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

; 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.urdf::JointLimits" = type { double, double, double, double }

@.str.2 = external hidden unnamed_addr constant [1 x i8], align 1
@_ZTIN5boost16bad_lexical_castE = external dso_local constant { ptr, ptr }, align 8
@.str.9 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.10 = external hidden unnamed_addr constant [45 x i8], align 1
@.str.11 = external hidden unnamed_addr constant [36 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [47 x i8], align 1
@.str.14 = external hidden unnamed_addr constant [36 x i8], align 1
@.str.15 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.16 = external hidden unnamed_addr constant [23 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [37 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [25 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [39 x i8], align 1

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

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

declare void @_Z8logDebugPKcS0_S0_(ptr noundef, ptr noundef, ptr noundef) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef double @_ZN5boost12lexical_castIdEET_PKc(ptr noundef) #2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: nounwind memory(none)
declare i32 @llvm.eh.typeid.for.p0(ptr) #3

declare ptr @__cxa_begin_catch(ptr)

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN5boost16bad_lexical_cast4whatEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

declare void @__cxa_end_catch()

; Function Attrs: noinline noreturn nounwind uwtable
declare hidden void @__clang_call_terminate(ptr noundef) #4

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

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf16parseJointLimitsERNS_11JointLimitsEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(32) %0, ptr noundef %1) #5 personality ptr @__gxx_personality_v0 {
  %3 = alloca i1, align 1
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  %9 = alloca ptr, align 8
  %10 = alloca i32, align 4
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  %17 = load ptr, ptr %4, align 8, !tbaa !5
  call void @_ZN4urdf11JointLimits5clearEv(ptr noundef nonnull align 8 dereferenceable(32) %17)
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #6
  %18 = load ptr, ptr %5, align 8, !tbaa !5
  %19 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %18, ptr noundef @.str.9)
  store ptr %19, ptr %6, align 8, !tbaa !5
  %20 = load ptr, ptr %6, align 8, !tbaa !5
  %21 = icmp eq ptr %20, null
  br i1 %21, label %22, label %25

22:                                               ; preds = %2
  call void @_Z8logDebugPKcS0_S0_(ptr noundef @.str.10, ptr noundef @.str.2, ptr noundef @.str.2)
  %23 = load ptr, ptr %4, align 8, !tbaa !5
  %24 = getelementptr inbounds %"class.urdf::JointLimits", ptr %23, i32 0, i32 0
  store double 0.000000e+00, ptr %24, align 8, !tbaa !9
  br label %53

25:                                               ; preds = %2
  %26 = load ptr, ptr %6, align 8, !tbaa !5
  %27 = invoke noundef double @_ZN5boost12lexical_castIdEET_PKc(ptr noundef %26)
          to label %28 unwind label %31

28:                                               ; preds = %25
  %29 = load ptr, ptr %4, align 8, !tbaa !5
  %30 = getelementptr inbounds %"class.urdf::JointLimits", ptr %29, i32 0, i32 0
  store double %27, ptr %30, align 8, !tbaa !9
  br label %52

31:                                               ; preds = %25
  %32 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost16bad_lexical_castE
  %33 = extractvalue { ptr, i32 } %32, 0
  store ptr %33, ptr %7, align 8
  %34 = extractvalue { ptr, i32 } %32, 1
  store i32 %34, ptr %8, align 4
  br label %35

35:                                               ; preds = %31
  %36 = load i32, ptr %8, align 4
  %37 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN5boost16bad_lexical_castE) #6
  %38 = icmp eq i32 %36, %37
  br i1 %38, label %39, label %166

39:                                               ; preds = %35
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #6
  %40 = load ptr, ptr %7, align 8
  %41 = call ptr @__cxa_begin_catch(ptr %40) #6
  store ptr %41, ptr %9, align 8
  %42 = load ptr, ptr %6, align 8, !tbaa !5
  %43 = load ptr, ptr %9, align 8, !tbaa !5
  %44 = invoke noundef ptr @_ZN5boost16bad_lexical_cast4whatEv(ptr noundef nonnull align 1 dereferenceable(1) %43)
          to label %45 unwind label %47

45:                                               ; preds = %39
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef @.str.11, ptr noundef %42, ptr noundef %44, ptr noundef @.str.2)
          to label %46 unwind label %47

46:                                               ; preds = %45
  store i1 false, ptr %3, align 1
  store i32 1, ptr %10, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #6
  br label %164

47:                                               ; preds = %45, %39
  %48 = landingpad { ptr, i32 }
          cleanup
  %49 = extractvalue { ptr, i32 } %48, 0
  store ptr %49, ptr %7, align 8
  %50 = extractvalue { ptr, i32 } %48, 1
  store i32 %50, ptr %8, align 4
  invoke void @__cxa_end_catch()
          to label %51 unwind label %172

51:                                               ; preds = %47
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #6
  br label %166

52:                                               ; preds = %28
  br label %53

53:                                               ; preds = %52, %22
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #6
  %54 = load ptr, ptr %5, align 8, !tbaa !5
  %55 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %54, ptr noundef @.str.12)
  store ptr %55, ptr %11, align 8, !tbaa !5
  %56 = load ptr, ptr %11, align 8, !tbaa !5
  %57 = icmp eq ptr %56, null
  br i1 %57, label %58, label %61

58:                                               ; preds = %53
  call void @_Z8logDebugPKcS0_S0_(ptr noundef @.str.13, ptr noundef @.str.2, ptr noundef @.str.2)
  %59 = load ptr, ptr %4, align 8, !tbaa !5
  %60 = getelementptr inbounds %"class.urdf::JointLimits", ptr %59, i32 0, i32 1
  store double 0.000000e+00, ptr %60, align 8, !tbaa !12
  br label %89

61:                                               ; preds = %53
  %62 = load ptr, ptr %11, align 8, !tbaa !5
  %63 = invoke noundef double @_ZN5boost12lexical_castIdEET_PKc(ptr noundef %62)
          to label %64 unwind label %67

64:                                               ; preds = %61
  %65 = load ptr, ptr %4, align 8, !tbaa !5
  %66 = getelementptr inbounds %"class.urdf::JointLimits", ptr %65, i32 0, i32 1
  store double %63, ptr %66, align 8, !tbaa !12
  br label %88

67:                                               ; preds = %61
  %68 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost16bad_lexical_castE
  %69 = extractvalue { ptr, i32 } %68, 0
  store ptr %69, ptr %7, align 8
  %70 = extractvalue { ptr, i32 } %68, 1
  store i32 %70, ptr %8, align 4
  br label %71

71:                                               ; preds = %67
  %72 = load i32, ptr %8, align 4
  %73 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN5boost16bad_lexical_castE) #6
  %74 = icmp eq i32 %72, %73
  br i1 %74, label %75, label %163

75:                                               ; preds = %71
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #6
  %76 = load ptr, ptr %7, align 8
  %77 = call ptr @__cxa_begin_catch(ptr %76) #6
  store ptr %77, ptr %12, align 8
  %78 = load ptr, ptr %11, align 8, !tbaa !5
  %79 = load ptr, ptr %12, align 8, !tbaa !5
  %80 = invoke noundef ptr @_ZN5boost16bad_lexical_cast4whatEv(ptr noundef nonnull align 1 dereferenceable(1) %79)
          to label %81 unwind label %83

81:                                               ; preds = %75
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef @.str.14, ptr noundef %78, ptr noundef %80, ptr noundef @.str.2)
          to label %82 unwind label %83

82:                                               ; preds = %81
  store i1 false, ptr %3, align 1
  store i32 1, ptr %10, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #6
  br label %162

83:                                               ; preds = %81, %75
  %84 = landingpad { ptr, i32 }
          cleanup
  %85 = extractvalue { ptr, i32 } %84, 0
  store ptr %85, ptr %7, align 8
  %86 = extractvalue { ptr, i32 } %84, 1
  store i32 %86, ptr %8, align 4
  invoke void @__cxa_end_catch()
          to label %87 unwind label %172

87:                                               ; preds = %83
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #6
  br label %163

88:                                               ; preds = %64
  br label %89

89:                                               ; preds = %88, %58
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #6
  %90 = load ptr, ptr %5, align 8, !tbaa !5
  %91 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %90, ptr noundef @.str.15)
  store ptr %91, ptr %13, align 8, !tbaa !5
  %92 = load ptr, ptr %13, align 8, !tbaa !5
  %93 = icmp eq ptr %92, null
  br i1 %93, label %94, label %95

94:                                               ; preds = %89
  call void @_Z8logErrorPKcS0_S0_S0_(ptr noundef @.str.16, ptr noundef @.str.2, ptr noundef @.str.2, ptr noundef @.str.2)
  store i1 false, ptr %3, align 1
  store i32 1, ptr %10, align 4
  br label %160

95:                                               ; preds = %89
  %96 = load ptr, ptr %13, align 8, !tbaa !5
  %97 = invoke noundef double @_ZN5boost12lexical_castIdEET_PKc(ptr noundef %96)
          to label %98 unwind label %101

98:                                               ; preds = %95
  %99 = load ptr, ptr %4, align 8, !tbaa !5
  %100 = getelementptr inbounds %"class.urdf::JointLimits", ptr %99, i32 0, i32 2
  store double %97, ptr %100, align 8, !tbaa !13
  br label %122

101:                                              ; preds = %95
  %102 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost16bad_lexical_castE
  %103 = extractvalue { ptr, i32 } %102, 0
  store ptr %103, ptr %7, align 8
  %104 = extractvalue { ptr, i32 } %102, 1
  store i32 %104, ptr %8, align 4
  br label %105

105:                                              ; preds = %101
  %106 = load i32, ptr %8, align 4
  %107 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN5boost16bad_lexical_castE) #6
  %108 = icmp eq i32 %106, %107
  br i1 %108, label %109, label %161

109:                                              ; preds = %105
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #6
  %110 = load ptr, ptr %7, align 8
  %111 = call ptr @__cxa_begin_catch(ptr %110) #6
  store ptr %111, ptr %14, align 8
  %112 = load ptr, ptr %13, align 8, !tbaa !5
  %113 = load ptr, ptr %14, align 8, !tbaa !5
  %114 = invoke noundef ptr @_ZN5boost16bad_lexical_cast4whatEv(ptr noundef nonnull align 1 dereferenceable(1) %113)
          to label %115 unwind label %117

115:                                              ; preds = %109
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef @.str.17, ptr noundef %112, ptr noundef %114, ptr noundef @.str.2)
          to label %116 unwind label %117

116:                                              ; preds = %115
  store i1 false, ptr %3, align 1
  store i32 1, ptr %10, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #6
  br label %160

117:                                              ; preds = %115, %109
  %118 = landingpad { ptr, i32 }
          cleanup
  %119 = extractvalue { ptr, i32 } %118, 0
  store ptr %119, ptr %7, align 8
  %120 = extractvalue { ptr, i32 } %118, 1
  store i32 %120, ptr %8, align 4
  invoke void @__cxa_end_catch()
          to label %121 unwind label %172

121:                                              ; preds = %117
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #6
  br label %161

122:                                              ; preds = %98
  br label %123

123:                                              ; preds = %122
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #6
  %124 = load ptr, ptr %5, align 8, !tbaa !5
  %125 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %124, ptr noundef @.str.18)
  store ptr %125, ptr %15, align 8, !tbaa !5
  %126 = load ptr, ptr %15, align 8, !tbaa !5
  %127 = icmp eq ptr %126, null
  br i1 %127, label %128, label %129

128:                                              ; preds = %123
  call void @_Z8logErrorPKcS0_S0_S0_(ptr noundef @.str.19, ptr noundef @.str.2, ptr noundef @.str.2, ptr noundef @.str.2)
  store i1 false, ptr %3, align 1
  store i32 1, ptr %10, align 4
  br label %158

129:                                              ; preds = %123
  %130 = load ptr, ptr %15, align 8, !tbaa !5
  %131 = invoke noundef double @_ZN5boost12lexical_castIdEET_PKc(ptr noundef %130)
          to label %132 unwind label %135

132:                                              ; preds = %129
  %133 = load ptr, ptr %4, align 8, !tbaa !5
  %134 = getelementptr inbounds %"class.urdf::JointLimits", ptr %133, i32 0, i32 3
  store double %131, ptr %134, align 8, !tbaa !14
  br label %156

135:                                              ; preds = %129
  %136 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost16bad_lexical_castE
  %137 = extractvalue { ptr, i32 } %136, 0
  store ptr %137, ptr %7, align 8
  %138 = extractvalue { ptr, i32 } %136, 1
  store i32 %138, ptr %8, align 4
  br label %139

139:                                              ; preds = %135
  %140 = load i32, ptr %8, align 4
  %141 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN5boost16bad_lexical_castE) #6
  %142 = icmp eq i32 %140, %141
  br i1 %142, label %143, label %159

143:                                              ; preds = %139
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #6
  %144 = load ptr, ptr %7, align 8
  %145 = call ptr @__cxa_begin_catch(ptr %144) #6
  store ptr %145, ptr %16, align 8
  %146 = load ptr, ptr %15, align 8, !tbaa !5
  %147 = load ptr, ptr %16, align 8, !tbaa !5
  %148 = invoke noundef ptr @_ZN5boost16bad_lexical_cast4whatEv(ptr noundef nonnull align 1 dereferenceable(1) %147)
          to label %149 unwind label %151

149:                                              ; preds = %143
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef @.str.20, ptr noundef %146, ptr noundef %148, ptr noundef @.str.2)
          to label %150 unwind label %151

150:                                              ; preds = %149
  store i1 false, ptr %3, align 1
  store i32 1, ptr %10, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #6
  br label %158

151:                                              ; preds = %149, %143
  %152 = landingpad { ptr, i32 }
          cleanup
  %153 = extractvalue { ptr, i32 } %152, 0
  store ptr %153, ptr %7, align 8
  %154 = extractvalue { ptr, i32 } %152, 1
  store i32 %154, ptr %8, align 4
  invoke void @__cxa_end_catch()
          to label %155 unwind label %172

155:                                              ; preds = %151
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #6
  br label %159

156:                                              ; preds = %132
  br label %157

157:                                              ; preds = %156
  store i1 true, ptr %3, align 1
  store i32 1, ptr %10, align 4
  br label %158

158:                                              ; preds = %157, %150, %128
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #6
  br label %160

159:                                              ; preds = %155, %139
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #6
  br label %161

160:                                              ; preds = %158, %116, %94
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #6
  br label %162

161:                                              ; preds = %159, %121, %105
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #6
  br label %163

162:                                              ; preds = %160, %82
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #6
  br label %164

163:                                              ; preds = %161, %87, %71
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #6
  br label %166

164:                                              ; preds = %162, %46
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #6
  %165 = load i1, ptr %3, align 1
  ret i1 %165

166:                                              ; preds = %163, %51, %35
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #6
  br label %167

167:                                              ; preds = %166
  %168 = load ptr, ptr %7, align 8
  %169 = load i32, ptr %8, align 4
  %170 = insertvalue { ptr, i32 } poison, ptr %168, 0
  %171 = insertvalue { ptr, i32 } %170, i32 %169, 1
  resume { ptr, i32 } %171

172:                                              ; preds = %151, %117, %83, %47
  %173 = landingpad { ptr, i32 }
          catch ptr null
  %174 = extractvalue { ptr, i32 } %173, 0
  call void @__clang_call_terminate(ptr %174) #7
  unreachable
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf11JointLimits5clearEv(ptr noundef nonnull align 8 dereferenceable(32)) #2 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress 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 = { nounwind memory(none) }
attributes #4 = { noinline noreturn nounwind uwtable "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 #6 = { nounwind }
attributes #7 = { noreturn nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !11, i64 0}
!10 = !{!"_ZTSN4urdf11JointLimitsE", !11, i64 0, !11, i64 8, !11, i64 16, !11, i64 24}
!11 = !{!"double", !7, i64 0}
!12 = !{!10, !11, i64 8}
!13 = !{!10, !11, i64 16}
!14 = !{!10, !11, i64 24}


; 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"

@.str.2 = external hidden unnamed_addr constant [1 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.10 = external hidden unnamed_addr constant [45 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [47 x i8], align 1
@.str.15 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.16 = external hidden unnamed_addr constant [23 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [25 x i8], align 1

declare noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144), ptr noundef) local_unnamed_addr #0

declare void @_Z8logDebugPKcS0_S0_(ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef double @_ZN5boost12lexical_castIdEET_PKc(ptr noundef) local_unnamed_addr #1

declare i32 @__gxx_personality_v0(...)

declare void @_Z8logErrorPKcS0_S0_S0_(ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #0

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf16parseJointLimitsERNS_11JointLimitsEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(32) %0, ptr noundef %1) local_unnamed_addr #2 personality ptr @__gxx_personality_v0 {
  tail call void @_ZN4urdf11JointLimits5clearEv(ptr noundef nonnull align 8 dereferenceable(32) %0)
  %3 = tail call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %1, ptr noundef nonnull @.str.9)
  %4 = icmp eq ptr %3, null
  br i1 %4, label %5, label %6

5:                                                ; preds = %2
  tail call void @_Z8logDebugPKcS0_S0_(ptr noundef nonnull @.str.10, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2)
  br label %8

6:                                                ; preds = %2
  %7 = tail call noundef double @_ZN5boost12lexical_castIdEET_PKc(ptr noundef nonnull %3)
  br label %8

8:                                                ; preds = %6, %5
  %storemerge = phi double [ %7, %6 ], [ 0.000000e+00, %5 ]
  store double %storemerge, ptr %0, align 8, !tbaa !5
  %9 = tail call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %1, ptr noundef nonnull @.str.12)
  %10 = icmp eq ptr %9, null
  br i1 %10, label %11, label %12

11:                                               ; preds = %8
  tail call void @_Z8logDebugPKcS0_S0_(ptr noundef nonnull @.str.13, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2)
  br label %14

12:                                               ; preds = %8
  %13 = tail call noundef double @_ZN5boost12lexical_castIdEET_PKc(ptr noundef nonnull %9)
  br label %14

14:                                               ; preds = %12, %11
  %.sink = phi double [ 0.000000e+00, %11 ], [ %13, %12 ]
  %15 = getelementptr inbounds i8, ptr %0, i64 8
  store double %.sink, ptr %15, align 8
  %16 = tail call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %1, ptr noundef nonnull @.str.15)
  %17 = icmp eq ptr %16, null
  br i1 %17, label %18, label %19

18:                                               ; preds = %14
  tail call void @_Z8logErrorPKcS0_S0_S0_(ptr noundef nonnull @.str.16, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2)
  br label %27

19:                                               ; preds = %14
  %20 = tail call noundef double @_ZN5boost12lexical_castIdEET_PKc(ptr noundef nonnull %16)
  %21 = getelementptr inbounds i8, ptr %0, i64 16
  store double %20, ptr %21, align 8, !tbaa !10
  %22 = tail call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %1, ptr noundef nonnull @.str.18)
  %.not = icmp eq ptr %22, null
  br i1 %.not, label %23, label %24

23:                                               ; preds = %19
  tail call void @_Z8logErrorPKcS0_S0_S0_(ptr noundef nonnull @.str.19, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2)
  br label %27

24:                                               ; preds = %19
  %25 = tail call noundef double @_ZN5boost12lexical_castIdEET_PKc(ptr noundef nonnull %22)
  %26 = getelementptr inbounds i8, ptr %0, i64 24
  store double %25, ptr %26, align 8, !tbaa !11
  br label %27

27:                                               ; preds = %23, %24, %18
  %.1 = phi i1 [ false, %18 ], [ true, %24 ], [ false, %23 ]
  ret i1 %.1
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf11JointLimits5clearEv(ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #1 align 2

attributes #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 nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { 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" }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !7, i64 0}
!6 = !{!"_ZTSN4urdf11JointLimitsE", !7, i64 0, !7, i64 8, !7, i64 16, !7, i64 24}
!7 = !{!"double", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!6, !7, i64 16}
!11 = !{!6, !7, i64 24}


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