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

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

%class.SpatialVector_t = type { %"class.Eigen::Matrix.90" }
%"class.Eigen::Matrix.90" = type { %"class.Eigen::PlainObjectBase.91" }
%"class.Eigen::PlainObjectBase.91" = type { %"class.Eigen::DenseStorage.98" }
%"class.Eigen::DenseStorage.98" = type { %"struct.Eigen::internal::plain_array.99" }
%"struct.Eigen::internal::plain_array.99" = type { [6 x double] }
%"class.Eigen::CwiseBinaryOp" = type <{ ptr, ptr, [8 x i8] }>
%class.SpatialMatrix_t = type { %"class.Eigen::Matrix.183" }
%"class.Eigen::Matrix.183" = type { %"class.Eigen::PlainObjectBase.184" }
%"class.Eigen::PlainObjectBase.184" = type { %"class.Eigen::DenseStorage.191" }
%"class.Eigen::DenseStorage.191" = type { %"struct.Eigen::internal::plain_array.192" }
%"struct.Eigen::internal::plain_array.192" = type { [36 x double] }
%"class.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase.base.213", ptr, %"class.Eigen::internal::variable_if_dynamic", [8 x i8], i64 }
%"class.Eigen::MapBase.base.213" = type { %"class.Eigen::MapBase.base" }
%"class.Eigen::MapBase.base" = type <{ ptr, [2 x i8] }>
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"class.Eigen::Block.229" = type { %"class.Eigen::BlockImpl.230" }
%"class.Eigen::BlockImpl.230" = type { %"class.Eigen::internal::BlockImpl_dense.231" }
%"class.Eigen::internal::BlockImpl_dense.231" = type { %"class.Eigen::MapBase.232", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.232" = type { %"class.Eigen::MapBase.233" }
%"class.Eigen::MapBase.233" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::CwiseNullaryOp.240" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::Product.176" = type { ptr, ptr }
%"class.Eigen::Product.193" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::Product.214" = type { %"class.Eigen::Transpose.221", ptr }
%"class.Eigen::Transpose.221" = type { ptr }
%"struct.RigidBodyDynamics::Model" = type { %"class.std::vector", %"class.std::vector", %"class.std::vector.1", i32, i32, i32, i32, %class.Vector3_t, %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.14", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector", %"class.std::vector.21", %"class.std::vector", %"class.std::vector.28", %"class.std::vector.28", %"class.std::vector.35", %"class.std::vector.40", %"class.std::vector", %"class.std::vector.45", %"class.std::vector.8", %"class.std::vector.50", %"class.std::vector.8", %"class.std::vector.8", %"class.Eigen::Matrix.57", %"class.Eigen::Matrix.57", %"class.std::vector.8", %"class.std::vector.66", %"class.std::vector.66", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.73", i32, %"class.std::vector.80", %"class.std::map" }
%"class.std::vector.1" = type { %"struct.std::_Vector_base.2" }
%"struct.std::_Vector_base.2" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%class.Vector3_t = type { %"class.Eigen::Matrix" }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"class.std::vector.14" = type { %"class.std::vector.15" }
%"class.std::vector.15" = type { %"struct.std::_Vector_base.16" }
%"struct.std::_Vector_base.16" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.28" = type { %"class.std::vector.29" }
%"class.std::vector.29" = type { %"struct.std::_Vector_base.30" }
%"struct.std::_Vector_base.30" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.35" = type { %"struct.std::_Vector_base.36" }
%"struct.std::_Vector_base.36" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.40" = type { %"struct.std::_Vector_base.41" }
%"struct.std::_Vector_base.41" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.45" = type { %"struct.std::_Vector_base.46" }
%"struct.std::_Vector_base.46" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.50" = type { %"class.std::vector.51" }
%"class.std::vector.51" = type { %"struct.std::_Vector_base.52" }
%"struct.std::_Vector_base.52" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::Matrix.57" = type { %"class.Eigen::PlainObjectBase.58" }
%"class.Eigen::PlainObjectBase.58" = type { %"class.Eigen::DenseStorage.65" }
%"class.Eigen::DenseStorage.65" = type { ptr, i64 }
%"class.std::vector.66" = type { %"class.std::vector.67" }
%"class.std::vector.67" = type { %"struct.std::_Vector_base.68" }
%"struct.std::_Vector_base.68" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.8" = type { %"class.std::vector.9" }
%"class.std::vector.9" = type { %"struct.std::_Vector_base.10" }
%"struct.std::_Vector_base.10" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.21" = type { %"class.std::vector.22" }
%"class.std::vector.22" = type { %"struct.std::_Vector_base.23" }
%"struct.std::_Vector_base.23" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.73" = type { %"class.std::vector.74" }
%"class.std::vector.74" = type { %"struct.std::_Vector_base.75" }
%"struct.std::_Vector_base.75" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.80" = type { %"class.std::vector.81" }
%"class.std::vector.81" = type { %"struct.std::_Vector_base.82" }
%"struct.std::_Vector_base.82" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"struct.std::_Rb_tree_header" = type { %"struct.std::_Rb_tree_node_base", i64 }
%"struct.std::_Rb_tree_node_base" = type { i32, ptr, ptr, ptr }
%"struct.RigidBodyDynamics::Body" = type <{ double, %class.Vector3_t, %class.Matrix3_t, i8, [7 x i8] }>
%class.Matrix3_t = type { %"class.Eigen::Matrix.104" }
%"class.Eigen::Matrix.104" = type { %"class.Eigen::PlainObjectBase.105" }
%"class.Eigen::PlainObjectBase.105" = type { %"class.Eigen::DenseStorage.112" }
%"class.Eigen::DenseStorage.112" = type { %"struct.Eigen::internal::plain_array.113" }
%"struct.Eigen::internal::plain_array.113" = type { [9 x double] }
%"struct.RigidBodyDynamics::Joint" = type { ptr, i32, i32, i32, i32 }
%"struct.RigidBodyDynamics::CustomJoint" = type { ptr, i32, %"struct.RigidBodyDynamics::Math::SpatialTransform", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.57", %"class.Eigen::Matrix.57" }
%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%"class.Eigen::Matrix.153" = type { %"class.Eigen::PlainObjectBase.154" }
%"class.Eigen::PlainObjectBase.154" = type { %"class.Eigen::DenseStorage.161" }
%"class.Eigen::DenseStorage.161" = type { ptr, i64, i64 }

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #0 align 2

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

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

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

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

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #0 align 2

declare void @_ZN17RigidBodyDynamics5jcalcERNS_5ModelEjRKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_(ptr noundef nonnull align 8 dereferenceable(872), i32 noundef, ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 16 dereferenceable(48)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math6crossmERK15SpatialVector_tS3_(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) #1

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

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(105) ptr @_ZNSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #0 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math6crossfERK15SpatialVector_tS3_(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransform15toMatrixAdjointEv(ptr dead_on_unwind noalias writable sret(%class.SpatialMatrix_t) align 16, ptr noundef nonnull align 8 dereferenceable(96)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmIINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEERS2_RKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockILi3ELi1EEENS3_13FixedBlockXprIXT_EXT0_EE4TypeEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(48) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi3ELi1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.229") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 16 dereferenceable(48)) #4 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics16NonlinearEffectsERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_RS4_PSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef %4) #4 {
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca %class.SpatialVector_t, align 16
  %12 = alloca double, align 8
  %13 = alloca double, align 8
  %14 = alloca double, align 8
  %15 = alloca double, align 8
  %16 = alloca double, align 8
  %17 = alloca double, align 8
  %18 = alloca i32, align 4
  %19 = alloca i32, align 4
  %20 = alloca %class.SpatialVector_t, align 16
  %21 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %22 = alloca %class.SpatialVector_t, align 16
  %23 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %24 = alloca %class.SpatialVector_t, align 16
  %25 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %26 = alloca %class.SpatialVector_t, align 16
  %27 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %28 = alloca %class.SpatialVector_t, align 16
  %29 = alloca %class.SpatialVector_t, align 16
  %30 = alloca %class.SpatialVector_t, align 16
  %31 = alloca %"class.Eigen::CwiseNullaryOp.240", align 8
  %32 = alloca %"class.Eigen::Product.176", align 8
  %33 = alloca %class.SpatialMatrix_t, align 16
  %34 = alloca i32, align 4
  %35 = alloca %"class.Eigen::Product.193", align 8
  %36 = alloca %"class.Eigen::Transpose", align 8
  %37 = alloca %"class.Eigen::Block", align 8
  %38 = alloca i32, align 4
  %39 = alloca %"class.Eigen::Product.214", align 8
  %40 = alloca %"class.Eigen::Transpose.221", align 8
  %41 = alloca %"class.Eigen::Block.229", align 8
  %42 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %43 = alloca %class.SpatialVector_t, align 16
  store ptr %0, ptr %6, align 8, !tbaa !5
  store ptr %1, ptr %7, align 8, !tbaa !5
  store ptr %2, ptr %8, align 8, !tbaa !5
  store ptr %3, ptr %9, align 8, !tbaa !5
  store ptr %4, ptr %10, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 48, ptr %11) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #6
  store double 0.000000e+00, ptr %12, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #6
  store double 0.000000e+00, ptr %13, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #6
  store double 0.000000e+00, ptr %14, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #6
  %44 = load ptr, ptr %6, align 8, !tbaa !5
  %45 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %44, i32 0, i32 7
  %46 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %45, i64 noundef 0)
  %47 = load double, ptr %46, align 8, !tbaa !9
  %48 = fneg double %47
  store double %48, ptr %15, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #6
  %49 = load ptr, ptr %6, align 8, !tbaa !5
  %50 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %49, i32 0, i32 7
  %51 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %50, i64 noundef 1)
  %52 = load double, ptr %51, align 8, !tbaa !9
  %53 = fneg double %52
  store double %53, ptr %16, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #6
  %54 = load ptr, ptr %6, align 8, !tbaa !5
  %55 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %54, i32 0, i32 7
  %56 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %55, i64 noundef 2)
  %57 = load double, ptr %56, align 8, !tbaa !9
  %58 = fneg double %57
  store double %58, ptr %17, align 8, !tbaa !9
  call void @_ZN15SpatialVector_tC2ERKdS1_S1_S1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(48) %11, ptr noundef nonnull align 8 dereferenceable(8) %12, ptr noundef nonnull align 8 dereferenceable(8) %13, ptr noundef nonnull align 8 dereferenceable(8) %14, ptr noundef nonnull align 8 dereferenceable(8) %15, ptr noundef nonnull align 8 dereferenceable(8) %16, ptr noundef nonnull align 8 dereferenceable(8) %17)
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #6
  %59 = load ptr, ptr %6, align 8, !tbaa !5
  %60 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %59, i32 0, i32 8
  %61 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %60, i64 noundef 0) #6
  %62 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %61)
  %63 = load ptr, ptr %6, align 8, !tbaa !5
  %64 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %63, i32 0, i32 9
  %65 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %64, i64 noundef 0) #6
  %66 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSERKS_(ptr noundef nonnull align 16 dereferenceable(48) %65, ptr noundef nonnull align 16 dereferenceable(48) %11)
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #6
  store i32 1, ptr %18, align 4, !tbaa !11
  br label %67

67:                                               ; preds = %85, %5
  %68 = load i32, ptr %18, align 4, !tbaa !11
  %69 = zext i32 %68 to i64
  %70 = load ptr, ptr %6, align 8, !tbaa !5
  %71 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %70, i32 0, i32 14
  %72 = call noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %71) #6
  %73 = icmp ult i64 %69, %72
  br i1 %73, label %75, label %74

74:                                               ; preds = %67
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #6
  br label %88

75:                                               ; preds = %67
  %76 = load ptr, ptr %6, align 8, !tbaa !5
  %77 = load ptr, ptr %6, align 8, !tbaa !5
  %78 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %77, i32 0, i32 14
  %79 = load i32, ptr %18, align 4, !tbaa !11
  %80 = zext i32 %79 to i64
  %81 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %78, i64 noundef %80) #6
  %82 = load i32, ptr %81, align 4, !tbaa !11
  %83 = load ptr, ptr %7, align 8, !tbaa !5
  %84 = load ptr, ptr %8, align 8, !tbaa !5
  call void @_ZN17RigidBodyDynamics5jcalcERNS_5ModelEjRKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_(ptr noundef nonnull align 8 dereferenceable(872) %76, i32 noundef %82, ptr noundef nonnull align 8 dereferenceable(16) %83, ptr noundef nonnull align 8 dereferenceable(16) %84)
  br label %85

85:                                               ; preds = %75
  %86 = load i32, ptr %18, align 4, !tbaa !11
  %87 = add i32 %86, 1
  store i32 %87, ptr %18, align 4, !tbaa !11
  br label %67, !llvm.loop !13

88:                                               ; preds = %74
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #6
  store i32 1, ptr %19, align 4, !tbaa !11
  br label %89

89:                                               ; preds = %283, %88
  %90 = load i32, ptr %19, align 4, !tbaa !11
  %91 = zext i32 %90 to i64
  %92 = load ptr, ptr %6, align 8, !tbaa !5
  %93 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %92, i32 0, i32 38
  %94 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %93) #6
  %95 = icmp ult i64 %91, %94
  br i1 %95, label %97, label %96

96:                                               ; preds = %89
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #6
  br label %286

97:                                               ; preds = %89
  %98 = load ptr, ptr %6, align 8, !tbaa !5
  %99 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %98, i32 0, i32 0
  %100 = load i32, ptr %19, align 4, !tbaa !11
  %101 = zext i32 %100 to i64
  %102 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %99, i64 noundef %101) #6
  %103 = load i32, ptr %102, align 4, !tbaa !11
  %104 = icmp eq i32 %103, 0
  br i1 %104, label %105, label %128

105:                                              ; preds = %97
  %106 = load ptr, ptr %6, align 8, !tbaa !5
  %107 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %106, i32 0, i32 12
  %108 = load i32, ptr %19, align 4, !tbaa !11
  %109 = zext i32 %108 to i64
  %110 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %107, i64 noundef %109) #6
  %111 = load ptr, ptr %6, align 8, !tbaa !5
  %112 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %111, i32 0, i32 8
  %113 = load i32, ptr %19, align 4, !tbaa !11
  %114 = zext i32 %113 to i64
  %115 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %112, i64 noundef %114) #6
  %116 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSERKS_(ptr noundef nonnull align 16 dereferenceable(48) %115, ptr noundef nonnull align 16 dereferenceable(48) %110)
  call void @llvm.lifetime.start.p0(i64 48, ptr %20) #6
  %117 = load ptr, ptr %6, align 8, !tbaa !5
  %118 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %117, i32 0, i32 34
  %119 = load i32, ptr %19, align 4, !tbaa !11
  %120 = zext i32 %119 to i64
  %121 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %118, i64 noundef %120) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %20, ptr noundef nonnull align 8 dereferenceable(96) %121, ptr noundef nonnull align 16 dereferenceable(48) %11)
  %122 = load ptr, ptr %6, align 8, !tbaa !5
  %123 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %122, i32 0, i32 9
  %124 = load i32, ptr %19, align 4, !tbaa !11
  %125 = zext i32 %124 to i64
  %126 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %123, i64 noundef %125) #6
  %127 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48) %126, ptr noundef nonnull align 16 dereferenceable(48) %20) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %20) #6
  br label %202

128:                                              ; preds = %97
  call void @llvm.lifetime.start.p0(i64 24, ptr %21) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %22) #6
  %129 = load ptr, ptr %6, align 8, !tbaa !5
  %130 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %129, i32 0, i32 34
  %131 = load i32, ptr %19, align 4, !tbaa !11
  %132 = zext i32 %131 to i64
  %133 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %130, i64 noundef %132) #6
  %134 = load ptr, ptr %6, align 8, !tbaa !5
  %135 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %134, i32 0, i32 8
  %136 = load ptr, ptr %6, align 8, !tbaa !5
  %137 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %136, i32 0, i32 0
  %138 = load i32, ptr %19, align 4, !tbaa !11
  %139 = zext i32 %138 to i64
  %140 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %137, i64 noundef %139) #6
  %141 = load i32, ptr %140, align 4, !tbaa !11
  %142 = zext i32 %141 to i64
  %143 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %135, i64 noundef %142) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %22, ptr noundef nonnull align 8 dereferenceable(96) %133, ptr noundef nonnull align 16 dereferenceable(48) %143)
  %144 = load ptr, ptr %6, align 8, !tbaa !5
  %145 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %144, i32 0, i32 12
  %146 = load i32, ptr %19, align 4, !tbaa !11
  %147 = zext i32 %146 to i64
  %148 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %145, i64 noundef %147) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %21, ptr noundef nonnull align 1 dereferenceable(1) %22, ptr noundef nonnull align 1 dereferenceable(1) %148)
  %149 = load ptr, ptr %6, align 8, !tbaa !5
  %150 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %149, i32 0, i32 8
  %151 = load i32, ptr %19, align 4, !tbaa !11
  %152 = zext i32 %151 to i64
  %153 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %150, i64 noundef %152) #6
  %154 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %153, ptr noundef nonnull align 1 dereferenceable(1) %21)
  call void @llvm.lifetime.end.p0(i64 48, ptr %22) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %21) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %23) #6
  %155 = load ptr, ptr %6, align 8, !tbaa !5
  %156 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %155, i32 0, i32 13
  %157 = load i32, ptr %19, align 4, !tbaa !11
  %158 = zext i32 %157 to i64
  %159 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %156, i64 noundef %158) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %24) #6
  %160 = load ptr, ptr %6, align 8, !tbaa !5
  %161 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %160, i32 0, i32 8
  %162 = load i32, ptr %19, align 4, !tbaa !11
  %163 = zext i32 %162 to i64
  %164 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %161, i64 noundef %163) #6
  %165 = load ptr, ptr %6, align 8, !tbaa !5
  %166 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %165, i32 0, i32 12
  %167 = load i32, ptr %19, align 4, !tbaa !11
  %168 = zext i32 %167 to i64
  %169 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %166, i64 noundef %168) #6
  call void @_ZN17RigidBodyDynamics4Math6crossmERK15SpatialVector_tS3_(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %24, ptr noundef nonnull align 16 dereferenceable(48) %164, ptr noundef nonnull align 16 dereferenceable(48) %169)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %23, ptr noundef nonnull align 1 dereferenceable(1) %159, ptr noundef nonnull align 1 dereferenceable(1) %24)
  %170 = load ptr, ptr %6, align 8, !tbaa !5
  %171 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %170, i32 0, i32 23
  %172 = load i32, ptr %19, align 4, !tbaa !11
  %173 = zext i32 %172 to i64
  %174 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %171, i64 noundef %173) #6
  %175 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %174, ptr noundef nonnull align 1 dereferenceable(1) %23)
  call void @llvm.lifetime.end.p0(i64 48, ptr %24) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %23) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %25) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %26) #6
  %176 = load ptr, ptr %6, align 8, !tbaa !5
  %177 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %176, i32 0, i32 34
  %178 = load i32, ptr %19, align 4, !tbaa !11
  %179 = zext i32 %178 to i64
  %180 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %177, i64 noundef %179) #6
  %181 = load ptr, ptr %6, align 8, !tbaa !5
  %182 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %181, i32 0, i32 9
  %183 = load ptr, ptr %6, align 8, !tbaa !5
  %184 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %183, i32 0, i32 0
  %185 = load i32, ptr %19, align 4, !tbaa !11
  %186 = zext i32 %185 to i64
  %187 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %184, i64 noundef %186) #6
  %188 = load i32, ptr %187, align 4, !tbaa !11
  %189 = zext i32 %188 to i64
  %190 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %182, i64 noundef %189) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %26, ptr noundef nonnull align 8 dereferenceable(96) %180, ptr noundef nonnull align 16 dereferenceable(48) %190)
  %191 = load ptr, ptr %6, align 8, !tbaa !5
  %192 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %191, i32 0, i32 23
  %193 = load i32, ptr %19, align 4, !tbaa !11
  %194 = zext i32 %193 to i64
  %195 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %192, i64 noundef %194) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %25, ptr noundef nonnull align 1 dereferenceable(1) %26, ptr noundef nonnull align 1 dereferenceable(1) %195)
  %196 = load ptr, ptr %6, align 8, !tbaa !5
  %197 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %196, i32 0, i32 9
  %198 = load i32, ptr %19, align 4, !tbaa !11
  %199 = zext i32 %198 to i64
  %200 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %197, i64 noundef %199) #6
  %201 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %200, ptr noundef nonnull align 1 dereferenceable(1) %25)
  call void @llvm.lifetime.end.p0(i64 48, ptr %26) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %25) #6
  br label %202

202:                                              ; preds = %128, %105
  %203 = load ptr, ptr %6, align 8, !tbaa !5
  %204 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %203, i32 0, i32 38
  %205 = load i32, ptr %19, align 4, !tbaa !11
  %206 = zext i32 %205 to i64
  %207 = call noundef nonnull align 8 dereferenceable(105) ptr @_ZNSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %204, i64 noundef %206) #6
  %208 = getelementptr inbounds %"struct.RigidBodyDynamics::Body", ptr %207, i32 0, i32 3
  %209 = load i8, ptr %208, align 8, !tbaa !15, !range !28, !noundef !29
  %210 = trunc i8 %209 to i1
  br i1 %210, label %275, label %211

211:                                              ; preds = %202
  call void @llvm.lifetime.start.p0(i64 24, ptr %27) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %28) #6
  %212 = load ptr, ptr %6, align 8, !tbaa !5
  %213 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %212, i32 0, i32 30
  %214 = load i32, ptr %19, align 4, !tbaa !11
  %215 = zext i32 %214 to i64
  %216 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %213, i64 noundef %215) #6
  %217 = load ptr, ptr %6, align 8, !tbaa !5
  %218 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %217, i32 0, i32 9
  %219 = load i32, ptr %19, align 4, !tbaa !11
  %220 = zext i32 %219 to i64
  %221 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %218, i64 noundef %220) #6
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %28, ptr noundef nonnull align 8 dereferenceable(80) %216, ptr noundef nonnull align 16 dereferenceable(48) %221)
  call void @llvm.lifetime.start.p0(i64 48, ptr %29) #6
  %222 = load ptr, ptr %6, align 8, !tbaa !5
  %223 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %222, i32 0, i32 8
  %224 = load i32, ptr %19, align 4, !tbaa !11
  %225 = zext i32 %224 to i64
  %226 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %223, i64 noundef %225) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %30) #6
  %227 = load ptr, ptr %6, align 8, !tbaa !5
  %228 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %227, i32 0, i32 30
  %229 = load i32, ptr %19, align 4, !tbaa !11
  %230 = zext i32 %229 to i64
  %231 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %228, i64 noundef %230) #6
  %232 = load ptr, ptr %6, align 8, !tbaa !5
  %233 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %232, i32 0, i32 8
  %234 = load i32, ptr %19, align 4, !tbaa !11
  %235 = zext i32 %234 to i64
  %236 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %233, i64 noundef %235) #6
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %30, ptr noundef nonnull align 8 dereferenceable(80) %231, ptr noundef nonnull align 16 dereferenceable(48) %236)
  call void @_ZN17RigidBodyDynamics4Math6crossfERK15SpatialVector_tS3_(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %29, ptr noundef nonnull align 16 dereferenceable(48) %226, ptr noundef nonnull align 16 dereferenceable(48) %30)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %27, ptr noundef nonnull align 1 dereferenceable(1) %28, ptr noundef nonnull align 1 dereferenceable(1) %29)
  %237 = load ptr, ptr %6, align 8, !tbaa !5
  %238 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %237, i32 0, i32 29
  %239 = load i32, ptr %19, align 4, !tbaa !11
  %240 = zext i32 %239 to i64
  %241 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %238, i64 noundef %240) #6
  %242 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %241, ptr noundef nonnull align 1 dereferenceable(1) %27)
  call void @llvm.lifetime.end.p0(i64 48, ptr %30) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %29) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %28) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %27) #6
  %243 = load ptr, ptr %10, align 8, !tbaa !5
  %244 = icmp ne ptr %243, null
  call void @llvm.lifetime.start.p0(i64 16, ptr %31) #6
  br i1 %244, label %245, label %251

245:                                              ; preds = %211
  %246 = load ptr, ptr %10, align 8, !tbaa !5
  %247 = load i32, ptr %19, align 4, !tbaa !11
  %248 = zext i32 %247 to i64
  %249 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %246, i64 noundef %248) #6
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.240") align 8 %31)
  %250 = call noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEneINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES2_EEEEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %249, ptr noundef nonnull align 1 dereferenceable(1) %31)
  br label %251

251:                                              ; preds = %245, %211
  %252 = phi i1 [ false, %211 ], [ %250, %245 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr %31) #6
  br i1 %252, label %253, label %274

253:                                              ; preds = %251
  call void @llvm.lifetime.start.p0(i64 16, ptr %32) #6
  call void @llvm.lifetime.start.p0(i64 288, ptr %33) #6
  %254 = load ptr, ptr %6, align 8, !tbaa !5
  %255 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %254, i32 0, i32 35
  %256 = load i32, ptr %19, align 4, !tbaa !11
  %257 = zext i32 %256 to i64
  %258 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %255, i64 noundef %257) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform15toMatrixAdjointEv(ptr dead_on_unwind writable sret(%class.SpatialMatrix_t) align 16 %33, ptr noundef nonnull align 8 dereferenceable(96) %258)
  %259 = load ptr, ptr %10, align 8, !tbaa !5
  %260 = load i32, ptr %19, align 4, !tbaa !11
  %261 = zext i32 %260 to i64
  %262 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %259, i64 noundef %261) #6
  %263 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %33, ptr noundef nonnull align 1 dereferenceable(1) %262)
  %264 = getelementptr inbounds { ptr, ptr }, ptr %32, i32 0, i32 0
  %265 = extractvalue { ptr, ptr } %263, 0
  store ptr %265, ptr %264, align 8
  %266 = getelementptr inbounds { ptr, ptr }, ptr %32, i32 0, i32 1
  %267 = extractvalue { ptr, ptr } %263, 1
  store ptr %267, ptr %266, align 8
  %268 = load ptr, ptr %6, align 8, !tbaa !5
  %269 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %268, i32 0, i32 29
  %270 = load i32, ptr %19, align 4, !tbaa !11
  %271 = zext i32 %270 to i64
  %272 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %269, i64 noundef %271) #6
  %273 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmIINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEERS2_RKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %272, ptr noundef nonnull align 1 dereferenceable(1) %32)
  call void @llvm.lifetime.end.p0(i64 288, ptr %33) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #6
  br label %274

274:                                              ; preds = %253, %251
  br label %282

275:                                              ; preds = %202
  %276 = load ptr, ptr %6, align 8, !tbaa !5
  %277 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %276, i32 0, i32 29
  %278 = load i32, ptr %19, align 4, !tbaa !11
  %279 = zext i32 %278 to i64
  %280 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %277, i64 noundef %279) #6
  %281 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %280)
  br label %282

282:                                              ; preds = %275, %274
  br label %283

283:                                              ; preds = %282
  %284 = load i32, ptr %19, align 4, !tbaa !11
  %285 = add i32 %284, 1
  store i32 %285, ptr %19, align 4, !tbaa !11
  br label %89, !llvm.loop !30

286:                                              ; preds = %96
  call void @llvm.lifetime.start.p0(i64 4, ptr %34) #6
  %287 = load ptr, ptr %6, align 8, !tbaa !5
  %288 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %287, i32 0, i32 38
  %289 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %288) #6
  %290 = sub i64 %289, 1
  %291 = trunc i64 %290 to i32
  store i32 %291, ptr %34, align 4, !tbaa !11
  br label %292

292:                                              ; preds = %471, %286
  %293 = load i32, ptr %34, align 4, !tbaa !11
  %294 = icmp ugt i32 %293, 0
  br i1 %294, label %296, label %295

295:                                              ; preds = %292
  call void @llvm.lifetime.end.p0(i64 4, ptr %34) #6
  br label %474

296:                                              ; preds = %292
  %297 = load ptr, ptr %6, align 8, !tbaa !5
  %298 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %297, i32 0, i32 10
  %299 = load i32, ptr %34, align 4, !tbaa !11
  %300 = zext i32 %299 to i64
  %301 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %298, i64 noundef %300) #6
  %302 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %301, i32 0, i32 1
  %303 = load i32, ptr %302, align 8, !tbaa !31
  %304 = icmp ne i32 %303, 21
  br i1 %304, label %305, label %375

305:                                              ; preds = %296
  %306 = load ptr, ptr %6, align 8, !tbaa !5
  %307 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %306, i32 0, i32 10
  %308 = load i32, ptr %34, align 4, !tbaa !11
  %309 = zext i32 %308 to i64
  %310 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %307, i64 noundef %309) #6
  %311 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %310, i32 0, i32 2
  %312 = load i32, ptr %311, align 4, !tbaa !34
  %313 = icmp eq i32 %312, 1
  br i1 %313, label %314, label %336

314:                                              ; preds = %305
  %315 = load ptr, ptr %6, align 8, !tbaa !5
  %316 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %315, i32 0, i32 11
  %317 = load i32, ptr %34, align 4, !tbaa !11
  %318 = zext i32 %317 to i64
  %319 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %316, i64 noundef %318) #6
  %320 = load ptr, ptr %6, align 8, !tbaa !5
  %321 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %320, i32 0, i32 29
  %322 = load i32, ptr %34, align 4, !tbaa !11
  %323 = zext i32 %322 to i64
  %324 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %321, i64 noundef %323) #6
  %325 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %319, ptr noundef nonnull align 1 dereferenceable(1) %324)
  %326 = load ptr, ptr %9, align 8, !tbaa !5
  %327 = load ptr, ptr %6, align 8, !tbaa !5
  %328 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %327, i32 0, i32 10
  %329 = load i32, ptr %34, align 4, !tbaa !11
  %330 = zext i32 %329 to i64
  %331 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %328, i64 noundef %330) #6
  %332 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %331, i32 0, i32 3
  %333 = load i32, ptr %332, align 8, !tbaa !35
  %334 = zext i32 %333 to i64
  %335 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %326, i64 noundef %334)
  store double %325, ptr %335, align 8, !tbaa !9
  br label %374

336:                                              ; preds = %305
  %337 = load ptr, ptr %6, align 8, !tbaa !5
  %338 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %337, i32 0, i32 10
  %339 = load i32, ptr %34, align 4, !tbaa !11
  %340 = zext i32 %339 to i64
  %341 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %338, i64 noundef %340) #6
  %342 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %341, i32 0, i32 2
  %343 = load i32, ptr %342, align 4, !tbaa !34
  %344 = icmp eq i32 %343, 3
  br i1 %344, label %345, label %373

345:                                              ; preds = %336
  call void @llvm.lifetime.start.p0(i64 16, ptr %35) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %36) #6
  %346 = load ptr, ptr %6, align 8, !tbaa !5
  %347 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %346, i32 0, i32 17
  %348 = load i32, ptr %34, align 4, !tbaa !11
  %349 = zext i32 %348 to i64
  %350 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %347, i64 noundef %349) #6
  %351 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %350)
  %352 = getelementptr inbounds %"class.Eigen::Transpose", ptr %36, i32 0, i32 0
  store ptr %351, ptr %352, align 8
  %353 = load ptr, ptr %6, align 8, !tbaa !5
  %354 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %353, i32 0, i32 29
  %355 = load i32, ptr %34, align 4, !tbaa !11
  %356 = zext i32 %355 to i64
  %357 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %354, i64 noundef %356) #6
  %358 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %36, ptr noundef nonnull align 1 dereferenceable(1) %357)
  %359 = getelementptr inbounds { ptr, ptr }, ptr %35, i32 0, i32 0
  %360 = extractvalue { ptr, ptr } %358, 0
  store ptr %360, ptr %359, align 8
  %361 = getelementptr inbounds { ptr, ptr }, ptr %35, i32 0, i32 1
  %362 = extractvalue { ptr, ptr } %358, 1
  store ptr %362, ptr %361, align 8
  call void @llvm.lifetime.start.p0(i64 48, ptr %37) #6
  %363 = load ptr, ptr %9, align 8, !tbaa !5
  %364 = load ptr, ptr %6, align 8, !tbaa !5
  %365 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %364, i32 0, i32 10
  %366 = load i32, ptr %34, align 4, !tbaa !11
  %367 = zext i32 %366 to i64
  %368 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %365, i64 noundef %367) #6
  %369 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %368, i32 0, i32 3
  %370 = load i32, ptr %369, align 8, !tbaa !35
  %371 = zext i32 %370 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockILi3ELi1EEENS3_13FixedBlockXprIXT_EXT0_EE4TypeEll(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %37, ptr noundef nonnull align 1 dereferenceable(1) %363, i64 noundef %371, i64 noundef 0)
  %372 = call noundef nonnull align 8 dereferenceable(48) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi3ELi1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(48) %37, ptr noundef nonnull align 1 dereferenceable(1) %35)
  call void @llvm.lifetime.end.p0(i64 48, ptr %37) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %35) #6
  br label %373

373:                                              ; preds = %345, %336
  br label %374

374:                                              ; preds = %373, %314
  br label %430

375:                                              ; preds = %296
  %376 = load ptr, ptr %6, align 8, !tbaa !5
  %377 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %376, i32 0, i32 10
  %378 = load i32, ptr %34, align 4, !tbaa !11
  %379 = zext i32 %378 to i64
  %380 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %377, i64 noundef %379) #6
  %381 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %380, i32 0, i32 1
  %382 = load i32, ptr %381, align 8, !tbaa !31
  %383 = icmp eq i32 %382, 21
  br i1 %383, label %384, label %429

384:                                              ; preds = %375
  call void @llvm.lifetime.start.p0(i64 4, ptr %38) #6
  %385 = load ptr, ptr %6, align 8, !tbaa !5
  %386 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %385, i32 0, i32 10
  %387 = load i32, ptr %34, align 4, !tbaa !11
  %388 = zext i32 %387 to i64
  %389 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %386, i64 noundef %388) #6
  %390 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %389, i32 0, i32 4
  %391 = load i32, ptr %390, align 4, !tbaa !36
  store i32 %391, ptr %38, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 16, ptr %39) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %40) #6
  %392 = load ptr, ptr %6, align 8, !tbaa !5
  %393 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %392, i32 0, i32 22
  %394 = load i32, ptr %38, align 4, !tbaa !11
  %395 = zext i32 %394 to i64
  %396 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %393, i64 noundef %395) #6
  %397 = load ptr, ptr %396, align 8, !tbaa !5
  %398 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %397, i32 0, i32 3
  %399 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %398)
  %400 = getelementptr inbounds %"class.Eigen::Transpose.221", ptr %40, i32 0, i32 0
  store ptr %399, ptr %400, align 8
  %401 = load ptr, ptr %6, align 8, !tbaa !5
  %402 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %401, i32 0, i32 29
  %403 = load i32, ptr %34, align 4, !tbaa !11
  %404 = zext i32 %403 to i64
  %405 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %402, i64 noundef %404) #6
  %406 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %40, ptr noundef nonnull align 1 dereferenceable(1) %405)
  %407 = getelementptr inbounds { ptr, ptr }, ptr %39, i32 0, i32 0
  %408 = extractvalue { ptr, ptr } %406, 0
  store ptr %408, ptr %407, align 8
  %409 = getelementptr inbounds { ptr, ptr }, ptr %39, i32 0, i32 1
  %410 = extractvalue { ptr, ptr } %406, 1
  store ptr %410, ptr %409, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr %41) #6
  %411 = load ptr, ptr %9, align 8, !tbaa !5
  %412 = load ptr, ptr %6, align 8, !tbaa !5
  %413 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %412, i32 0, i32 10
  %414 = load i32, ptr %34, align 4, !tbaa !11
  %415 = zext i32 %414 to i64
  %416 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %413, i64 noundef %415) #6
  %417 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %416, i32 0, i32 3
  %418 = load i32, ptr %417, align 8, !tbaa !35
  %419 = zext i32 %418 to i64
  %420 = load ptr, ptr %6, align 8, !tbaa !5
  %421 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %420, i32 0, i32 22
  %422 = load i32, ptr %38, align 4, !tbaa !11
  %423 = zext i32 %422 to i64
  %424 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %421, i64 noundef %423) #6
  %425 = load ptr, ptr %424, align 8, !tbaa !5
  %426 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %425, i32 0, i32 1
  %427 = load i32, ptr %426, align 8, !tbaa !37
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block.229") align 8 %41, ptr noundef nonnull align 1 dereferenceable(1) %411, i64 noundef %419, i64 noundef 0, i32 noundef %427, i32 noundef 1)
  %428 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %41, ptr noundef nonnull align 1 dereferenceable(1) %39)
  call void @llvm.lifetime.end.p0(i64 56, ptr %41) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %40) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %39) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %38) #6
  br label %429

429:                                              ; preds = %384, %375
  br label %430

430:                                              ; preds = %429, %374
  %431 = load ptr, ptr %6, align 8, !tbaa !5
  %432 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %431, i32 0, i32 0
  %433 = load i32, ptr %34, align 4, !tbaa !11
  %434 = zext i32 %433 to i64
  %435 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %432, i64 noundef %434) #6
  %436 = load i32, ptr %435, align 4, !tbaa !11
  %437 = icmp ne i32 %436, 0
  br i1 %437, label %438, label %470

438:                                              ; preds = %430
  call void @llvm.lifetime.start.p0(i64 24, ptr %42) #6
  %439 = load ptr, ptr %6, align 8, !tbaa !5
  %440 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %439, i32 0, i32 29
  %441 = load ptr, ptr %6, align 8, !tbaa !5
  %442 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %441, i32 0, i32 0
  %443 = load i32, ptr %34, align 4, !tbaa !11
  %444 = zext i32 %443 to i64
  %445 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %442, i64 noundef %444) #6
  %446 = load i32, ptr %445, align 4, !tbaa !11
  %447 = zext i32 %446 to i64
  %448 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %440, i64 noundef %447) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %43) #6
  %449 = load ptr, ptr %6, align 8, !tbaa !5
  %450 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %449, i32 0, i32 34
  %451 = load i32, ptr %34, align 4, !tbaa !11
  %452 = zext i32 %451 to i64
  %453 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %450, i64 noundef %452) #6
  %454 = load ptr, ptr %6, align 8, !tbaa !5
  %455 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %454, i32 0, i32 29
  %456 = load i32, ptr %34, align 4, !tbaa !11
  %457 = zext i32 %456 to i64
  %458 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %455, i64 noundef %457) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %43, ptr noundef nonnull align 8 dereferenceable(96) %453, ptr noundef nonnull align 16 dereferenceable(48) %458)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %42, ptr noundef nonnull align 1 dereferenceable(1) %448, ptr noundef nonnull align 1 dereferenceable(1) %43)
  %459 = load ptr, ptr %6, align 8, !tbaa !5
  %460 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %459, i32 0, i32 29
  %461 = load ptr, ptr %6, align 8, !tbaa !5
  %462 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %461, i32 0, i32 0
  %463 = load i32, ptr %34, align 4, !tbaa !11
  %464 = zext i32 %463 to i64
  %465 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %462, i64 noundef %464) #6
  %466 = load i32, ptr %465, align 4, !tbaa !11
  %467 = zext i32 %466 to i64
  %468 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %460, i64 noundef %467) #6
  %469 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %468, ptr noundef nonnull align 1 dereferenceable(1) %42)
  call void @llvm.lifetime.end.p0(i64 48, ptr %43) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %42) #6
  br label %470

470:                                              ; preds = %438, %430
  br label %471

471:                                              ; preds = %470
  %472 = load i32, ptr %34, align 4, !tbaa !11
  %473 = add i32 %472, -1
  store i32 %473, ptr %34, align 4, !tbaa !11
  br label %292, !llvm.loop !47

474:                                              ; preds = %295
  call void @llvm.lifetime.end.p0(i64 48, ptr %11) #6
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2ERKdS1_S1_S1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSERKS_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #0 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEneINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES2_EEEEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.240") align 8) #1 align 2

attributes #0 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #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 = !{!"double", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}
!15 = !{!16, !27, i64 104}
!16 = !{!"_ZTSN17RigidBodyDynamics4BodyE", !10, i64 0, !17, i64 8, !22, i64 32, !27, i64 104}
!17 = !{!"_ZTS9Vector3_t", !18, i64 0}
!18 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !19, i64 0}
!19 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !20, i64 0}
!20 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!22 = !{!"_ZTS9Matrix3_t", !23, i64 0}
!23 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !25, i64 0}
!25 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !26, i64 0}
!26 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !7, i64 0}
!27 = !{!"bool", !7, i64 0}
!28 = !{i8 0, i8 2}
!29 = !{}
!30 = distinct !{!30, !14}
!31 = !{!32, !33, i64 8}
!32 = !{!"_ZTSN17RigidBodyDynamics5JointE", !6, i64 0, !33, i64 8, !12, i64 12, !12, i64 16, !12, i64 20}
!33 = !{!"_ZTSN17RigidBodyDynamics9JointTypeE", !7, i64 0}
!34 = !{!32, !12, i64 12}
!35 = !{!32, !12, i64 16}
!36 = !{!32, !12, i64 20}
!37 = !{!38, !12, i64 8}
!38 = !{!"_ZTSN17RigidBodyDynamics11CustomJointE", !12, i64 8, !39, i64 16, !40, i64 112, !40, i64 136, !40, i64 160, !44, i64 184, !44, i64 200}
!39 = !{!"_ZTSN17RigidBodyDynamics4Math16SpatialTransformE", !22, i64 0, !17, i64 72}
!40 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !41, i64 0}
!41 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !42, i64 0}
!42 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !6, i64 0, !43, i64 8, !43, i64 16}
!43 = !{!"long", !7, i64 0}
!44 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !45, i64 0}
!45 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !46, i64 0}
!46 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !43, i64 8}
!47 = distinct !{!47, !14}


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

%class.SpatialVector_t = type { %"class.Eigen::Matrix.90" }
%"class.Eigen::Matrix.90" = type { %"class.Eigen::PlainObjectBase.91" }
%"class.Eigen::PlainObjectBase.91" = type { %"class.Eigen::DenseStorage.98" }
%"class.Eigen::DenseStorage.98" = type { %"struct.Eigen::internal::plain_array.99" }
%"struct.Eigen::internal::plain_array.99" = type { [6 x double] }
%"class.Eigen::CwiseBinaryOp" = type <{ ptr, ptr, [8 x i8] }>
%class.SpatialMatrix_t = type { %"class.Eigen::Matrix.183" }
%"class.Eigen::Matrix.183" = type { %"class.Eigen::PlainObjectBase.184" }
%"class.Eigen::PlainObjectBase.184" = type { %"class.Eigen::DenseStorage.191" }
%"class.Eigen::DenseStorage.191" = type { %"struct.Eigen::internal::plain_array.192" }
%"struct.Eigen::internal::plain_array.192" = type { [36 x double] }
%"class.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase.base.213", ptr, %"class.Eigen::internal::variable_if_dynamic", [8 x i8], i64 }
%"class.Eigen::MapBase.base.213" = type { %"class.Eigen::MapBase.base" }
%"class.Eigen::MapBase.base" = type <{ ptr, [2 x i8] }>
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"class.Eigen::Block.229" = type { %"class.Eigen::BlockImpl.230" }
%"class.Eigen::BlockImpl.230" = type { %"class.Eigen::internal::BlockImpl_dense.231" }
%"class.Eigen::internal::BlockImpl_dense.231" = type { %"class.Eigen::MapBase.232", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.232" = type { %"class.Eigen::MapBase.233" }
%"class.Eigen::MapBase.233" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::CwiseNullaryOp.240" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::Product.176" = type { ptr, ptr }
%"class.Eigen::Product.193" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::Product.214" = type { %"class.Eigen::Transpose.221", ptr }
%"class.Eigen::Transpose.221" = type { ptr }

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #0 align 2

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

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

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

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

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #0 align 2

declare void @_ZN17RigidBodyDynamics5jcalcERNS_5ModelEjRKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_(ptr noundef nonnull align 8 dereferenceable(872), i32 noundef, ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math6crossmERK15SpatialVector_tS3_(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #1

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

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(105) ptr @_ZNSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #0 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math6crossfERK15SpatialVector_tS3_(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransform15toMatrixAdjointEv(ptr dead_on_unwind noalias writable sret(%class.SpatialMatrix_t) align 16, ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmIINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEERS2_RKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockILi3ELi1EEENS3_13FixedBlockXprIXT_EXT0_EE4TypeEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(48) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi3ELi1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.229") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics16NonlinearEffectsERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_RS4_PSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef %4) local_unnamed_addr #4 {
  %6 = alloca %class.SpatialVector_t, align 16
  %7 = alloca double, align 8
  %8 = alloca double, align 8
  %9 = alloca double, align 8
  %10 = alloca double, align 8
  %11 = alloca double, align 8
  %12 = alloca double, align 8
  %13 = alloca %class.SpatialVector_t, align 16
  %14 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %15 = alloca %class.SpatialVector_t, align 16
  %16 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %17 = alloca %class.SpatialVector_t, align 16
  %18 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %19 = alloca %class.SpatialVector_t, align 16
  %20 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %21 = alloca %class.SpatialVector_t, align 16
  %22 = alloca %class.SpatialVector_t, align 16
  %23 = alloca %class.SpatialVector_t, align 16
  %24 = alloca %"class.Eigen::CwiseNullaryOp.240", align 8
  %25 = alloca %"class.Eigen::Product.176", align 8
  %26 = alloca %class.SpatialMatrix_t, align 16
  %27 = alloca %"class.Eigen::Product.193", align 8
  %28 = alloca %"class.Eigen::Transpose", align 8
  %29 = alloca %"class.Eigen::Block", align 8
  %30 = alloca %"class.Eigen::Product.214", align 8
  %31 = alloca %"class.Eigen::Transpose.221", align 8
  %32 = alloca %"class.Eigen::Block.229", align 8
  %33 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %34 = alloca %class.SpatialVector_t, align 16
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %6) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #6
  store double 0.000000e+00, ptr %7, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #6
  store double 0.000000e+00, ptr %8, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #6
  store double 0.000000e+00, ptr %9, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #6
  %35 = getelementptr inbounds i8, ptr %0, i64 88
  %36 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %35, i64 noundef 0)
  %37 = load double, ptr %36, align 8, !tbaa !5
  %38 = fneg double %37
  store double %38, ptr %10, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #6
  %39 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %35, i64 noundef 1)
  %40 = load double, ptr %39, align 8, !tbaa !5
  %41 = fneg double %40
  store double %41, ptr %11, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #6
  %42 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %35, i64 noundef 2)
  %43 = load double, ptr %42, align 8, !tbaa !5
  %44 = fneg double %43
  store double %44, ptr %12, align 8, !tbaa !5
  call void @_ZN15SpatialVector_tC2ERKdS1_S1_S1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(48) %6, ptr noundef nonnull align 8 dereferenceable(8) %7, ptr noundef nonnull align 8 dereferenceable(8) %8, ptr noundef nonnull align 8 dereferenceable(8) %9, ptr noundef nonnull align 8 dereferenceable(8) %10, ptr noundef nonnull align 8 dereferenceable(8) %11, ptr noundef nonnull align 8 dereferenceable(8) %12)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #6
  %45 = getelementptr inbounds i8, ptr %0, i64 112
  %46 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %45, i64 noundef 0) #6
  %47 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %46)
  %48 = getelementptr inbounds i8, ptr %0, i64 136
  %49 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %48, i64 noundef 0) #6
  %50 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSERKS_(ptr noundef nonnull align 16 dereferenceable(48) %49, ptr noundef nonnull align 16 dereferenceable(48) %6)
  %51 = getelementptr inbounds i8, ptr %0, i64 256
  %52 = call noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %51) #6
  %53 = icmp ugt i64 %52, 1
  br i1 %53, label %.lr.ph, label %.preheader

.preheader:                                       ; preds = %.lr.ph, %5
  %54 = getelementptr inbounds i8, ptr %0, i64 800
  %55 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %54) #6
  %56 = icmp ugt i64 %55, 1
  br i1 %56, label %.lr.ph134, label %._crit_edge

.lr.ph134:                                        ; preds = %.preheader
  %57 = getelementptr inbounds i8, ptr %0, i64 720
  %58 = getelementptr inbounds i8, ptr %0, i64 208
  %59 = getelementptr inbounds i8, ptr %0, i64 232
  %60 = getelementptr inbounds i8, ptr %0, i64 472
  %61 = getelementptr inbounds i8, ptr %0, i64 624
  %62 = getelementptr inbounds i8, ptr %0, i64 600
  %.not131 = icmp eq ptr %4, null
  %63 = getelementptr inbounds i8, ptr %0, i64 744
  %64 = getelementptr inbounds i8, ptr %25, i64 8
  br label %83

.lr.ph:                                           ; preds = %5, %.lr.ph
  %65 = phi i64 [ %69, %.lr.ph ], [ 1, %5 ]
  %.0132 = phi i32 [ %68, %.lr.ph ], [ 1, %5 ]
  %66 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %51, i64 noundef %65) #6
  %67 = load i32, ptr %66, align 4, !tbaa !9
  call void @_ZN17RigidBodyDynamics5jcalcERNS_5ModelEjRKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_(ptr noundef nonnull align 8 dereferenceable(872) %0, i32 noundef %67, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2)
  %68 = add i32 %.0132, 1
  %69 = zext i32 %68 to i64
  %70 = call noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %51) #6
  %71 = icmp ugt i64 %70, %69
  br i1 %71, label %.lr.ph, label %.preheader, !llvm.loop !11

._crit_edge:                                      ; preds = %144, %.preheader
  %72 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %54) #6
  %73 = trunc i64 %72 to i32
  %.0124135 = add i32 %73, -1
  %.not136 = icmp eq i32 %.0124135, 0
  br i1 %.not136, label %._crit_edge140, label %.lr.ph139

.lr.ph139:                                        ; preds = %._crit_edge
  %74 = getelementptr inbounds i8, ptr %0, i64 160
  %75 = getelementptr inbounds i8, ptr %0, i64 328
  %76 = getelementptr inbounds i8, ptr %0, i64 600
  %77 = getelementptr inbounds i8, ptr %27, i64 8
  %78 = getelementptr inbounds i8, ptr %0, i64 184
  %79 = getelementptr inbounds i8, ptr %0, i64 448
  %80 = getelementptr inbounds i8, ptr %30, i64 8
  %81 = getelementptr inbounds i8, ptr %0, i64 720
  %82 = zext i32 %.0124135 to i64
  br label %149

83:                                               ; preds = %.lr.ph134, %144
  %84 = phi i64 [ 1, %.lr.ph134 ], [ %146, %144 ]
  %.0125133 = phi i32 [ 1, %.lr.ph134 ], [ %145, %144 ]
  %85 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %84) #6
  %86 = load i32, ptr %85, align 4, !tbaa !9
  %87 = icmp eq i32 %86, 0
  br i1 %87, label %88, label %95

88:                                               ; preds = %83
  %89 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %58, i64 noundef %84) #6
  %90 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %45, i64 noundef %84) #6
  %91 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSERKS_(ptr noundef nonnull align 16 dereferenceable(48) %90, ptr noundef nonnull align 16 dereferenceable(48) %89)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %13) #6
  %92 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %57, i64 noundef %84) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %13, ptr noundef nonnull align 8 dereferenceable(96) %92, ptr noundef nonnull align 16 dereferenceable(48) %6)
  %93 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %48, i64 noundef %84) #6
  %94 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48) %93, ptr noundef nonnull align 16 dereferenceable(48) %13) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %13) #6
  br label %117

95:                                               ; preds = %83
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %14) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %15) #6
  %96 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %57, i64 noundef %84) #6
  %97 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %84) #6
  %98 = load i32, ptr %97, align 4, !tbaa !9
  %99 = zext i32 %98 to i64
  %100 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %45, i64 noundef %99) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %15, ptr noundef nonnull align 8 dereferenceable(96) %96, ptr noundef nonnull align 16 dereferenceable(48) %100)
  %101 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %58, i64 noundef %84) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) %15, ptr noundef nonnull align 1 dereferenceable(1) %101)
  %102 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %45, i64 noundef %84) #6
  %103 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %102, ptr noundef nonnull align 1 dereferenceable(1) %14)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %15) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %14) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %16) #6
  %104 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %59, i64 noundef %84) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %17) #6
  %105 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %45, i64 noundef %84) #6
  %106 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %58, i64 noundef %84) #6
  call void @_ZN17RigidBodyDynamics4Math6crossmERK15SpatialVector_tS3_(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %17, ptr noundef nonnull align 16 dereferenceable(48) %105, ptr noundef nonnull align 16 dereferenceable(48) %106)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %104, ptr noundef nonnull align 1 dereferenceable(1) %17)
  %107 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %60, i64 noundef %84) #6
  %108 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %107, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %17) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %16) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %18) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %19) #6
  %109 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %57, i64 noundef %84) #6
  %110 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %84) #6
  %111 = load i32, ptr %110, align 4, !tbaa !9
  %112 = zext i32 %111 to i64
  %113 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %48, i64 noundef %112) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %19, ptr noundef nonnull align 8 dereferenceable(96) %109, ptr noundef nonnull align 16 dereferenceable(48) %113)
  %114 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %60, i64 noundef %84) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %19, ptr noundef nonnull align 1 dereferenceable(1) %114)
  %115 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %48, i64 noundef %84) #6
  %116 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %115, ptr noundef nonnull align 1 dereferenceable(1) %18)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %19) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %18) #6
  br label %117

117:                                              ; preds = %95, %88
  %118 = call noundef nonnull align 8 dereferenceable(105) ptr @_ZNSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %54, i64 noundef %84) #6
  %119 = getelementptr inbounds i8, ptr %118, i64 104
  %120 = load i8, ptr %119, align 8, !tbaa !13, !range !26, !noundef !27
  %121 = trunc nuw i8 %120 to i1
  br i1 %121, label %141, label %122

122:                                              ; preds = %117
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %20) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %21) #6
  %123 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef %84) #6
  %124 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %48, i64 noundef %84) #6
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %21, ptr noundef nonnull align 8 dereferenceable(80) %123, ptr noundef nonnull align 16 dereferenceable(48) %124)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %22) #6
  %125 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %45, i64 noundef %84) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %23) #6
  %126 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef %84) #6
  %127 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %45, i64 noundef %84) #6
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %23, ptr noundef nonnull align 8 dereferenceable(80) %126, ptr noundef nonnull align 16 dereferenceable(48) %127)
  call void @_ZN17RigidBodyDynamics4Math6crossfERK15SpatialVector_tS3_(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %22, ptr noundef nonnull align 16 dereferenceable(48) %125, ptr noundef nonnull align 16 dereferenceable(48) %23)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %20, ptr noundef nonnull align 1 dereferenceable(1) %21, ptr noundef nonnull align 1 dereferenceable(1) %22)
  %128 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %62, i64 noundef %84) #6
  %129 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %128, ptr noundef nonnull align 1 dereferenceable(1) %20)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %23) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %22) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %21) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %20) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %24) #6
  br i1 %.not131, label %.critedge, label %130

130:                                              ; preds = %122
  %131 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %4, i64 noundef %84) #6
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.240") align 8 %24)
  %132 = call noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEneINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES2_EEEEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %131, ptr noundef nonnull align 1 dereferenceable(1) %24)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %24) #6
  br i1 %132, label %133, label %144

133:                                              ; preds = %130
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %25) #6
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %26) #6
  %134 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %63, i64 noundef %84) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform15toMatrixAdjointEv(ptr dead_on_unwind nonnull writable sret(%class.SpatialMatrix_t) align 16 %26, ptr noundef nonnull align 8 dereferenceable(96) %134)
  %135 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %4, i64 noundef %84) #6
  %136 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %26, ptr noundef nonnull align 1 dereferenceable(1) %135)
  %137 = extractvalue { ptr, ptr } %136, 0
  store ptr %137, ptr %25, align 8
  %138 = extractvalue { ptr, ptr } %136, 1
  store ptr %138, ptr %64, align 8
  %139 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %62, i64 noundef %84) #6
  %140 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmIINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEERS2_RKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %139, ptr noundef nonnull align 1 dereferenceable(1) %25)
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %26) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %25) #6
  br label %144

.critedge:                                        ; preds = %122
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %24) #6
  br label %144

141:                                              ; preds = %117
  %142 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %62, i64 noundef %84) #6
  %143 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %142)
  br label %144

144:                                              ; preds = %141, %.critedge, %133, %130
  %145 = add i32 %.0125133, 1
  %146 = zext i32 %145 to i64
  %147 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %54) #6
  %148 = icmp ugt i64 %147, %146
  br i1 %148, label %83, label %._crit_edge, !llvm.loop !28

._crit_edge140:                                   ; preds = %225, %._crit_edge
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %6) #6
  ret void

149:                                              ; preds = %.lr.ph139, %225
  %indvars.iv = phi i64 [ %82, %.lr.ph139 ], [ %indvars.iv.next, %225 ]
  %150 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %indvars.iv) #6
  %151 = getelementptr inbounds i8, ptr %150, i64 8
  %152 = load i32, ptr %151, align 8, !tbaa !29
  %.not129 = icmp eq i32 %152, 21
  %153 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %indvars.iv) #6
  br i1 %.not129, label %184, label %154

154:                                              ; preds = %149
  %155 = getelementptr inbounds i8, ptr %153, i64 12
  %156 = load i32, ptr %155, align 4, !tbaa !33
  %157 = icmp eq i32 %156, 1
  br i1 %157, label %158, label %167

158:                                              ; preds = %154
  %159 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %78, i64 noundef %indvars.iv) #6
  %160 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %76, i64 noundef %indvars.iv) #6
  %161 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %159, ptr noundef nonnull align 1 dereferenceable(1) %160)
  %162 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %indvars.iv) #6
  %163 = getelementptr inbounds i8, ptr %162, i64 16
  %164 = load i32, ptr %163, align 8, !tbaa !34
  %165 = zext i32 %164 to i64
  %166 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %165)
  store double %161, ptr %166, align 8, !tbaa !5
  br label %210

167:                                              ; preds = %154
  %168 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %indvars.iv) #6
  %169 = getelementptr inbounds i8, ptr %168, i64 12
  %170 = load i32, ptr %169, align 4, !tbaa !33
  %171 = icmp eq i32 %170, 3
  br i1 %171, label %172, label %210

172:                                              ; preds = %167
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %27) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %28) #6
  %173 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %75, i64 noundef %indvars.iv) #6
  %174 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %173)
  store ptr %174, ptr %28, align 8
  %175 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %76, i64 noundef %indvars.iv) #6
  %176 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %28, ptr noundef nonnull align 1 dereferenceable(1) %175)
  %177 = extractvalue { ptr, ptr } %176, 0
  store ptr %177, ptr %27, align 8
  %178 = extractvalue { ptr, ptr } %176, 1
  store ptr %178, ptr %77, align 8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %29) #6
  %179 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %indvars.iv) #6
  %180 = getelementptr inbounds i8, ptr %179, i64 16
  %181 = load i32, ptr %180, align 8, !tbaa !34
  %182 = zext i32 %181 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockILi3ELi1EEENS3_13FixedBlockXprIXT_EXT0_EE4TypeEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %29, ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %182, i64 noundef 0)
  %183 = call noundef nonnull align 8 dereferenceable(48) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi3ELi1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(48) %29, ptr noundef nonnull align 1 dereferenceable(1) %27)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %29) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %27) #6
  br label %210

184:                                              ; preds = %149
  %185 = getelementptr inbounds i8, ptr %153, i64 8
  %186 = load i32, ptr %185, align 8, !tbaa !29
  %187 = icmp eq i32 %186, 21
  br i1 %187, label %188, label %210

188:                                              ; preds = %184
  %189 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %indvars.iv) #6
  %190 = getelementptr inbounds i8, ptr %189, i64 20
  %191 = load i32, ptr %190, align 4, !tbaa !35
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %30) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %31) #6
  %192 = zext i32 %191 to i64
  %193 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %79, i64 noundef %192) #6
  %194 = load ptr, ptr %193, align 8, !tbaa !36
  %195 = getelementptr inbounds i8, ptr %194, i64 112
  %196 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %195)
  store ptr %196, ptr %31, align 8
  %197 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %76, i64 noundef %indvars.iv) #6
  %198 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %31, ptr noundef nonnull align 1 dereferenceable(1) %197)
  %199 = extractvalue { ptr, ptr } %198, 0
  store ptr %199, ptr %30, align 8
  %200 = extractvalue { ptr, ptr } %198, 1
  store ptr %200, ptr %80, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %32) #6
  %201 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %indvars.iv) #6
  %202 = getelementptr inbounds i8, ptr %201, i64 16
  %203 = load i32, ptr %202, align 8, !tbaa !34
  %204 = zext i32 %203 to i64
  %205 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %79, i64 noundef %192) #6
  %206 = load ptr, ptr %205, align 8, !tbaa !36
  %207 = getelementptr inbounds i8, ptr %206, i64 8
  %208 = load i32, ptr %207, align 8, !tbaa !37
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.229") align 8 %32, ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %204, i64 noundef 0, i32 noundef %208, i32 noundef 1)
  %209 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %32, ptr noundef nonnull align 1 dereferenceable(1) %30)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %32) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %30) #6
  br label %210

210:                                              ; preds = %184, %188, %158, %172, %167
  %211 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv) #6
  %212 = load i32, ptr %211, align 4, !tbaa !9
  %.not130 = icmp eq i32 %212, 0
  br i1 %.not130, label %225, label %213

213:                                              ; preds = %210
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %33) #6
  %214 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv) #6
  %215 = load i32, ptr %214, align 4, !tbaa !9
  %216 = zext i32 %215 to i64
  %217 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %76, i64 noundef %216) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %34) #6
  %218 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %81, i64 noundef %indvars.iv) #6
  %219 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %76, i64 noundef %indvars.iv) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %34, ptr noundef nonnull align 8 dereferenceable(96) %218, ptr noundef nonnull align 16 dereferenceable(48) %219)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %33, ptr noundef nonnull align 1 dereferenceable(1) %217, ptr noundef nonnull align 1 dereferenceable(1) %34)
  %220 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv) #6
  %221 = load i32, ptr %220, align 4, !tbaa !9
  %222 = zext i32 %221 to i64
  %223 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %76, i64 noundef %222) #6
  %224 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %223, ptr noundef nonnull align 1 dereferenceable(1) %33)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %34) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %33) #6
  br label %225

225:                                              ; preds = %210, %213
  %indvars.iv.next = add nsw i64 %indvars.iv, -1
  %226 = and i64 %indvars.iv.next, 4294967295
  %.not = icmp eq i64 %226, 0
  br i1 %.not, label %._crit_edge140, label %149, !llvm.loop !47
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2ERKdS1_S1_S1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSERKS_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEneINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES2_EEEEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.240") align 8) local_unnamed_addr #1 align 2

attributes #0 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #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 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = distinct !{!11, !12}
!12 = !{!"llvm.loop.mustprogress"}
!13 = !{!14, !25, i64 104}
!14 = !{!"_ZTSN17RigidBodyDynamics4BodyE", !6, i64 0, !15, i64 8, !20, i64 32, !25, i64 104}
!15 = !{!"_ZTS9Vector3_t", !16, i64 0}
!16 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !17, i64 0}
!17 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !19, i64 0}
!19 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!20 = !{!"_ZTS9Matrix3_t", !21, i64 0}
!21 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !7, i64 0}
!25 = !{!"bool", !7, i64 0}
!26 = !{i8 0, i8 2}
!27 = !{}
!28 = distinct !{!28, !12}
!29 = !{!30, !32, i64 8}
!30 = !{!"_ZTSN17RigidBodyDynamics5JointE", !31, i64 0, !32, i64 8, !10, i64 12, !10, i64 16, !10, i64 20}
!31 = !{!"any pointer", !7, i64 0}
!32 = !{!"_ZTSN17RigidBodyDynamics9JointTypeE", !7, i64 0}
!33 = !{!30, !10, i64 12}
!34 = !{!30, !10, i64 16}
!35 = !{!30, !10, i64 20}
!36 = !{!31, !31, i64 0}
!37 = !{!38, !10, i64 8}
!38 = !{!"_ZTSN17RigidBodyDynamics11CustomJointE", !10, i64 8, !39, i64 16, !40, i64 112, !40, i64 136, !40, i64 160, !44, i64 184, !44, i64 200}
!39 = !{!"_ZTSN17RigidBodyDynamics4Math16SpatialTransformE", !20, i64 0, !15, i64 72}
!40 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !41, i64 0}
!41 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !42, i64 0}
!42 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !31, i64 0, !43, i64 8, !43, i64 16}
!43 = !{!"long", !7, i64 0}
!44 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !45, i64 0}
!45 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !46, i64 0}
!46 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !31, i64 0, !43, i64 8}
!47 = distinct !{!47, !12}


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