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

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

%"class.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%class.SpatialVector_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 { [6 x double] }
%"class.Eigen::CwiseBinaryOp" = type <{ ptr, ptr, [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.148" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::CwiseNullaryOp.153" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia" = type { double, %class.Vector3_t, double, double, double, double, double, double }
%class.Vector3_t = type { %"class.Eigen::Matrix.16" }
%"class.Eigen::Matrix.16" = type { %"class.Eigen::PlainObjectBase.17" }
%"class.Eigen::PlainObjectBase.17" = type { %"class.Eigen::DenseStorage.24" }
%"class.Eigen::DenseStorage.24" = type { %"struct.Eigen::internal::plain_array.25" }
%"struct.Eigen::internal::plain_array.25" = type { [3 x double] }
%"class.Eigen::CwiseBinaryOp.158" = type <{ ptr, %"class.Eigen::CwiseNullaryOp.164", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.164" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%class.Matrix3_t = type { %"class.Eigen::Matrix.108" }
%"class.Eigen::Matrix.108" = type { %"class.Eigen::PlainObjectBase.109" }
%"class.Eigen::PlainObjectBase.109" = type { %"class.Eigen::DenseStorage.116" }
%"class.Eigen::DenseStorage.116" = type { %"struct.Eigen::internal::plain_array.117" }
%"struct.Eigen::internal::plain_array.117" = type { [9 x double] }
%"class.Eigen::CwiseBinaryOp.170" = type <{ ptr, %"class.Eigen::CwiseBinaryOp.176", [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.176" = type <{ [8 x i8], %"class.Eigen::CwiseNullaryOp.182", ptr, [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.182" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"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.196", ptr, %"class.Eigen::internal::variable_if_dynamic", [8 x i8], i64 }
%"class.Eigen::MapBase.base.196" = type { %"class.Eigen::MapBase.base" }
%"class.Eigen::MapBase.base" = type <{ ptr, [2 x i8] }>
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.RigidBodyDynamics::Model" = type { %"class.std::vector", %"class.std::vector", %"class.std::vector.11", i32, i32, i32, i32, %class.Vector3_t, %"class.std::vector.26", %"class.std::vector.26", %"class.std::vector.32", %"class.std::vector.26", %"class.std::vector.26", %"class.std::vector.26", %"class.std::vector", %"class.std::vector.39", %"class.std::vector", %"class.std::vector.46", %"class.std::vector.46", %"class.std::vector.53", %"class.std::vector.58", %"class.std::vector", %"class.std::vector.63", %"class.std::vector.26", %"class.std::vector.68", %"class.std::vector.26", %"class.std::vector.26", %"class.Eigen::Matrix.75", %"class.Eigen::Matrix.75", %"class.std::vector.26", %"class.std::vector.84", %"class.std::vector.84", %"class.std::vector.26", %"class.std::vector.26", %"class.std::vector.39", %"class.std::vector.39", %"class.std::vector.91", i32, %"class.std::vector.98", %"class.std::map" }
%"class.std::vector.11" = type { %"struct.std::_Vector_base.12" }
%"struct.std::_Vector_base.12" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.32" = type { %"class.std::vector.33" }
%"class.std::vector.33" = type { %"struct.std::_Vector_base.34" }
%"struct.std::_Vector_base.34" = 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.46" = type { %"class.std::vector.47" }
%"class.std::vector.47" = type { %"struct.std::_Vector_base.48" }
%"struct.std::_Vector_base.48" = 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.53" = type { %"struct.std::_Vector_base.54" }
%"struct.std::_Vector_base.54" = 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.58" = type { %"struct.std::_Vector_base.59" }
%"struct.std::_Vector_base.59" = 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.63" = type { %"struct.std::_Vector_base.64" }
%"struct.std::_Vector_base.64" = 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.68" = type { %"class.std::vector.69" }
%"class.std::vector.69" = type { %"struct.std::_Vector_base.70" }
%"struct.std::_Vector_base.70" = 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.75" = type { %"class.Eigen::PlainObjectBase.76" }
%"class.Eigen::PlainObjectBase.76" = type { %"class.Eigen::DenseStorage.83" }
%"class.Eigen::DenseStorage.83" = type { ptr, i64 }
%"class.std::vector.84" = type { %"class.std::vector.85" }
%"class.std::vector.85" = type { %"struct.std::_Vector_base.86" }
%"struct.std::_Vector_base.86" = 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.26" = type { %"class.std::vector.27" }
%"class.std::vector.27" = type { %"struct.std::_Vector_base.28" }
%"struct.std::_Vector_base.28" = 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.39" = type { %"class.std::vector.40" }
%"class.std::vector.40" = type { %"struct.std::_Vector_base.41" }
%"struct.std::_Vector_base.41" = 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.91" = type { %"class.std::vector.92" }
%"class.std::vector.92" = type { %"struct.std::_Vector_base.93" }
%"struct.std::_Vector_base.93" = 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.98" = type { %"class.std::vector.99" }
%"class.std::vector.99" = type { %"struct.std::_Vector_base.100" }
%"struct.std::_Vector_base.100" = 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 }

@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@.str.27 = external hidden unnamed_addr constant [24 x i8], align 1

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #1

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #1

; Function Attrs: noreturn nounwind
declare void @abort() #4

declare void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef, ptr noundef, ptr noundef) #5

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSERKS1_(ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 8 dereferenceable(80)) #1 align 2

; 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) #2 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)) #3 align 2

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE4ZeroEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.148") align 8, i64 noundef, i64 noundef) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Matrix3_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaC2EdRK9Vector3_tRK9Matrix3_t(ptr noundef nonnull align 8 dereferenceable(80), double noundef, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(72)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.153") align 8, i64 noundef) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 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) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaplERKS1_(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8, ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 8 dereferenceable(80)) #3 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERKNS0_23SpatialRigidBodyInertiaE(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(80)) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSEOS1_(ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 8 dereferenceable(80)) #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 16 dereferenceable(48)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEdvIdEEKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.158") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen13CwiseBinaryOpINS1_8internal18scalar_quotient_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math6XtransERK9Vector3_t(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8, ptr noundef nonnull align 8 dereferenceable(24)) #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 16 dereferenceable(48)) #3 align 2

; Function Attrs: inlinehint mustprogress 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)) #6 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics5Utils19CalcZeroMomentPointERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES7_S7_P9Vector3_tRKS8_SB_b(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef %4, ptr noundef nonnull align 8 dereferenceable(24) %5, ptr noundef nonnull align 8 dereferenceable(24) %6, i1 noundef zeroext %7) #3 {
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  %16 = alloca i8, align 1
  %17 = alloca i64, align 8
  %18 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %19 = alloca %class.SpatialVector_t, align 16
  %20 = alloca %class.SpatialVector_t, align 16
  %21 = alloca %class.SpatialVector_t, align 16
  %22 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %23 = alloca %class.Vector3_t, align 8
  %24 = alloca double, align 8
  %25 = alloca double, align 8
  %26 = alloca double, align 8
  %27 = alloca %class.Matrix3_t, align 8
  %28 = alloca %"class.Eigen::CwiseNullaryOp.148", align 8
  %29 = alloca %class.SpatialVector_t, align 16
  %30 = alloca %"class.Eigen::CwiseNullaryOp.153", align 8
  %31 = alloca %class.SpatialVector_t, align 16
  %32 = alloca %"class.Eigen::CwiseNullaryOp.153", align 8
  %33 = alloca i64, align 8
  %34 = alloca i32, align 4
  %35 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %36 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %37 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %38 = alloca %class.SpatialVector_t, align 16
  %39 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %40 = alloca %class.SpatialVector_t, align 16
  %41 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %42 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %43 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %44 = alloca %class.SpatialVector_t, align 16
  %45 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %46 = alloca %class.SpatialVector_t, align 16
  %47 = alloca double, align 8
  %48 = alloca %class.Vector3_t, align 8
  %49 = alloca %"class.Eigen::CwiseBinaryOp.158", align 8
  %50 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %51 = alloca %class.SpatialVector_t, align 16
  %52 = alloca %"class.Eigen::CwiseBinaryOp.170", align 8
  %53 = alloca %"class.Eigen::CwiseBinaryOp.176", align 8
  %54 = alloca %class.SpatialVector_t, align 16
  %55 = alloca double, align 8
  %56 = alloca double, align 8
  %57 = alloca double, align 8
  %58 = alloca %class.SpatialVector_t, align 16
  %59 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %60 = alloca %class.Vector3_t, align 8
  %61 = alloca %"class.Eigen::Block", align 8
  %62 = alloca %class.Vector3_t, align 8
  %63 = alloca %"class.Eigen::Block", align 8
  %64 = alloca %"class.Eigen::CwiseBinaryOp.158", align 8
  %65 = alloca %"class.Eigen::Matrix.16", align 8
  %66 = alloca double, align 8
  store ptr %0, ptr %9, align 8, !tbaa !5
  store ptr %1, ptr %10, align 8, !tbaa !5
  store ptr %2, ptr %11, align 8, !tbaa !5
  store ptr %3, ptr %12, align 8, !tbaa !5
  store ptr %4, ptr %13, align 8, !tbaa !5
  store ptr %5, ptr %14, align 8, !tbaa !5
  store ptr %6, ptr %15, align 8, !tbaa !5
  %67 = zext i1 %7 to i8
  store i8 %67, ptr %16, align 1, !tbaa !9
  %68 = load ptr, ptr %13, align 8, !tbaa !5
  %69 = icmp eq ptr %68, null
  br i1 %69, label %70, label %73

70:                                               ; preds = %8
  %71 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef @.str.27)
  %72 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %71, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  call void @abort() #7
  unreachable

73:                                               ; preds = %8
  %74 = load i8, ptr %16, align 1, !tbaa !9, !range !11, !noundef !12
  %75 = trunc i8 %74 to i1
  br i1 %75, label %76, label %81

76:                                               ; preds = %73
  %77 = load ptr, ptr %9, align 8, !tbaa !5
  %78 = load ptr, ptr %10, align 8, !tbaa !5
  %79 = load ptr, ptr %11, align 8, !tbaa !5
  %80 = load ptr, ptr %12, align 8, !tbaa !5
  call void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872) %77, ptr noundef %78, ptr noundef %79, ptr noundef %80)
  br label %81

81:                                               ; preds = %76, %73
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #8
  store i64 1, ptr %17, align 8, !tbaa !13
  br label %82

82:                                               ; preds = %124, %81
  %83 = load i64, ptr %17, align 8, !tbaa !13
  %84 = load ptr, ptr %9, align 8, !tbaa !5
  %85 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %84, i32 0, i32 38
  %86 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %85) #8
  %87 = icmp ult i64 %83, %86
  br i1 %87, label %89, label %88

88:                                               ; preds = %82
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #8
  br label %127

89:                                               ; preds = %82
  %90 = load ptr, ptr %9, align 8, !tbaa !5
  %91 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %90, i32 0, i32 30
  %92 = load i64, ptr %17, align 8, !tbaa !13
  %93 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %91, i64 noundef %92) #8
  %94 = load ptr, ptr %9, align 8, !tbaa !5
  %95 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %94, i32 0, i32 31
  %96 = load i64, ptr %17, align 8, !tbaa !13
  %97 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %95, i64 noundef %96) #8
  %98 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSERKS1_(ptr noundef nonnull align 8 dereferenceable(80) %97, ptr noundef nonnull align 8 dereferenceable(80) %93)
  call void @llvm.lifetime.start.p0(i64 24, ptr %18) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %19) #8
  %99 = load ptr, ptr %9, align 8, !tbaa !5
  %100 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %99, i32 0, i32 31
  %101 = load i64, ptr %17, align 8, !tbaa !13
  %102 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %100, i64 noundef %101) #8
  %103 = load ptr, ptr %9, align 8, !tbaa !5
  %104 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %103, i32 0, i32 9
  %105 = load i64, ptr %17, align 8, !tbaa !13
  %106 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %104, i64 noundef %105) #8
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %19, ptr noundef nonnull align 8 dereferenceable(80) %102, ptr noundef nonnull align 16 dereferenceable(48) %106)
  call void @llvm.lifetime.start.p0(i64 48, ptr %20) #8
  %107 = load ptr, ptr %9, align 8, !tbaa !5
  %108 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %107, i32 0, i32 8
  %109 = load i64, ptr %17, align 8, !tbaa !13
  %110 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %108, i64 noundef %109) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %21) #8
  %111 = load ptr, ptr %9, align 8, !tbaa !5
  %112 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %111, i32 0, i32 31
  %113 = load i64, ptr %17, align 8, !tbaa !13
  %114 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %112, i64 noundef %113) #8
  %115 = load ptr, ptr %9, align 8, !tbaa !5
  %116 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %115, i32 0, i32 8
  %117 = load i64, ptr %17, align 8, !tbaa !13
  %118 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %116, i64 noundef %117) #8
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %21, ptr noundef nonnull align 8 dereferenceable(80) %114, ptr noundef nonnull align 16 dereferenceable(48) %118)
  call void @_ZN17RigidBodyDynamics4Math6crossfERK15SpatialVector_tS3_(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %20, ptr noundef nonnull align 16 dereferenceable(48) %110, ptr noundef nonnull align 16 dereferenceable(48) %21)
  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 %18, ptr noundef nonnull align 1 dereferenceable(1) %19, ptr noundef nonnull align 1 dereferenceable(1) %20)
  %119 = load ptr, ptr %9, align 8, !tbaa !5
  %120 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %119, i32 0, i32 33
  %121 = load i64, ptr %17, align 8, !tbaa !13
  %122 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %120, i64 noundef %121) #8
  %123 = 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) %122, ptr noundef nonnull align 1 dereferenceable(1) %18)
  call void @llvm.lifetime.end.p0(i64 48, ptr %21) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr %19) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %18) #8
  br label %124

124:                                              ; preds = %89
  %125 = load i64, ptr %17, align 8, !tbaa !13
  %126 = add i64 %125, 1
  store i64 %126, ptr %17, align 8, !tbaa !13
  br label %82, !llvm.loop !15

127:                                              ; preds = %88
  call void @llvm.lifetime.start.p0(i64 80, ptr %22) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr %23) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #8
  store double 0.000000e+00, ptr %24, align 8, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #8
  store double 0.000000e+00, ptr %25, align 8, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #8
  store double 0.000000e+00, ptr %26, align 8, !tbaa !17
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %23, ptr noundef nonnull align 8 dereferenceable(8) %24, ptr noundef nonnull align 8 dereferenceable(8) %25, ptr noundef nonnull align 8 dereferenceable(8) %26)
  call void @llvm.lifetime.start.p0(i64 72, ptr %27) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %28) #8
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE4ZeroEll(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.148") align 8 %28, i64 noundef 3, i64 noundef 3)
  call void @_ZN9Matrix3_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72) %27, ptr noundef nonnull align 1 dereferenceable(1) %28)
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaC2EdRK9Vector3_tRK9Matrix3_t(ptr noundef nonnull align 8 dereferenceable(80) %22, double noundef 0.000000e+00, ptr noundef nonnull align 8 dereferenceable(24) %23, ptr noundef nonnull align 8 dereferenceable(72) %27)
  call void @llvm.lifetime.end.p0(i64 16, ptr %28) #8
  call void @llvm.lifetime.end.p0(i64 72, ptr %27) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %23) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %29) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %30) #8
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEl(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.153") align 8 %30, i64 noundef 6)
  call void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %29, ptr noundef nonnull align 1 dereferenceable(1) %30)
  call void @llvm.lifetime.end.p0(i64 16, ptr %30) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %31) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %32) #8
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEl(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.153") align 8 %32, i64 noundef 6)
  call void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %31, ptr noundef nonnull align 1 dereferenceable(1) %32)
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #8
  %128 = load ptr, ptr %9, align 8, !tbaa !5
  %129 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %128, i32 0, i32 38
  %130 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %129) #8
  %131 = sub i64 %130, 1
  store i64 %131, ptr %33, align 8, !tbaa !13
  br label %132

132:                                              ; preds = %231, %127
  %133 = load i64, ptr %33, align 8, !tbaa !13
  %134 = icmp ugt i64 %133, 0
  br i1 %134, label %136, label %135

135:                                              ; preds = %132
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #8
  br label %234

136:                                              ; preds = %132
  call void @llvm.lifetime.start.p0(i64 4, ptr %34) #8
  %137 = load ptr, ptr %9, align 8, !tbaa !5
  %138 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %137, i32 0, i32 0
  %139 = load i64, ptr %33, align 8, !tbaa !13
  %140 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %138, i64 noundef %139) #8
  %141 = load i32, ptr %140, align 4, !tbaa !19
  store i32 %141, ptr %34, align 4, !tbaa !19
  %142 = load i32, ptr %34, align 4, !tbaa !19
  %143 = icmp ne i32 %142, 0
  br i1 %143, label %144, label %202

144:                                              ; preds = %136
  call void @llvm.lifetime.start.p0(i64 80, ptr %35) #8
  %145 = load ptr, ptr %9, align 8, !tbaa !5
  %146 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %145, i32 0, i32 31
  %147 = load i32, ptr %34, align 4, !tbaa !19
  %148 = zext i32 %147 to i64
  %149 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %146, i64 noundef %148) #8
  call void @llvm.lifetime.start.p0(i64 80, ptr %36) #8
  %150 = load ptr, ptr %9, align 8, !tbaa !5
  %151 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %150, i32 0, i32 34
  %152 = load i64, ptr %33, align 8, !tbaa !13
  %153 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %151, i64 noundef %152) #8
  %154 = load ptr, ptr %9, align 8, !tbaa !5
  %155 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %154, i32 0, i32 31
  %156 = load i64, ptr %33, align 8, !tbaa !13
  %157 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %155, i64 noundef %156) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERKNS0_23SpatialRigidBodyInertiaE(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8 %36, ptr noundef nonnull align 8 dereferenceable(96) %153, ptr noundef nonnull align 8 dereferenceable(80) %157)
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaplERKS1_(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8 %35, ptr noundef nonnull align 8 dereferenceable(80) %149, ptr noundef nonnull align 8 dereferenceable(80) %36)
  %158 = load ptr, ptr %9, align 8, !tbaa !5
  %159 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %158, i32 0, i32 31
  %160 = load i32, ptr %34, align 4, !tbaa !19
  %161 = zext i32 %160 to i64
  %162 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %159, i64 noundef %161) #8
  %163 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSEOS1_(ptr noundef nonnull align 8 dereferenceable(80) %162, ptr noundef nonnull align 8 dereferenceable(80) %35) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr %36) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr %35) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr %37) #8
  %164 = load ptr, ptr %9, align 8, !tbaa !5
  %165 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %164, i32 0, i32 32
  %166 = load i32, ptr %34, align 4, !tbaa !19
  %167 = zext i32 %166 to i64
  %168 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %165, i64 noundef %167) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %38) #8
  %169 = load ptr, ptr %9, align 8, !tbaa !5
  %170 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %169, i32 0, i32 34
  %171 = load i64, ptr %33, align 8, !tbaa !13
  %172 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %170, i64 noundef %171) #8
  %173 = load ptr, ptr %9, align 8, !tbaa !5
  %174 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %173, i32 0, i32 32
  %175 = load i64, ptr %33, align 8, !tbaa !13
  %176 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %174, i64 noundef %175) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %38, ptr noundef nonnull align 8 dereferenceable(96) %172, ptr noundef nonnull align 16 dereferenceable(48) %176)
  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 %37, ptr noundef nonnull align 1 dereferenceable(1) %168, ptr noundef nonnull align 1 dereferenceable(1) %38)
  %177 = load ptr, ptr %9, align 8, !tbaa !5
  %178 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %177, i32 0, i32 32
  %179 = load i32, ptr %34, align 4, !tbaa !19
  %180 = zext i32 %179 to i64
  %181 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %178, i64 noundef %180) #8
  %182 = 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) %181, ptr noundef nonnull align 1 dereferenceable(1) %37)
  call void @llvm.lifetime.end.p0(i64 48, ptr %38) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %37) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr %39) #8
  %183 = load ptr, ptr %9, align 8, !tbaa !5
  %184 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %183, i32 0, i32 33
  %185 = load i32, ptr %34, align 4, !tbaa !19
  %186 = zext i32 %185 to i64
  %187 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %184, i64 noundef %186) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %40) #8
  %188 = load ptr, ptr %9, align 8, !tbaa !5
  %189 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %188, i32 0, i32 34
  %190 = load i64, ptr %33, align 8, !tbaa !13
  %191 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %189, i64 noundef %190) #8
  %192 = load ptr, ptr %9, align 8, !tbaa !5
  %193 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %192, i32 0, i32 33
  %194 = load i64, ptr %33, align 8, !tbaa !13
  %195 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %193, i64 noundef %194) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %40, ptr noundef nonnull align 8 dereferenceable(96) %191, ptr noundef nonnull align 16 dereferenceable(48) %195)
  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 %39, ptr noundef nonnull align 1 dereferenceable(1) %187, ptr noundef nonnull align 1 dereferenceable(1) %40)
  %196 = load ptr, ptr %9, align 8, !tbaa !5
  %197 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %196, i32 0, i32 33
  %198 = load i32, ptr %34, align 4, !tbaa !19
  %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) #8
  %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) %39)
  call void @llvm.lifetime.end.p0(i64 48, ptr %40) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %39) #8
  br label %230

202:                                              ; preds = %136
  call void @llvm.lifetime.start.p0(i64 80, ptr %41) #8
  call void @llvm.lifetime.start.p0(i64 80, ptr %42) #8
  %203 = load ptr, ptr %9, align 8, !tbaa !5
  %204 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %203, i32 0, i32 34
  %205 = load i64, ptr %33, align 8, !tbaa !13
  %206 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %204, i64 noundef %205) #8
  %207 = load ptr, ptr %9, align 8, !tbaa !5
  %208 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %207, i32 0, i32 31
  %209 = load i64, ptr %33, align 8, !tbaa !13
  %210 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %208, i64 noundef %209) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERKNS0_23SpatialRigidBodyInertiaE(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8 %42, ptr noundef nonnull align 8 dereferenceable(96) %206, ptr noundef nonnull align 8 dereferenceable(80) %210)
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaplERKS1_(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8 %41, ptr noundef nonnull align 8 dereferenceable(80) %22, ptr noundef nonnull align 8 dereferenceable(80) %42)
  %211 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSEOS1_(ptr noundef nonnull align 8 dereferenceable(80) %22, ptr noundef nonnull align 8 dereferenceable(80) %41) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr %42) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr %41) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr %43) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %44) #8
  %212 = load ptr, ptr %9, align 8, !tbaa !5
  %213 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %212, i32 0, i32 34
  %214 = load i64, ptr %33, align 8, !tbaa !13
  %215 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %213, i64 noundef %214) #8
  %216 = load ptr, ptr %9, align 8, !tbaa !5
  %217 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %216, i32 0, i32 32
  %218 = load i64, ptr %33, align 8, !tbaa !13
  %219 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %217, i64 noundef %218) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %44, ptr noundef nonnull align 8 dereferenceable(96) %215, 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 writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %43, ptr noundef nonnull align 1 dereferenceable(1) %29, ptr noundef nonnull align 1 dereferenceable(1) %44)
  %220 = 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) %29, ptr noundef nonnull align 1 dereferenceable(1) %43)
  call void @llvm.lifetime.end.p0(i64 48, ptr %44) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %43) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr %45) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %46) #8
  %221 = load ptr, ptr %9, align 8, !tbaa !5
  %222 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %221, i32 0, i32 34
  %223 = load i64, ptr %33, align 8, !tbaa !13
  %224 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %222, i64 noundef %223) #8
  %225 = load ptr, ptr %9, align 8, !tbaa !5
  %226 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %225, i32 0, i32 33
  %227 = load i64, ptr %33, align 8, !tbaa !13
  %228 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %226, i64 noundef %227) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %46, ptr noundef nonnull align 8 dereferenceable(96) %224, ptr noundef nonnull align 16 dereferenceable(48) %228)
  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 %45, ptr noundef nonnull align 1 dereferenceable(1) %31, ptr noundef nonnull align 1 dereferenceable(1) %46)
  %229 = 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) %31, ptr noundef nonnull align 1 dereferenceable(1) %45)
  call void @llvm.lifetime.end.p0(i64 48, ptr %46) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %45) #8
  br label %230

230:                                              ; preds = %202, %144
  call void @llvm.lifetime.end.p0(i64 4, ptr %34) #8
  br label %231

231:                                              ; preds = %230
  %232 = load i64, ptr %33, align 8, !tbaa !13
  %233 = add i64 %232, -1
  store i64 %233, ptr %33, align 8, !tbaa !13
  br label %132, !llvm.loop !21

234:                                              ; preds = %135
  call void @llvm.lifetime.start.p0(i64 8, ptr %47) #8
  %235 = getelementptr inbounds %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", ptr %22, i32 0, i32 0
  %236 = load double, ptr %235, align 8, !tbaa !22
  store double %236, ptr %47, align 8, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 24, ptr %48) #8
  call void @llvm.lifetime.start.p0(i64 32, ptr %49) #8
  %237 = getelementptr inbounds %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", ptr %22, i32 0, i32 1
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEdvIdEEKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.158") align 8 %49, ptr noundef nonnull align 1 dereferenceable(1) %237, ptr noundef nonnull align 8 dereferenceable(8) %47)
  call void @_ZN9Vector3_tC2IN5Eigen13CwiseBinaryOpINS1_8internal18scalar_quotient_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %48, ptr noundef nonnull align 1 dereferenceable(1) %49)
  call void @llvm.lifetime.end.p0(i64 32, ptr %49) #8
  call void @llvm.lifetime.start.p0(i64 96, ptr %50) #8
  call void @_ZN17RigidBodyDynamics4Math6XtransERK9Vector3_t(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %50, ptr noundef nonnull align 8 dereferenceable(24) %48)
  call void @llvm.lifetime.start.p0(i64 48, ptr %51) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %51, ptr noundef nonnull align 8 dereferenceable(96) %50, ptr noundef nonnull align 16 dereferenceable(48) %31)
  %238 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48) %31, ptr noundef nonnull align 16 dereferenceable(48) %51) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr %51) #8
  call void @llvm.lifetime.start.p0(i64 56, ptr %52) #8
  call void @llvm.lifetime.start.p0(i64 40, ptr %53) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %54) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %55) #8
  store double 0.000000e+00, ptr %55, align 8, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %56) #8
  store double 0.000000e+00, ptr %56, align 8, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %57) #8
  store double 0.000000e+00, ptr %57, align 8, !tbaa !17
  %239 = load ptr, ptr %9, align 8, !tbaa !5
  %240 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %239, i32 0, i32 7
  %241 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %240, i64 noundef 0)
  %242 = load ptr, ptr %9, align 8, !tbaa !5
  %243 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %242, i32 0, i32 7
  %244 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %243, i64 noundef 1)
  %245 = load ptr, ptr %9, align 8, !tbaa !5
  %246 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %245, i32 0, i32 7
  %247 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %246, i64 noundef 2)
  call void @_ZN15SpatialVector_tC2ERKdS1_S1_S1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(48) %54, ptr noundef nonnull align 8 dereferenceable(8) %55, ptr noundef nonnull align 8 dereferenceable(8) %56, ptr noundef nonnull align 8 dereferenceable(8) %57, ptr noundef nonnull align 8 dereferenceable(8) %241, ptr noundef nonnull align 8 dereferenceable(8) %244, ptr noundef nonnull align 8 dereferenceable(8) %247)
  call void @_ZN5EigenmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opINS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIS5_dNS3_IS5_dEEEEEE5valueEE4typeEdEEKNS2_19plain_constant_typeINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEESA_E4typeEKSE_EERKS5_RKNS_10MatrixBaseISE_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.176") align 8 %53, ptr noundef nonnull align 8 dereferenceable(8) %47, ptr noundef nonnull align 1 dereferenceable(1) %54)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmiINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEEKS2_EESC_EEEEKNS5_INS6_20scalar_difference_opIdNS6_6traitsIT_E6ScalarEEESC_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.170") align 8 %52, ptr noundef nonnull align 1 dereferenceable(1) %31, ptr noundef nonnull align 1 dereferenceable(1) %53)
  %248 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_17scalar_product_opIddEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EES8_EEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %31, ptr noundef nonnull align 1 dereferenceable(1) %52)
  call void @llvm.lifetime.end.p0(i64 8, ptr %57) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %56) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %55) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr %54) #8
  call void @llvm.lifetime.end.p0(i64 40, ptr %53) #8
  call void @llvm.lifetime.end.p0(i64 56, ptr %52) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %58) #8
  call void @llvm.lifetime.start.p0(i64 96, ptr %59) #8
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform7inverseEv(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %59, ptr noundef nonnull align 8 dereferenceable(96) %50)
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %58, ptr noundef nonnull align 8 dereferenceable(96) %59, ptr noundef nonnull align 16 dereferenceable(48) %31)
  %249 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48) %31, ptr noundef nonnull align 16 dereferenceable(48) %58) #8
  call void @llvm.lifetime.end.p0(i64 96, ptr %59) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr %58) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr %60) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %61) #8
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE5blockILi3ELi1EEENS3_13FixedBlockXprIXT_EXT0_EE4TypeEll(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %61, ptr noundef nonnull align 1 dereferenceable(1) %31, i64 noundef 0, i64 noundef 0)
  call void @_ZN9Vector3_tC2IN5Eigen5BlockINS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi3ELi1ELb0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %60, ptr noundef nonnull align 1 dereferenceable(1) %61)
  call void @llvm.lifetime.end.p0(i64 48, ptr %61) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr %62) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr %63) #8
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE5blockILi3ELi1EEENS3_13FixedBlockXprIXT_EXT0_EE4TypeEll(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %63, ptr noundef nonnull align 1 dereferenceable(1) %31, i64 noundef 3, i64 noundef 0)
  call void @_ZN9Vector3_tC2IN5Eigen5BlockINS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi3ELi1ELb0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %62, ptr noundef nonnull align 1 dereferenceable(1) %63)
  call void @llvm.lifetime.end.p0(i64 48, ptr %63) #8
  call void @llvm.lifetime.start.p0(i64 32, ptr %64) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr %65) #8
  %250 = load ptr, ptr %14, align 8, !tbaa !5
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE5crossIS2_EENS3_25cross_product_return_typeIT_E4typeERKNS0_IS6_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Matrix.16") align 8 %65, ptr noundef nonnull align 1 dereferenceable(1) %250, ptr noundef nonnull align 1 dereferenceable(1) %60)
  call void @llvm.lifetime.start.p0(i64 8, ptr %66) #8
  %251 = load ptr, ptr %14, align 8, !tbaa !5
  %252 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %251, ptr noundef nonnull align 1 dereferenceable(1) %62)
  store double %252, ptr %66, align 8, !tbaa !17
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEdvIdEEKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.158") align 8 %64, ptr noundef nonnull align 1 dereferenceable(1) %65, ptr noundef nonnull align 8 dereferenceable(8) %66)
  %253 = load ptr, ptr %13, align 8, !tbaa !5
  %254 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen13CwiseBinaryOpINS1_8internal18scalar_quotient_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %253, ptr noundef nonnull align 1 dereferenceable(1) %64)
  call void @llvm.lifetime.end.p0(i64 8, ptr %66) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %65) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %64) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %62) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %60) #8
  call void @llvm.lifetime.end.p0(i64 96, ptr %50) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %48) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr %31) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr %29) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr %22) #8
  ret void
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2IN5Eigen13CwiseBinaryOpINS1_8internal18scalar_quotient_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmiINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEEKS2_EESC_EEEEKNS5_INS6_20scalar_difference_opIdNS6_6traitsIT_E6ScalarEEESC_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.170") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5EigenmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opINS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIS5_dNS3_IS5_dEEEEEE5valueEE4typeEdEEKNS2_19plain_constant_typeINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEESA_E4typeEKSE_EERKS5_RKNS_10MatrixBaseISE_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.176") align 8, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 1 dereferenceable(1)) #1

; 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: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_17scalar_product_opIddEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EES8_EEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransform7inverseEv(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8, ptr noundef nonnull align 8 dereferenceable(96)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE5blockILi3ELi1EEENS3_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: mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2IN5Eigen5BlockINS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi3ELi1ELb0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE5crossIS2_EENS3_25cross_product_return_typeIT_E4typeERKNS0_IS6_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.16") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE3dotIS2_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

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
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 nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { 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 #7 = { noreturn nounwind }
attributes #8 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"bool", !7, i64 0}
!11 = !{i8 0, i8 2}
!12 = !{}
!13 = !{!14, !14, i64 0}
!14 = !{!"long", !7, i64 0}
!15 = distinct !{!15, !16}
!16 = !{!"llvm.loop.mustprogress"}
!17 = !{!18, !18, i64 0}
!18 = !{!"double", !7, i64 0}
!19 = !{!20, !20, i64 0}
!20 = !{!"int", !7, i64 0}
!21 = distinct !{!21, !16}
!22 = !{!23, !18, i64 0}
!23 = !{!"_ZTSN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaE", !18, i64 0, !24, i64 8, !18, i64 32, !18, i64 40, !18, i64 48, !18, i64 56, !18, i64 64, !18, i64 72}
!24 = !{!"_ZTS9Vector3_t", !25, i64 0}
!25 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !26, i64 0}
!26 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !27, i64 0}
!27 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !28, i64 0}
!28 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}


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

%"class.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%class.SpatialVector_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 { [6 x double] }
%"class.Eigen::CwiseBinaryOp" = type <{ ptr, ptr, [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.148" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::CwiseNullaryOp.153" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia" = type { double, %class.Vector3_t, double, double, double, double, double, double }
%class.Vector3_t = type { %"class.Eigen::Matrix.16" }
%"class.Eigen::Matrix.16" = type { %"class.Eigen::PlainObjectBase.17" }
%"class.Eigen::PlainObjectBase.17" = type { %"class.Eigen::DenseStorage.24" }
%"class.Eigen::DenseStorage.24" = type { %"struct.Eigen::internal::plain_array.25" }
%"struct.Eigen::internal::plain_array.25" = type { [3 x double] }
%"class.Eigen::CwiseBinaryOp.158" = type <{ ptr, %"class.Eigen::CwiseNullaryOp.164", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.164" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%class.Matrix3_t = type { %"class.Eigen::Matrix.108" }
%"class.Eigen::Matrix.108" = type { %"class.Eigen::PlainObjectBase.109" }
%"class.Eigen::PlainObjectBase.109" = type { %"class.Eigen::DenseStorage.116" }
%"class.Eigen::DenseStorage.116" = type { %"struct.Eigen::internal::plain_array.117" }
%"struct.Eigen::internal::plain_array.117" = type { [9 x double] }
%"class.Eigen::CwiseBinaryOp.170" = type <{ ptr, %"class.Eigen::CwiseBinaryOp.176", [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.176" = type <{ [8 x i8], %"class.Eigen::CwiseNullaryOp.182", ptr, [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.182" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"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.196", ptr, %"class.Eigen::internal::variable_if_dynamic", [8 x i8], i64 }
%"class.Eigen::MapBase.base.196" = type { %"class.Eigen::MapBase.base" }
%"class.Eigen::MapBase.base" = type <{ ptr, [2 x i8] }>
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }

@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@.str.27 = external hidden unnamed_addr constant [24 x i8], align 1

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #1

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #1

; Function Attrs: noreturn nounwind
declare void @abort() local_unnamed_addr #4

declare void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #5

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSERKS1_(ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 8 dereferenceable(80)) local_unnamed_addr #1 align 2

; 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 #2 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 #3 align 2

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE4ZeroEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.148") align 8, i64 noundef, i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Matrix3_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaC2EdRK9Vector3_tRK9Matrix3_t(ptr noundef nonnull align 8 dereferenceable(80), double noundef, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(72)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.153") align 8, i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 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 #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaplERKS1_(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8, ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 8 dereferenceable(80)) local_unnamed_addr #3 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERKNS0_23SpatialRigidBodyInertiaE(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(80)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSEOS1_(ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 8 dereferenceable(80)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEdvIdEEKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.158") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen13CwiseBinaryOpINS1_8internal18scalar_quotient_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math6XtransERK9Vector3_t(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8, ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress 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 #6 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics5Utils19CalcZeroMomentPointERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES7_S7_P9Vector3_tRKS8_SB_b(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef %4, ptr noundef nonnull align 8 dereferenceable(24) %5, ptr nocapture noundef nonnull readnone align 8 dereferenceable(24) %6, i1 noundef zeroext %7) local_unnamed_addr #3 {
  %9 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %10 = alloca %class.SpatialVector_t, align 16
  %11 = alloca %class.SpatialVector_t, align 16
  %12 = alloca %class.SpatialVector_t, align 16
  %13 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %14 = alloca %class.Vector3_t, align 8
  %15 = alloca double, align 8
  %16 = alloca double, align 8
  %17 = alloca double, align 8
  %18 = alloca %class.Matrix3_t, align 8
  %19 = alloca %"class.Eigen::CwiseNullaryOp.148", align 8
  %20 = alloca %class.SpatialVector_t, align 16
  %21 = alloca %"class.Eigen::CwiseNullaryOp.153", align 8
  %22 = alloca %class.SpatialVector_t, align 16
  %23 = alloca %"class.Eigen::CwiseNullaryOp.153", align 8
  %24 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %25 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %26 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %27 = alloca %class.SpatialVector_t, align 16
  %28 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %29 = alloca %class.SpatialVector_t, align 16
  %30 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %31 = alloca %"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia", align 8
  %32 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %33 = alloca %class.SpatialVector_t, align 16
  %34 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %35 = alloca %class.SpatialVector_t, align 16
  %36 = alloca double, align 8
  %37 = alloca %class.Vector3_t, align 8
  %38 = alloca %"class.Eigen::CwiseBinaryOp.158", align 8
  %39 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %40 = alloca %class.SpatialVector_t, align 16
  %41 = alloca %"class.Eigen::CwiseBinaryOp.170", align 8
  %42 = alloca %"class.Eigen::CwiseBinaryOp.176", align 8
  %43 = alloca %class.SpatialVector_t, align 16
  %44 = alloca double, align 8
  %45 = alloca double, align 8
  %46 = alloca double, align 8
  %47 = alloca %class.SpatialVector_t, align 16
  %48 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %49 = alloca %class.Vector3_t, align 8
  %50 = alloca %"class.Eigen::Block", align 8
  %51 = alloca %class.Vector3_t, align 8
  %52 = alloca %"class.Eigen::Block", align 8
  %53 = alloca %"class.Eigen::CwiseBinaryOp.158", align 8
  %54 = alloca %"class.Eigen::Matrix.16", align 8
  %55 = alloca double, align 8
  %56 = icmp eq ptr %4, null
  br i1 %56, label %57, label %60

57:                                               ; preds = %8
  %58 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef nonnull @.str.27)
  %59 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %58, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  tail call void @abort() #7
  unreachable

60:                                               ; preds = %8
  br i1 %7, label %61, label %62

61:                                               ; preds = %60
  tail call void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull %1, ptr noundef nonnull %2, ptr noundef nonnull %3)
  br label %62

62:                                               ; preds = %61, %60
  %63 = getelementptr inbounds i8, ptr %0, i64 800
  %64 = tail call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %63) #8
  %65 = icmp ugt i64 %64, 1
  br i1 %65, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %62
  %66 = getelementptr inbounds i8, ptr %0, i64 624
  %67 = getelementptr inbounds i8, ptr %0, i64 648
  %68 = getelementptr inbounds i8, ptr %0, i64 136
  %69 = getelementptr inbounds i8, ptr %0, i64 112
  %70 = getelementptr inbounds i8, ptr %0, i64 696
  br label %76

._crit_edge:                                      ; preds = %76, %62
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %13) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %14) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #8
  store double 0.000000e+00, ptr %15, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #8
  store double 0.000000e+00, ptr %16, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #8
  store double 0.000000e+00, ptr %17, align 8, !tbaa !5
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %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.start.p0(i64 72, ptr nonnull %18) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %19) #8
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE4ZeroEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.148") align 8 %19, i64 noundef 3, i64 noundef 3)
  call void @_ZN9Matrix3_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72) %18, ptr noundef nonnull align 1 dereferenceable(1) %19)
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaC2EdRK9Vector3_tRK9Matrix3_t(ptr noundef nonnull align 8 dereferenceable(80) %13, double noundef 0.000000e+00, ptr noundef nonnull align 8 dereferenceable(24) %14, ptr noundef nonnull align 8 dereferenceable(72) %18)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %19) #8
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %18) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %14) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %20) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %21) #8
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.153") align 8 %21, i64 noundef 6)
  call void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %20, ptr noundef nonnull align 1 dereferenceable(1) %21)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %22) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %23) #8
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.153") align 8 %23, i64 noundef 6)
  call void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %22, ptr noundef nonnull align 1 dereferenceable(1) %23)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %23) #8
  %71 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %63) #8
  %.07277 = add i64 %71, -1
  %.not78 = icmp eq i64 %.07277, 0
  br i1 %.not78, label %._crit_edge82, label %.lr.ph81

.lr.ph81:                                         ; preds = %._crit_edge
  %72 = getelementptr inbounds i8, ptr %0, i64 648
  %73 = getelementptr inbounds i8, ptr %0, i64 720
  %74 = getelementptr inbounds i8, ptr %0, i64 672
  %75 = getelementptr inbounds i8, ptr %0, i64 696
  br label %101

76:                                               ; preds = %.lr.ph, %76
  %.076 = phi i64 [ 1, %.lr.ph ], [ %87, %76 ]
  %77 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %66, i64 noundef %.076) #8
  %78 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %67, i64 noundef %.076) #8
  %79 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSERKS1_(ptr noundef nonnull align 8 dereferenceable(80) %78, ptr noundef nonnull align 8 dereferenceable(80) %77)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %9) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %10) #8
  %80 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %67, i64 noundef %.076) #8
  %81 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %68, i64 noundef %.076) #8
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %10, ptr noundef nonnull align 8 dereferenceable(80) %80, ptr noundef nonnull align 16 dereferenceable(48) %81)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %11) #8
  %82 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %69, i64 noundef %.076) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %12) #8
  %83 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %67, i64 noundef %.076) #8
  %84 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %69, i64 noundef %.076) #8
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %12, ptr noundef nonnull align 8 dereferenceable(80) %83, ptr noundef nonnull align 16 dereferenceable(48) %84)
  call void @_ZN17RigidBodyDynamics4Math6crossfERK15SpatialVector_tS3_(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %11, ptr noundef nonnull align 16 dereferenceable(48) %82, ptr noundef nonnull align 16 dereferenceable(48) %12)
  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 %9, ptr noundef nonnull align 1 dereferenceable(1) %10, ptr noundef nonnull align 1 dereferenceable(1) %11)
  %85 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %70, i64 noundef %.076) #8
  %86 = 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) %85, ptr noundef nonnull align 1 dereferenceable(1) %9)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %12) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %11) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %10) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %9) #8
  %87 = add nuw i64 %.076, 1
  %88 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %63) #8
  %89 = icmp ult i64 %87, %88
  br i1 %89, label %76, label %._crit_edge, !llvm.loop !9

._crit_edge82:                                    ; preds = %131, %._crit_edge
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %36) #8
  %90 = load double, ptr %13, align 8, !tbaa !11
  store double %90, ptr %36, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %37) #8
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %38) #8
  %91 = getelementptr inbounds i8, ptr %13, i64 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEdvIdEEKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.158") align 8 %38, ptr noundef nonnull align 1 dereferenceable(1) %91, ptr noundef nonnull align 8 dereferenceable(8) %36)
  call void @_ZN9Vector3_tC2IN5Eigen13CwiseBinaryOpINS1_8internal18scalar_quotient_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %37, ptr noundef nonnull align 1 dereferenceable(1) %38)
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %38) #8
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %39) #8
  call void @_ZN17RigidBodyDynamics4Math6XtransERK9Vector3_t(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %39, ptr noundef nonnull align 8 dereferenceable(24) %37)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %40) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %40, ptr noundef nonnull align 8 dereferenceable(96) %39, ptr noundef nonnull align 16 dereferenceable(48) %22)
  %92 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48) %22, ptr noundef nonnull align 16 dereferenceable(48) %40) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %40) #8
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %41) #8
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %42) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %43) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %44) #8
  store double 0.000000e+00, ptr %44, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %45) #8
  store double 0.000000e+00, ptr %45, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %46) #8
  store double 0.000000e+00, ptr %46, align 8, !tbaa !5
  %93 = getelementptr inbounds i8, ptr %0, i64 88
  %94 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %93, i64 noundef 0)
  %95 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %93, i64 noundef 1)
  %96 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %93, i64 noundef 2)
  call void @_ZN15SpatialVector_tC2ERKdS1_S1_S1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(48) %43, ptr noundef nonnull align 8 dereferenceable(8) %44, ptr noundef nonnull align 8 dereferenceable(8) %45, ptr noundef nonnull align 8 dereferenceable(8) %46, ptr noundef nonnull align 8 dereferenceable(8) %94, ptr noundef nonnull align 8 dereferenceable(8) %95, ptr noundef nonnull align 8 dereferenceable(8) %96)
  call void @_ZN5EigenmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opINS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIS5_dNS3_IS5_dEEEEEE5valueEE4typeEdEEKNS2_19plain_constant_typeINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEESA_E4typeEKSE_EERKS5_RKNS_10MatrixBaseISE_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.176") align 8 %42, ptr noundef nonnull align 8 dereferenceable(8) %36, ptr noundef nonnull align 1 dereferenceable(1) %43)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmiINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEEKS2_EESC_EEEEKNS5_INS6_20scalar_difference_opIdNS6_6traitsIT_E6ScalarEEESC_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.170") align 8 %41, ptr noundef nonnull align 1 dereferenceable(1) %22, ptr noundef nonnull align 1 dereferenceable(1) %42)
  %97 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_17scalar_product_opIddEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EES8_EEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %22, ptr noundef nonnull align 1 dereferenceable(1) %41)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %46) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %45) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %44) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %43) #8
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %42) #8
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %41) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %47) #8
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %48) #8
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform7inverseEv(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %48, ptr noundef nonnull align 8 dereferenceable(96) %39)
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %47, ptr noundef nonnull align 8 dereferenceable(96) %48, ptr noundef nonnull align 16 dereferenceable(48) %22)
  %98 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48) %22, ptr noundef nonnull align 16 dereferenceable(48) %47) #8
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %48) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %47) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %49) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %50) #8
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE5blockILi3ELi1EEENS3_13FixedBlockXprIXT_EXT0_EE4TypeEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %50, ptr noundef nonnull align 1 dereferenceable(1) %22, i64 noundef 0, i64 noundef 0)
  call void @_ZN9Vector3_tC2IN5Eigen5BlockINS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi3ELi1ELb0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %49, ptr noundef nonnull align 1 dereferenceable(1) %50)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %50) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %51) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %52) #8
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE5blockILi3ELi1EEENS3_13FixedBlockXprIXT_EXT0_EE4TypeEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %52, ptr noundef nonnull align 1 dereferenceable(1) %22, i64 noundef 3, i64 noundef 0)
  call void @_ZN9Vector3_tC2IN5Eigen5BlockINS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi3ELi1ELb0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %51, ptr noundef nonnull align 1 dereferenceable(1) %52)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %52) #8
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %53) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %54) #8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE5crossIS2_EENS3_25cross_product_return_typeIT_E4typeERKNS0_IS6_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix.16") align 8 %54, ptr noundef nonnull align 1 dereferenceable(1) %5, ptr noundef nonnull align 1 dereferenceable(1) %49)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %55) #8
  %99 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %5, ptr noundef nonnull align 1 dereferenceable(1) %51)
  store double %99, ptr %55, align 8, !tbaa !5
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEdvIdEEKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.158") align 8 %53, ptr noundef nonnull align 1 dereferenceable(1) %54, ptr noundef nonnull align 8 dereferenceable(8) %55)
  %100 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen13CwiseBinaryOpINS1_8internal18scalar_quotient_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %4, ptr noundef nonnull align 1 dereferenceable(1) %53)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %55) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %54) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %53) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %51) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %49) #8
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %39) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %37) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %36) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %22) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %20) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %13) #8
  ret void

101:                                              ; preds = %.lr.ph81, %131
  %.07279 = phi i64 [ %.07277, %.lr.ph81 ], [ %.072, %131 ]
  %102 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %.07279) #8
  %103 = load i32, ptr %102, align 4, !tbaa !18
  %.not75 = icmp eq i32 %103, 0
  br i1 %.not75, label %121, label %104

104:                                              ; preds = %101
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %24) #8
  %105 = zext i32 %103 to i64
  %106 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %72, i64 noundef %105) #8
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %25) #8
  %107 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %73, i64 noundef %.07279) #8
  %108 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %72, i64 noundef %.07279) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERKNS0_23SpatialRigidBodyInertiaE(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8 %25, ptr noundef nonnull align 8 dereferenceable(96) %107, ptr noundef nonnull align 8 dereferenceable(80) %108)
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaplERKS1_(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8 %24, ptr noundef nonnull align 8 dereferenceable(80) %106, ptr noundef nonnull align 8 dereferenceable(80) %25)
  %109 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %72, i64 noundef %105) #8
  %110 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSEOS1_(ptr noundef nonnull align 8 dereferenceable(80) %109, ptr noundef nonnull align 8 dereferenceable(80) %24) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %25) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %24) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %26) #8
  %111 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %105) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %27) #8
  %112 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %73, i64 noundef %.07279) #8
  %113 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %.07279) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %27, ptr noundef nonnull align 8 dereferenceable(96) %112, ptr noundef nonnull align 16 dereferenceable(48) %113)
  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 %26, ptr noundef nonnull align 1 dereferenceable(1) %111, ptr noundef nonnull align 1 dereferenceable(1) %27)
  %114 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %105) #8
  %115 = 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) %114, ptr noundef nonnull align 1 dereferenceable(1) %26)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %27) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %26) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %28) #8
  %116 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %75, i64 noundef %105) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %29) #8
  %117 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %73, i64 noundef %.07279) #8
  %118 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %75, i64 noundef %.07279) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %29, ptr noundef nonnull align 8 dereferenceable(96) %117, ptr noundef nonnull align 16 dereferenceable(48) %118)
  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 %28, ptr noundef nonnull align 1 dereferenceable(1) %116, ptr noundef nonnull align 1 dereferenceable(1) %29)
  %119 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %75, i64 noundef %105) #8
  %120 = 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) %119, ptr noundef nonnull align 1 dereferenceable(1) %28)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %29) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %28) #8
  br label %131

121:                                              ; preds = %101
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %30) #8
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %31) #8
  %122 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %73, i64 noundef %.07279) #8
  %123 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %72, i64 noundef %.07279) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERKNS0_23SpatialRigidBodyInertiaE(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8 %31, ptr noundef nonnull align 8 dereferenceable(96) %122, ptr noundef nonnull align 8 dereferenceable(80) %123)
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaplERKS1_(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialRigidBodyInertia") align 8 %30, ptr noundef nonnull align 8 dereferenceable(80) %13, ptr noundef nonnull align 8 dereferenceable(80) %31)
  %124 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaaSEOS1_(ptr noundef nonnull align 8 dereferenceable(80) %13, ptr noundef nonnull align 8 dereferenceable(80) %30) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %31) #8
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %30) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %32) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %33) #8
  %125 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %73, i64 noundef %.07279) #8
  %126 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %.07279) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %33, ptr noundef nonnull align 8 dereferenceable(96) %125, ptr noundef nonnull align 16 dereferenceable(48) %126)
  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 %32, ptr noundef nonnull align 1 dereferenceable(1) %20, ptr noundef nonnull align 1 dereferenceable(1) %33)
  %127 = 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) %20, ptr noundef nonnull align 1 dereferenceable(1) %32)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %33) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %32) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %34) #8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %35) #8
  %128 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %73, i64 noundef %.07279) #8
  %129 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %75, i64 noundef %.07279) #8
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %35, ptr noundef nonnull align 8 dereferenceable(96) %128, ptr noundef nonnull align 16 dereferenceable(48) %129)
  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 %34, ptr noundef nonnull align 1 dereferenceable(1) %22, ptr noundef nonnull align 1 dereferenceable(1) %35)
  %130 = 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) %22, ptr noundef nonnull align 1 dereferenceable(1) %34)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %35) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %34) #8
  br label %131

131:                                              ; preds = %121, %104
  %.072 = add i64 %.07279, -1
  %.not = icmp eq i64 %.072, 0
  br i1 %.not, label %._crit_edge82, label %101, !llvm.loop !20
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2IN5Eigen13CwiseBinaryOpINS1_8internal18scalar_quotient_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmiINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEEKS2_EESC_EEEEKNS5_INS6_20scalar_difference_opIdNS6_6traitsIT_E6ScalarEEESC_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.170") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5EigenmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opINS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIS5_dNS3_IS5_dEEEEEE5valueEE4typeEdEEKNS2_19plain_constant_typeINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEESA_E4typeEKSE_EERKS5_RKNS_10MatrixBaseISE_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.176") align 8, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1

; 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 uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_17scalar_product_opIddEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EES8_EEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransform7inverseEv(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8, ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE5blockILi3ELi1EEENS3_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: mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2IN5Eigen5BlockINS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi3ELi1ELb0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE5crossIS2_EENS3_25cross_product_return_typeIT_E4typeERKNS0_IS6_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.16") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE3dotIS2_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

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
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 nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { 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 #7 = { noreturn nounwind }
attributes #8 = { 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 = distinct !{!9, !10}
!10 = !{!"llvm.loop.mustprogress"}
!11 = !{!12, !6, i64 0}
!12 = !{!"_ZTSN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaE", !6, i64 0, !13, i64 8, !6, i64 32, !6, i64 40, !6, i64 48, !6, i64 56, !6, i64 64, !6, i64 72}
!13 = !{!"_ZTS9Vector3_t", !14, i64 0}
!14 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !15, i64 0}
!15 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !16, i64 0}
!16 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !17, i64 0}
!17 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!18 = !{!19, !19, i64 0}
!19 = !{!"int", !7, i64 0}
!20 = distinct !{!20, !10}


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