110

109:                                              ; preds = %83, %106
  %.013 = phi i32 [ 0, %106 ], [ -1, %83 ]
  call void @_ZN13my_shared_ptrIKN4urdf4LinkEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %10) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #6
  br label %112

110:                                              ; preds = %107, %87
  %.pn19 = phi { ptr, i32 } [ %108, %107 ], [ %88, %87 ]
  call void @_ZN13my_shared_ptrIKN4urdf4LinkEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %10) #6
  br label %111

111:                                              ; preds = %110, %85
  %.pn19.pn = phi { ptr, i32 } [ %.pn19, %110 ], [ %86, %85 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #6
  br label %113

112:                                              ; preds = %63, %109
  %.114 = phi i32 [ %.013, %109 ], [ -1, %63 ]
  call void @_ZN13my_shared_ptrIN4urdf14ModelInterfaceEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %9) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %3) #6
  ret i32 %.114

113:                                              ; preds = %111, %67
  %.pn19.pn.pn = phi { ptr, i32 } [ %.pn19.pn, %111 ], [ %68, %67 ]
  call void @_ZN13my_shared_ptrIN4urdf14ModelInterfaceEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %9) #6
  br label %114

114:                                              ; preds = %113, %65
  %.pn19.pn.pn.pn = phi { ptr, i32 } [ %.pn19.pn.pn, %113 ], [ %66, %65 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #6
  br label %115

115:                                              ; preds = %114, %57, %23, %21
  %.pn19.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn19.pn.pn.pn, %114 ], [ %24, %23 ], [ %22, %21 ], [ %.pn.pn.pn.pn, %57 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %3) #6
  resume { ptr, i32 } %.pn19.pn.pn.pn.pn
}

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEOS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #2 align 2

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

; Function Attrs: mustprogress uwtable
declare void @_ZNSt13basic_fstreamIcSt11char_traitsIcEEC1EPKcSt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(264), ptr noundef, i32 noundef) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEE4goodEv(ptr noundef nonnull align 8 dereferenceable(264)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(16) ptr @_ZSt7getlineIcSt11char_traitsIcESaIcEERSt13basic_istreamIT_T0_ES7_RNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EERKS8_PKS5_(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEpLERKS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare void @_ZNSt13basic_fstreamIcSt11char_traitsIcEE5closeEv(ptr noundef nonnull align 8 dereferenceable(264)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt13basic_fstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(264)) unnamed_addr #2 align 2

declare void @_ZN4urdf9parseURDFERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind writable sret(%class.my_shared_ptr.24) align 8, ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK13my_shared_ptrIN4urdf14ModelInterfaceEEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN13my_shared_ptrIN4urdf14ModelInterfaceEEptEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZNK4urdf14ModelInterface7getNameB5cxx11Ev(ptr noundef nonnull align 8 dereferenceable(200)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK4urdf14ModelInterface7getRootEv(ptr dead_on_unwind noalias writable sret(%class.my_shared_ptr) align 8, ptr noundef nonnull align 8 dereferenceable(200)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK13my_shared_ptrIKN4urdf4LinkEEcvbEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorI13my_shared_ptrIN4urdf4LinkEESaIS3_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN13my_shared_ptrIKN4urdf4LinkEEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN13my_shared_ptrIN4urdf14ModelInterfaceEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

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

attributes #0 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress norecurse 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 = !{!"vtable pointer", !8, i64 0}
!11 = distinct !{!11, !12}
!12 = !{!"llvm.loop.mustprogress"}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,PostOrderFunctionAttrsPass,SROAPass,SimplifyCFGPass