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

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

%"class.Eigen::CwiseNullaryOp.596" = type { %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::CwiseNullaryOp.601" = type { %"class.Eigen::internal::variable_if_dynamic", [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::Solve" = type { ptr, ptr }
%"class.Eigen::PartialPivLU" = type <{ %"class.Eigen::Matrix.153", %"class.Eigen::PermutationMatrix", %"class.Eigen::Transpositions", double, i8, i8, [6 x i8] }>
%"class.Eigen::Matrix.153" = type { %"class.Eigen::PlainObjectBase.154" }
%"class.Eigen::PlainObjectBase.154" = type { %"class.Eigen::DenseStorage.161" }
%"class.Eigen::DenseStorage.161" = type { ptr, i64, i64 }
%"class.Eigen::PermutationMatrix" = type { %"class.Eigen::Matrix.612" }
%"class.Eigen::Matrix.612" = type { %"class.Eigen::PlainObjectBase.613" }
%"class.Eigen::PlainObjectBase.613" = type { %"class.Eigen::DenseStorage.620" }
%"class.Eigen::DenseStorage.620" = type { ptr, i64 }
%"class.Eigen::Transpositions" = type { %"class.Eigen::Matrix.612" }
%"class.Eigen::CwiseBinaryOp.621" = type <{ [8 x i8], %"class.Eigen::CwiseBinaryOp.627", ptr, [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.627" = type <{ ptr, %"class.Eigen::CwiseNullaryOp.633", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.633" = type { %"class.Eigen::internal::variable_if_dynamic", [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::Solve.640" = type { ptr, ptr }
%"class.Eigen::ColPivHouseholderQR" = type { %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.57", %"class.Eigen::PermutationMatrix", %"class.Eigen::Matrix.648", %"class.Eigen::Matrix.657", %"class.Eigen::Matrix.657", %"class.Eigen::Matrix.657", i8, i8, double, double, i64, i64 }
%"class.Eigen::Matrix.57" = type { %"class.Eigen::PlainObjectBase.58" }
%"class.Eigen::PlainObjectBase.58" = type { %"class.Eigen::DenseStorage.65" }
%"class.Eigen::DenseStorage.65" = type { ptr, i64 }
%"class.Eigen::Matrix.648" = type { %"class.Eigen::PlainObjectBase.649" }
%"class.Eigen::PlainObjectBase.649" = type { %"class.Eigen::DenseStorage.656" }
%"class.Eigen::DenseStorage.656" = type { ptr, i64 }
%"class.Eigen::Matrix.657" = type { %"class.Eigen::PlainObjectBase.658" }
%"class.Eigen::PlainObjectBase.658" = type { %"class.Eigen::DenseStorage.665" }
%"class.Eigen::DenseStorage.665" = type { ptr, i64 }
%"class.Eigen::Solve.666" = type { ptr, ptr }
%"class.Eigen::HouseholderQR" = type <{ %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.57", %"class.Eigen::Matrix.657", i8, [7 x i8] }>
%"class.Eigen::Solve.674" = type { ptr, ptr }
%"class.Eigen::LLT" = type { %"class.Eigen::Matrix.153", double, i8, i32 }
%"struct.RigidBodyDynamics::Model" = type { %"class.std::vector", %"class.std::vector", %"class.std::vector.1", i32, i32, i32, i32, %class.Vector3_t, %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.14", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector", %"class.std::vector.21", %"class.std::vector", %"class.std::vector.28", %"class.std::vector.28", %"class.std::vector.35", %"class.std::vector.40", %"class.std::vector", %"class.std::vector.45", %"class.std::vector.8", %"class.std::vector.50", %"class.std::vector.8", %"class.std::vector.8", %"class.Eigen::Matrix.57", %"class.Eigen::Matrix.57", %"class.std::vector.8", %"class.std::vector.66", %"class.std::vector.66", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.73", i32, %"class.std::vector.80", %"class.std::map" }
%"class.std::vector.1" = type { %"struct.std::_Vector_base.2" }
%"struct.std::_Vector_base.2" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%class.Vector3_t = type { %"class.Eigen::Matrix" }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"class.std::vector.14" = type { %"class.std::vector.15" }
%"class.std::vector.15" = type { %"struct.std::_Vector_base.16" }
%"struct.std::_Vector_base.16" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.28" = type { %"class.std::vector.29" }
%"class.std::vector.29" = type { %"struct.std::_Vector_base.30" }
%"struct.std::_Vector_base.30" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.35" = type { %"struct.std::_Vector_base.36" }
%"struct.std::_Vector_base.36" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.40" = type { %"struct.std::_Vector_base.41" }
%"struct.std::_Vector_base.41" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.45" = type { %"struct.std::_Vector_base.46" }
%"struct.std::_Vector_base.46" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.50" = type { %"class.std::vector.51" }
%"class.std::vector.51" = type { %"struct.std::_Vector_base.52" }
%"struct.std::_Vector_base.52" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.66" = type { %"class.std::vector.67" }
%"class.std::vector.67" = type { %"struct.std::_Vector_base.68" }
%"struct.std::_Vector_base.68" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.8" = type { %"class.std::vector.9" }
%"class.std::vector.9" = type { %"struct.std::_Vector_base.10" }
%"struct.std::_Vector_base.10" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.21" = type { %"class.std::vector.22" }
%"class.std::vector.22" = type { %"struct.std::_Vector_base.23" }
%"struct.std::_Vector_base.23" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.73" = type { %"class.std::vector.74" }
%"class.std::vector.74" = type { %"struct.std::_Vector_base.75" }
%"struct.std::_Vector_base.75" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.80" = type { %"class.std::vector.81" }
%"class.std::vector.81" = type { %"struct.std::_Vector_base.82" }
%"struct.std::_Vector_base.82" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"struct.std::_Rb_tree_header" = type { %"struct.std::_Rb_tree_node_base", i64 }
%"struct.std::_Rb_tree_node_base" = type { i32, ptr, ptr, ptr }

@.str.4 = external hidden unnamed_addr constant [109 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [2 x i8], align 1
@__PRETTY_FUNCTION__._ZN17RigidBodyDynamics25ForwardDynamicsLagrangianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RS4_NS_4Math12LinearSolverEPSt6vectorI15SpatialVector_tSaISB_EEPNS3_IdLin1ELin1ELi0ELin1ELin1EEEPS4_ = external hidden unnamed_addr constant [211 x i8], align 1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics15InverseDynamicsERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RS4_PSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) #0

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

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics27CompositeRigidBodyAlgorithmERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) #0

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #3

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics25ForwardDynamicsLagrangianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RS4_NS_4Math12LinearSolverEPSt6vectorI15SpatialVector_tSaISB_EEPNS3_IdLin1ELin1ELi0ELin1ELin1EEEPS4_(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 nonnull align 8 dereferenceable(16) %4, i32 noundef %5, ptr noundef %6, ptr noundef %7, ptr noundef %8) #0 personality ptr @__gxx_personality_v0 {
  %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 i32, align 4
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca i8, align 1
  %20 = alloca i8, align 1
  %21 = alloca %"class.Eigen::CwiseNullaryOp.596", align 8
  %22 = alloca ptr, align 8
  %23 = alloca i32, align 4
  %24 = alloca i1, align 1
  %25 = alloca %"class.Eigen::CwiseNullaryOp.601", align 8
  %26 = alloca i1, align 1
  %27 = alloca %"class.Eigen::Solve", align 8
  %28 = alloca %"class.Eigen::PartialPivLU", align 8
  %29 = alloca %"class.Eigen::CwiseBinaryOp.621", align 8
  %30 = alloca %"class.Eigen::CwiseBinaryOp.627", align 8
  %31 = alloca double, align 8
  %32 = alloca %"class.Eigen::Solve.640", align 8
  %33 = alloca %"class.Eigen::ColPivHouseholderQR", align 8
  %34 = alloca %"class.Eigen::CwiseBinaryOp.621", align 8
  %35 = alloca %"class.Eigen::CwiseBinaryOp.627", align 8
  %36 = alloca double, align 8
  %37 = alloca %"class.Eigen::Solve.666", align 8
  %38 = alloca %"class.Eigen::HouseholderQR", align 8
  %39 = alloca %"class.Eigen::CwiseBinaryOp.621", align 8
  %40 = alloca %"class.Eigen::CwiseBinaryOp.627", align 8
  %41 = alloca double, align 8
  %42 = alloca %"class.Eigen::Solve.674", align 8
  %43 = alloca %"class.Eigen::LLT", align 8
  %44 = alloca %"class.Eigen::CwiseBinaryOp.621", align 8
  %45 = alloca %"class.Eigen::CwiseBinaryOp.627", align 8
  %46 = alloca double, align 8
  store ptr %0, ptr %10, align 8, !tbaa !5
  store ptr %1, ptr %11, align 8, !tbaa !5
  store ptr %2, ptr %12, align 8, !tbaa !5
  store ptr %3, ptr %13, align 8, !tbaa !5
  store ptr %4, ptr %14, align 8, !tbaa !5
  store i32 %5, ptr %15, align 4, !tbaa !9
  store ptr %6, ptr %16, align 8, !tbaa !5
  store ptr %7, ptr %17, align 8, !tbaa !5
  store ptr %8, ptr %18, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 1, ptr %19) #7
  store i8 0, ptr %19, align 1, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 1, ptr %20) #7
  store i8 0, ptr %20, align 1, !tbaa !11
  %47 = load ptr, ptr %17, align 8, !tbaa !5
  %48 = icmp eq ptr %47, null
  br i1 %48, label %49, label %68

49:                                               ; preds = %9
  %50 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 24) #8
  store i1 true, ptr %24, align 1
  call void @llvm.lifetime.start.p0(i64 24, ptr %21) #7
  %51 = load ptr, ptr %10, align 8, !tbaa !5
  %52 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %51, i32 0, i32 3
  %53 = load i32, ptr %52, align 8, !tbaa !13
  %54 = zext i32 %53 to i64
  %55 = load ptr, ptr %10, align 8, !tbaa !5
  %56 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %55, i32 0, i32 3
  %57 = load i32, ptr %56, align 8, !tbaa !13
  %58 = zext i32 %57 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.596") align 8 %21, i64 noundef %54, i64 noundef %58)
          to label %59 unwind label %61

59:                                               ; preds = %49
  invoke void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(24) %50, ptr noundef nonnull align 8 dereferenceable(24) %21)
          to label %60 unwind label %61

60:                                               ; preds = %59
  store i1 false, ptr %24, align 1
  store ptr %50, ptr %17, align 8, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 24, ptr %21) #7
  store i8 1, ptr %19, align 1, !tbaa !11
  br label %68

61:                                               ; preds = %59, %49
  %62 = landingpad { ptr, i32 }
          cleanup
  %63 = extractvalue { ptr, i32 } %62, 0
  store ptr %63, ptr %22, align 8
  %64 = extractvalue { ptr, i32 } %62, 1
  store i32 %64, ptr %23, align 4
  call void @llvm.lifetime.end.p0(i64 24, ptr %21) #7
  %65 = load i1, ptr %24, align 1
  br i1 %65, label %66, label %67

66:                                               ; preds = %61
  call void @_ZdlPvm(ptr noundef %50, i64 noundef 24) #9
  br label %67

67:                                               ; preds = %66, %61
  br label %193

68:                                               ; preds = %60, %9
  %69 = load ptr, ptr %18, align 8, !tbaa !5
  %70 = icmp eq ptr %69, null
  br i1 %70, label %71, label %86

71:                                               ; preds = %68
  %72 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 16) #8
  store i1 true, ptr %26, align 1
  call void @llvm.lifetime.start.p0(i64 24, ptr %25) #7
  %73 = load ptr, ptr %10, align 8, !tbaa !5
  %74 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %73, i32 0, i32 3
  %75 = load i32, ptr %74, align 8, !tbaa !13
  %76 = zext i32 %75 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.601") align 8 %25, i64 noundef %76)
          to label %77 unwind label %79

77:                                               ; preds = %71
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %72, ptr noundef nonnull align 8 dereferenceable(24) %25)
          to label %78 unwind label %79

78:                                               ; preds = %77
  store i1 false, ptr %26, align 1
  store ptr %72, ptr %18, align 8, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 24, ptr %25) #7
  store i8 1, ptr %20, align 1, !tbaa !11
  br label %86

79:                                               ; preds = %77, %71
  %80 = landingpad { ptr, i32 }
          cleanup
  %81 = extractvalue { ptr, i32 } %80, 0
  store ptr %81, ptr %22, align 8
  %82 = extractvalue { ptr, i32 } %80, 1
  store i32 %82, ptr %23, align 4
  call void @llvm.lifetime.end.p0(i64 24, ptr %25) #7
  %83 = load i1, ptr %26, align 1
  br i1 %83, label %84, label %85

84:                                               ; preds = %79
  call void @_ZdlPvm(ptr noundef %72, i64 noundef 16) #9
  br label %85

85:                                               ; preds = %84, %79
  br label %193

86:                                               ; preds = %78, %68
  %87 = load ptr, ptr %14, align 8, !tbaa !5
  %88 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %87)
  %89 = load ptr, ptr %10, align 8, !tbaa !5
  %90 = load ptr, ptr %11, align 8, !tbaa !5
  %91 = load ptr, ptr %12, align 8, !tbaa !5
  %92 = load ptr, ptr %14, align 8, !tbaa !5
  %93 = load ptr, ptr %18, align 8, !tbaa !5
  %94 = load ptr, ptr %16, align 8, !tbaa !5
  call void @_ZN17RigidBodyDynamics15InverseDynamicsERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RS4_PSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872) %89, ptr noundef nonnull align 8 dereferenceable(16) %90, ptr noundef nonnull align 8 dereferenceable(16) %91, ptr noundef nonnull align 8 dereferenceable(16) %92, ptr noundef nonnull align 8 dereferenceable(16) %93, ptr noundef %94)
  %95 = load ptr, ptr %10, align 8, !tbaa !5
  %96 = load ptr, ptr %11, align 8, !tbaa !5
  %97 = load ptr, ptr %17, align 8, !tbaa !5
  call void @_ZN17RigidBodyDynamics27CompositeRigidBodyAlgorithmERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872) %95, ptr noundef nonnull align 8 dereferenceable(16) %96, ptr noundef nonnull align 8 dereferenceable(24) %97, i1 noundef zeroext false)
  %98 = load i32, ptr %15, align 4, !tbaa !9
  switch i32 %98, label %175 [
    i32 1, label %99
    i32 2, label %118
    i32 3, label %137
    i32 4, label %156
  ]

99:                                               ; preds = %86
  call void @llvm.lifetime.start.p0(i64 16, ptr %27) #7
  call void @llvm.lifetime.start.p0(i64 72, ptr %28) #7
  %100 = load ptr, ptr %17, align 8, !tbaa !5
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE12partialPivLuEv(ptr dead_on_unwind writable sret(%"class.Eigen::PartialPivLU") align 8 %28, ptr noundef nonnull align 1 dereferenceable(1) %100)
  call void @llvm.lifetime.start.p0(i64 64, ptr %29) #7
  call void @llvm.lifetime.start.p0(i64 40, ptr %30) #7
  %101 = load ptr, ptr %18, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #7
  store double -1.000000e+00, ptr %31, align 8, !tbaa !93
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.627") align 8 %30, ptr noundef nonnull align 1 dereferenceable(1) %101, ptr noundef nonnull align 8 dereferenceable(8) %31)
          to label %102 unwind label %114

102:                                              ; preds = %99
  %103 = load ptr, ptr %13, align 8, !tbaa !5
  invoke void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEplIS6_EEKNS1_INS2_13scalar_sum_opIdNS2_6traitsIT_E6ScalarEEEKSD_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.621") align 8 %29, ptr noundef nonnull align 1 dereferenceable(1) %30, ptr noundef nonnull align 1 dereferenceable(1) %103)
          to label %104 unwind label %114

104:                                              ; preds = %102
  %105 = invoke { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKNS2_IdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESE_EEEESE_EEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseISO_EE(ptr noundef nonnull align 1 dereferenceable(1) %28, ptr noundef nonnull align 1 dereferenceable(1) %29)
          to label %106 unwind label %114

106:                                              ; preds = %104
  %107 = getelementptr inbounds { ptr, ptr }, ptr %27, i32 0, i32 0
  %108 = extractvalue { ptr, ptr } %105, 0
  store ptr %108, ptr %107, align 8
  %109 = getelementptr inbounds { ptr, ptr }, ptr %27, i32 0, i32 1
  %110 = extractvalue { ptr, ptr } %105, 1
  store ptr %110, ptr %109, align 8
  %111 = load ptr, ptr %14, align 8, !tbaa !5
  %112 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_12PartialPivLUINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESD_EEEESD_EEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %111, ptr noundef nonnull align 1 dereferenceable(1) %27)
          to label %113 unwind label %114

113:                                              ; preds = %106
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #7
  call void @llvm.lifetime.end.p0(i64 40, ptr %30) #7
  call void @llvm.lifetime.end.p0(i64 64, ptr %29) #7
  call void @_ZN5Eigen12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(66) %28) #7
  call void @llvm.lifetime.end.p0(i64 72, ptr %28) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #7
  br label %176

114:                                              ; preds = %106, %104, %102, %99
  %115 = landingpad { ptr, i32 }
          cleanup
  %116 = extractvalue { ptr, i32 } %115, 0
  store ptr %116, ptr %22, align 8
  %117 = extractvalue { ptr, i32 } %115, 1
  store i32 %117, ptr %23, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #7
  call void @llvm.lifetime.end.p0(i64 40, ptr %30) #7
  call void @llvm.lifetime.end.p0(i64 64, ptr %29) #7
  call void @_ZN5Eigen12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(66) %28) #7
  call void @llvm.lifetime.end.p0(i64 72, ptr %28) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #7
  br label %193

118:                                              ; preds = %86
  call void @llvm.lifetime.start.p0(i64 16, ptr %32) #7
  call void @llvm.lifetime.start.p0(i64 160, ptr %33) #7
  %119 = load ptr, ptr %17, align 8, !tbaa !5
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE19colPivHouseholderQrEv(ptr dead_on_unwind writable sret(%"class.Eigen::ColPivHouseholderQR") align 8 %33, ptr noundef nonnull align 1 dereferenceable(1) %119)
  call void @llvm.lifetime.start.p0(i64 64, ptr %34) #7
  call void @llvm.lifetime.start.p0(i64 40, ptr %35) #7
  %120 = load ptr, ptr %18, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %36) #7
  store double -1.000000e+00, ptr %36, align 8, !tbaa !93
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.627") align 8 %35, ptr noundef nonnull align 1 dereferenceable(1) %120, ptr noundef nonnull align 8 dereferenceable(8) %36)
          to label %121 unwind label %133

121:                                              ; preds = %118
  %122 = load ptr, ptr %13, align 8, !tbaa !5
  invoke void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEplIS6_EEKNS1_INS2_13scalar_sum_opIdNS2_6traitsIT_E6ScalarEEEKSD_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.621") align 8 %34, ptr noundef nonnull align 1 dereferenceable(1) %35, ptr noundef nonnull align 1 dereferenceable(1) %122)
          to label %123 unwind label %133

123:                                              ; preds = %121
  %124 = invoke { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKNS2_IdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESE_EEEESE_EEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseISO_EE(ptr noundef nonnull align 1 dereferenceable(1) %33, ptr noundef nonnull align 1 dereferenceable(1) %34)
          to label %125 unwind label %133

125:                                              ; preds = %123
  %126 = getelementptr inbounds { ptr, ptr }, ptr %32, i32 0, i32 0
  %127 = extractvalue { ptr, ptr } %124, 0
  store ptr %127, ptr %126, align 8
  %128 = getelementptr inbounds { ptr, ptr }, ptr %32, i32 0, i32 1
  %129 = extractvalue { ptr, ptr } %124, 1
  store ptr %129, ptr %128, align 8
  %130 = load ptr, ptr %14, align 8, !tbaa !5
  %131 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_19ColPivHouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESD_EEEESD_EEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %130, ptr noundef nonnull align 1 dereferenceable(1) %32)
          to label %132 unwind label %133

132:                                              ; preds = %125
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #7
  call void @llvm.lifetime.end.p0(i64 40, ptr %35) #7
  call void @llvm.lifetime.end.p0(i64 64, ptr %34) #7
  call void @_ZN5Eigen19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(160) %33) #7
  call void @llvm.lifetime.end.p0(i64 160, ptr %33) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #7
  br label %176

133:                                              ; preds = %125, %123, %121, %118
  %134 = landingpad { ptr, i32 }
          cleanup
  %135 = extractvalue { ptr, i32 } %134, 0
  store ptr %135, ptr %22, align 8
  %136 = extractvalue { ptr, i32 } %134, 1
  store i32 %136, ptr %23, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #7
  call void @llvm.lifetime.end.p0(i64 40, ptr %35) #7
  call void @llvm.lifetime.end.p0(i64 64, ptr %34) #7
  call void @_ZN5Eigen19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(160) %33) #7
  call void @llvm.lifetime.end.p0(i64 160, ptr %33) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #7
  br label %193

137:                                              ; preds = %86
  call void @llvm.lifetime.start.p0(i64 16, ptr %37) #7
  call void @llvm.lifetime.start.p0(i64 64, ptr %38) #7
  %138 = load ptr, ptr %17, align 8, !tbaa !5
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13householderQrEv(ptr dead_on_unwind writable sret(%"class.Eigen::HouseholderQR") align 8 %38, ptr noundef nonnull align 1 dereferenceable(1) %138)
  call void @llvm.lifetime.start.p0(i64 64, ptr %39) #7
  call void @llvm.lifetime.start.p0(i64 40, ptr %40) #7
  %139 = load ptr, ptr %18, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %41) #7
  store double -1.000000e+00, ptr %41, align 8, !tbaa !93
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.627") align 8 %40, ptr noundef nonnull align 1 dereferenceable(1) %139, ptr noundef nonnull align 8 dereferenceable(8) %41)
          to label %140 unwind label %152

140:                                              ; preds = %137
  %141 = load ptr, ptr %13, align 8, !tbaa !5
  invoke void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEplIS6_EEKNS1_INS2_13scalar_sum_opIdNS2_6traitsIT_E6ScalarEEEKSD_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.621") align 8 %39, ptr noundef nonnull align 1 dereferenceable(1) %40, ptr noundef nonnull align 1 dereferenceable(1) %141)
          to label %142 unwind label %152

142:                                              ; preds = %140
  %143 = invoke { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKNS2_IdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESE_EEEESE_EEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseISO_EE(ptr noundef nonnull align 1 dereferenceable(1) %38, ptr noundef nonnull align 1 dereferenceable(1) %39)
          to label %144 unwind label %152

144:                                              ; preds = %142
  %145 = getelementptr inbounds { ptr, ptr }, ptr %37, i32 0, i32 0
  %146 = extractvalue { ptr, ptr } %143, 0
  store ptr %146, ptr %145, align 8
  %147 = getelementptr inbounds { ptr, ptr }, ptr %37, i32 0, i32 1
  %148 = extractvalue { ptr, ptr } %143, 1
  store ptr %148, ptr %147, align 8
  %149 = load ptr, ptr %14, align 8, !tbaa !5
  %150 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_13HouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESD_EEEESD_EEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %149, ptr noundef nonnull align 1 dereferenceable(1) %37)
          to label %151 unwind label %152

151:                                              ; preds = %144
  call void @llvm.lifetime.end.p0(i64 8, ptr %41) #7
  call void @llvm.lifetime.end.p0(i64 40, ptr %40) #7
  call void @llvm.lifetime.end.p0(i64 64, ptr %39) #7
  call void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57) %38) #7
  call void @llvm.lifetime.end.p0(i64 64, ptr %38) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %37) #7
  br label %176

152:                                              ; preds = %144, %142, %140, %137
  %153 = landingpad { ptr, i32 }
          cleanup
  %154 = extractvalue { ptr, i32 } %153, 0
  store ptr %154, ptr %22, align 8
  %155 = extractvalue { ptr, i32 } %153, 1
  store i32 %155, ptr %23, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %41) #7
  call void @llvm.lifetime.end.p0(i64 40, ptr %40) #7
  call void @llvm.lifetime.end.p0(i64 64, ptr %39) #7
  call void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57) %38) #7
  call void @llvm.lifetime.end.p0(i64 64, ptr %38) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %37) #7
  br label %193

156:                                              ; preds = %86
  call void @llvm.lifetime.start.p0(i64 16, ptr %42) #7
  call void @llvm.lifetime.start.p0(i64 40, ptr %43) #7
  %157 = load ptr, ptr %17, align 8, !tbaa !5
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3lltEv(ptr dead_on_unwind writable sret(%"class.Eigen::LLT") align 8 %43, ptr noundef nonnull align 1 dereferenceable(1) %157)
  call void @llvm.lifetime.start.p0(i64 64, ptr %44) #7
  call void @llvm.lifetime.start.p0(i64 40, ptr %45) #7
  %158 = load ptr, ptr %18, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %46) #7
  store double -1.000000e+00, ptr %46, align 8, !tbaa !93
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.627") align 8 %45, ptr noundef nonnull align 1 dereferenceable(1) %158, ptr noundef nonnull align 8 dereferenceable(8) %46)
          to label %159 unwind label %171

159:                                              ; preds = %156
  %160 = load ptr, ptr %13, align 8, !tbaa !5
  invoke void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEplIS6_EEKNS1_INS2_13scalar_sum_opIdNS2_6traitsIT_E6ScalarEEEKSD_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.621") align 8 %44, ptr noundef nonnull align 1 dereferenceable(1) %45, ptr noundef nonnull align 1 dereferenceable(1) %160)
          to label %161 unwind label %171

161:                                              ; preds = %159
  %162 = invoke { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEEE5solveINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKNS2_IdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESE_EEEESE_EEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseISO_EE(ptr noundef nonnull align 1 dereferenceable(1) %43, ptr noundef nonnull align 1 dereferenceable(1) %44)
          to label %163 unwind label %171

163:                                              ; preds = %161
  %164 = getelementptr inbounds { ptr, ptr }, ptr %42, i32 0, i32 0
  %165 = extractvalue { ptr, ptr } %162, 0
  store ptr %165, ptr %164, align 8
  %166 = getelementptr inbounds { ptr, ptr }, ptr %42, i32 0, i32 1
  %167 = extractvalue { ptr, ptr } %162, 1
  store ptr %167, ptr %166, align 8
  %168 = load ptr, ptr %14, align 8, !tbaa !5
  %169 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_3LLTINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1EEENS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESD_EEEESD_EEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %168, ptr noundef nonnull align 1 dereferenceable(1) %42)
          to label %170 unwind label %171

170:                                              ; preds = %163
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #7
  call void @llvm.lifetime.end.p0(i64 40, ptr %45) #7
  call void @llvm.lifetime.end.p0(i64 64, ptr %44) #7
  call void @_ZN5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %43) #7
  call void @llvm.lifetime.end.p0(i64 40, ptr %43) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %42) #7
  br label %176

171:                                              ; preds = %163, %161, %159, %156
  %172 = landingpad { ptr, i32 }
          cleanup
  %173 = extractvalue { ptr, i32 } %172, 0
  store ptr %173, ptr %22, align 8
  %174 = extractvalue { ptr, i32 } %172, 1
  store i32 %174, ptr %23, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #7
  call void @llvm.lifetime.end.p0(i64 40, ptr %45) #7
  call void @llvm.lifetime.end.p0(i64 64, ptr %44) #7
  call void @_ZN5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %43) #7
  call void @llvm.lifetime.end.p0(i64 40, ptr %43) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %42) #7
  br label %193

175:                                              ; preds = %86
  call void @__assert_fail(ptr noundef @.str.5, ptr noundef @.str.4, i32 noundef 601, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics25ForwardDynamicsLagrangianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RS4_NS_4Math12LinearSolverEPSt6vectorI15SpatialVector_tSaISB_EEPNS3_IdLin1ELin1ELi0ELin1ELin1EEEPS4_) #10
  unreachable

176:                                              ; preds = %170, %151, %132, %113
  %177 = load i8, ptr %20, align 1, !tbaa !11, !range !95, !noundef !96
  %178 = trunc i8 %177 to i1
  br i1 %178, label %179, label %184

179:                                              ; preds = %176
  %180 = load ptr, ptr %18, align 8, !tbaa !5
  %181 = icmp eq ptr %180, null
  br i1 %181, label %183, label %182

182:                                              ; preds = %179
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %180) #7
  call void @_ZdlPvm(ptr noundef %180, i64 noundef 16) #9
  br label %183

183:                                              ; preds = %182, %179
  br label %184

184:                                              ; preds = %183, %176
  %185 = load i8, ptr %19, align 1, !tbaa !11, !range !95, !noundef !96
  %186 = trunc i8 %185 to i1
  br i1 %186, label %187, label %192

187:                                              ; preds = %184
  %188 = load ptr, ptr %17, align 8, !tbaa !5
  %189 = icmp eq ptr %188, null
  br i1 %189, label %191, label %190

190:                                              ; preds = %187
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %188) #7
  call void @_ZdlPvm(ptr noundef %188, i64 noundef 24) #9
  br label %191

191:                                              ; preds = %190, %187
  br label %192

192:                                              ; preds = %191, %184
  call void @llvm.lifetime.end.p0(i64 1, ptr %20) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %19) #7
  ret void

193:                                              ; preds = %171, %152, %133, %114, %85, %67
  call void @llvm.lifetime.end.p0(i64 1, ptr %20) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %19) #7
  br label %194

194:                                              ; preds = %193
  %195 = load ptr, ptr %22, align 8
  %196 = load i32, ptr %23, align 4
  %197 = insertvalue { ptr, i32 } poison, ptr %195, 0
  %198 = insertvalue { ptr, i32 } %197, i32 %196, 1
  resume { ptr, i32 } %198
}

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.596") align 8, i64 noundef, i64 noundef) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #5 align 2

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) #6

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.601") align 8, i64 noundef) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE12partialPivLuEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::PartialPivLU") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKNS2_IdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESE_EEEESE_EEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseISO_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.627") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEplIS6_EEKNS1_INS2_13scalar_sum_opIdNS2_6traitsIT_E6ScalarEEEKSD_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.621") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_12PartialPivLUINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESD_EEEESD_EEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(66)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE19colPivHouseholderQrEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::ColPivHouseholderQR") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKNS2_IdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESE_EEEESE_EEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseISO_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_19ColPivHouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESD_EEEESD_EEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(160)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13householderQrEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::HouseholderQR") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKNS2_IdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESE_EEEESE_EEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseISO_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_13HouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESD_EEEESD_EEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3lltEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::LLT") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEEE5solveINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKNS2_IdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESE_EEEESE_EEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseISO_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_3LLTINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1EEENS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESD_EEEESD_EEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EED2Ev(ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #2 align 2

attributes #0 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 #3 = { 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 #4 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nobuiltin 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 #7 = { nounwind }
attributes #8 = { builtin allocsize(0) }
attributes #9 = { builtin nounwind }
attributes #10 = { noreturn nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"_ZTSN17RigidBodyDynamics4Math12LinearSolverE", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"bool", !7, i64 0}
!13 = !{!14, !23, i64 72}
!14 = !{!"_ZTSN17RigidBodyDynamics5ModelE", !15, i64 0, !15, i64 24, !19, i64 48, !23, i64 72, !23, i64 76, !23, i64 80, !23, i64 84, !24, i64 88, !29, i64 112, !29, i64 136, !34, i64 160, !29, i64 184, !29, i64 208, !29, i64 232, !15, i64 256, !39, i64 280, !15, i64 304, !44, i64 328, !44, i64 352, !49, i64 376, !53, i64 400, !15, i64 424, !57, i64 448, !29, i64 472, !61, i64 496, !29, i64 520, !29, i64 544, !66, i64 568, !66, i64 584, !29, i64 600, !70, i64 624, !70, i64 648, !29, i64 672, !29, i64 696, !39, i64 720, !39, i64 744, !75, i64 768, !23, i64 792, !80, i64 800, !85, i64 824}
!15 = !{!"_ZTSSt6vectorIjSaIjEE", !16, i64 0}
!16 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !17, i64 0}
!17 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!19 = !{!"_ZTSSt6vectorIS_IjSaIjEESaIS1_EE", !20, i64 0}
!20 = !{!"_ZTSSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE", !21, i64 0}
!21 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE12_Vector_implE", !22, i64 0}
!22 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!23 = !{!"int", !7, i64 0}
!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}
!29 = !{!"_ZTSSt6vectorI15SpatialVector_tSaIS0_EE", !30, i64 0}
!30 = !{!"_ZTSSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !31, i64 0}
!31 = !{!"_ZTSSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !32, i64 0}
!32 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!34 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointESaIS1_EE", !35, i64 0}
!35 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !36, i64 0}
!36 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !37, i64 0}
!37 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !38, i64 0}
!38 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!39 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformESaIS2_EE", !40, i64 0}
!40 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !41, i64 0}
!41 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !42, i64 0}
!42 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !43, i64 0}
!43 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!44 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEESaIS2_EE", !45, i64 0}
!45 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !46, i64 0}
!46 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !47, i64 0}
!47 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !48, i64 0}
!48 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!49 = !{!"_ZTSSt6vectorI9Matrix3_tSaIS0_EE", !50, i64 0}
!50 = !{!"_ZTSSt12_Vector_baseI9Matrix3_tSaIS0_EE", !51, i64 0}
!51 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE12_Vector_implE", !52, i64 0}
!52 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!53 = !{!"_ZTSSt6vectorI9Vector3_tSaIS0_EE", !54, i64 0}
!54 = !{!"_ZTSSt12_Vector_baseI9Vector3_tSaIS0_EE", !55, i64 0}
!55 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE12_Vector_implE", !56, i64 0}
!56 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!57 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !58, i64 0}
!58 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !59, i64 0}
!59 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE12_Vector_implE", !60, i64 0}
!60 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!61 = !{!"_ZTSSt6vectorI15SpatialMatrix_tSaIS0_EE", !62, i64 0}
!62 = !{!"_ZTSSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !63, i64 0}
!63 = !{!"_ZTSSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !64, i64 0}
!64 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !65, i64 0}
!65 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!66 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !67, i64 0}
!67 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !68, i64 0}
!68 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !69, i64 8}
!69 = !{!"long", !7, i64 0}
!70 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaESaIS2_EE", !71, i64 0}
!71 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !72, i64 0}
!72 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !73, i64 0}
!73 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !74, i64 0}
!74 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!75 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyESaIS1_EE", !76, i64 0}
!76 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !77, i64 0}
!77 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !78, i64 0}
!78 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !79, i64 0}
!79 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!80 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyESaIS1_EE", !81, i64 0}
!81 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !82, i64 0}
!82 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !83, i64 0}
!83 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !84, i64 0}
!84 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!85 = !{!"_ZTSSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjSt4lessIS5_ESaISt4pairIKS5_jEEE", !86, i64 0}
!86 = !{!"_ZTSSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE", !87, i64 0}
!87 = !{!"_ZTSNSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE13_Rb_tree_implISC_Lb1EEE", !88, i64 0, !90, i64 8}
!88 = !{!"_ZTSSt20_Rb_tree_key_compareISt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEE", !89, i64 0}
!89 = !{!"_ZTSSt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE"}
!90 = !{!"_ZTSSt15_Rb_tree_header", !91, i64 0, !69, i64 32}
!91 = !{!"_ZTSSt18_Rb_tree_node_base", !92, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!92 = !{!"_ZTSSt14_Rb_tree_color", !7, i64 0}
!93 = !{!94, !94, i64 0}
!94 = !{!"double", !7, i64 0}
!95 = !{i8 0, i8 2}
!96 = !{}


; 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.Eigen::CwiseNullaryOp.596" = type { %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::CwiseNullaryOp.601" = type { %"class.Eigen::internal::variable_if_dynamic", [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::Solve" = type { ptr, ptr }
%"class.Eigen::PartialPivLU" = type <{ %"class.Eigen::Matrix.153", %"class.Eigen::PermutationMatrix", %"class.Eigen::Transpositions", double, i8, i8, [6 x i8] }>
%"class.Eigen::Matrix.153" = type { %"class.Eigen::PlainObjectBase.154" }
%"class.Eigen::PlainObjectBase.154" = type { %"class.Eigen::DenseStorage.161" }
%"class.Eigen::DenseStorage.161" = type { ptr, i64, i64 }
%"class.Eigen::PermutationMatrix" = type { %"class.Eigen::Matrix.612" }
%"class.Eigen::Matrix.612" = type { %"class.Eigen::PlainObjectBase.613" }
%"class.Eigen::PlainObjectBase.613" = type { %"class.Eigen::DenseStorage.620" }
%"class.Eigen::DenseStorage.620" = type { ptr, i64 }
%"class.Eigen::Transpositions" = type { %"class.Eigen::Matrix.612" }
%"class.Eigen::CwiseBinaryOp.621" = type <{ [8 x i8], %"class.Eigen::CwiseBinaryOp.627", ptr, [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.627" = type <{ ptr, %"class.Eigen::CwiseNullaryOp.633", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.633" = type { %"class.Eigen::internal::variable_if_dynamic", [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::Solve.640" = type { ptr, ptr }
%"class.Eigen::ColPivHouseholderQR" = type { %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.57", %"class.Eigen::PermutationMatrix", %"class.Eigen::Matrix.648", %"class.Eigen::Matrix.657", %"class.Eigen::Matrix.657", %"class.Eigen::Matrix.657", i8, i8, double, double, i64, i64 }
%"class.Eigen::Matrix.57" = type { %"class.Eigen::PlainObjectBase.58" }
%"class.Eigen::PlainObjectBase.58" = type { %"class.Eigen::DenseStorage.65" }
%"class.Eigen::DenseStorage.65" = type { ptr, i64 }
%"class.Eigen::Matrix.648" = type { %"class.Eigen::PlainObjectBase.649" }
%"class.Eigen::PlainObjectBase.649" = type { %"class.Eigen::DenseStorage.656" }
%"class.Eigen::DenseStorage.656" = type { ptr, i64 }
%"class.Eigen::Matrix.657" = type { %"class.Eigen::PlainObjectBase.658" }
%"class.Eigen::PlainObjectBase.658" = type { %"class.Eigen::DenseStorage.665" }
%"class.Eigen::DenseStorage.665" = type { ptr, i64 }
%"class.Eigen::Solve.666" = type { ptr, ptr }
%"class.Eigen::HouseholderQR" = type <{ %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.57", %"class.Eigen::Matrix.657", i8, [7 x i8] }>
%"class.Eigen::Solve.674" = type { ptr, ptr }
%"class.Eigen::LLT" = type { %"class.Eigen::Matrix.153", double, i8, i32 }

@.str.4 = external hidden unnamed_addr constant [109 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [2 x i8], align 1
@__PRETTY_FUNCTION__._ZN17RigidBodyDynamics25ForwardDynamicsLagrangianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RS4_NS_4Math12LinearSolverEPSt6vectorI15SpatialVector_tSaISB_EEPNS3_IdLin1ELin1ELi0ELin1ELin1EEEPS4_ = external hidden unnamed_addr constant [211 x i8], align 1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics15InverseDynamicsERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RS4_PSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) local_unnamed_addr #0

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

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics27CompositeRigidBodyAlgorithmERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) local_unnamed_addr #0

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #3

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics25ForwardDynamicsLagrangianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RS4_NS_4Math12LinearSolverEPSt6vectorI15SpatialVector_tSaISB_EEPNS3_IdLin1ELin1ELi0ELin1ELin1EEEPS4_(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 nonnull align 8 dereferenceable(16) %4, i32 noundef %5, ptr noundef %6, ptr noundef %7, ptr noundef %8) local_unnamed_addr #0 personality ptr @__gxx_personality_v0 {
  %10 = alloca %"class.Eigen::CwiseNullaryOp.596", align 8
  %11 = alloca %"class.Eigen::CwiseNullaryOp.601", align 8
  %12 = alloca %"class.Eigen::Solve", align 8
  %13 = alloca %"class.Eigen::PartialPivLU", align 8
  %14 = alloca %"class.Eigen::CwiseBinaryOp.621", align 8
  %15 = alloca %"class.Eigen::CwiseBinaryOp.627", align 8
  %16 = alloca double, align 8
  %17 = alloca %"class.Eigen::Solve.640", align 8
  %18 = alloca %"class.Eigen::ColPivHouseholderQR", align 8
  %19 = alloca %"class.Eigen::CwiseBinaryOp.621", align 8
  %20 = alloca %"class.Eigen::CwiseBinaryOp.627", align 8
  %21 = alloca double, align 8
  %22 = alloca %"class.Eigen::Solve.666", align 8
  %23 = alloca %"class.Eigen::HouseholderQR", align 8
  %24 = alloca %"class.Eigen::CwiseBinaryOp.621", align 8
  %25 = alloca %"class.Eigen::CwiseBinaryOp.627", align 8
  %26 = alloca double, align 8
  %27 = alloca %"class.Eigen::Solve.674", align 8
  %28 = alloca %"class.Eigen::LLT", align 8
  %29 = alloca %"class.Eigen::CwiseBinaryOp.621", align 8
  %30 = alloca %"class.Eigen::CwiseBinaryOp.627", align 8
  %31 = alloca double, align 8
  %32 = icmp eq ptr %7, null
  br i1 %32, label %33, label %42

33:                                               ; preds = %9
  %34 = tail call noalias noundef nonnull dereferenceable(24) ptr @_Znwm(i64 noundef 24) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %10) #8
  %35 = getelementptr inbounds i8, ptr %0, i64 72
  %36 = load i32, ptr %35, align 8, !tbaa !5
  %37 = zext i32 %36 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.596") align 8 %10, i64 noundef %37, i64 noundef %37)
          to label %38 unwind label %40

38:                                               ; preds = %33
  invoke void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(24) %34, ptr noundef nonnull align 8 dereferenceable(24) %10)
          to label %39 unwind label %40

39:                                               ; preds = %38
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #8
  br label %42

40:                                               ; preds = %38, %33
  %41 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #8
  call void @_ZdlPvm(ptr noundef nonnull %34, i64 noundef 24) #9
  br label %109

42:                                               ; preds = %39, %9
  %.043 = phi ptr [ %34, %39 ], [ %7, %9 ]
  %43 = icmp eq ptr %8, null
  br i1 %43, label %44, label %53

44:                                               ; preds = %42
  %45 = call noalias noundef nonnull dereferenceable(16) ptr @_Znwm(i64 noundef 16) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %11) #8
  %46 = getelementptr inbounds i8, ptr %0, i64 72
  %47 = load i32, ptr %46, align 8, !tbaa !5
  %48 = zext i32 %47 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.601") align 8 %11, i64 noundef %48)
          to label %49 unwind label %51

49:                                               ; preds = %44
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %45, ptr noundef nonnull align 8 dereferenceable(24) %11)
          to label %50 unwind label %51

50:                                               ; preds = %49
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #8
  br label %53

51:                                               ; preds = %49, %44
  %52 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #8
  call void @_ZdlPvm(ptr noundef nonnull %45, i64 noundef 16) #9
  br label %109

53:                                               ; preds = %50, %42
  %.042 = phi ptr [ %45, %50 ], [ %8, %42 ]
  %54 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %4)
  call void @_ZN17RigidBodyDynamics15InverseDynamicsERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RS4_PSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef nonnull align 8 dereferenceable(16) %.042, ptr noundef %6)
  call void @_ZN17RigidBodyDynamics27CompositeRigidBodyAlgorithmERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(24) %.043, i1 noundef zeroext false)
  switch i32 %5, label %103 [
    i32 1, label %55
    i32 2, label %67
    i32 3, label %79
    i32 4, label %91
  ]

55:                                               ; preds = %53
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #8
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %13) #8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE12partialPivLuEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::PartialPivLU") align 8 %13, ptr noundef nonnull align 1 dereferenceable(1) %.043)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %14) #8
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %15) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #8
  store double -1.000000e+00, ptr %16, align 8, !tbaa !88
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.627") align 8 %15, ptr noundef nonnull align 1 dereferenceable(1) %.042, ptr noundef nonnull align 8 dereferenceable(8) %16)
          to label %56 unwind label %65

56:                                               ; preds = %55
  invoke void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEplIS6_EEKNS1_INS2_13scalar_sum_opIdNS2_6traitsIT_E6ScalarEEEKSD_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.621") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) %15, ptr noundef nonnull align 1 dereferenceable(1) %3)
          to label %57 unwind label %65

57:                                               ; preds = %56
  %58 = invoke { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKNS2_IdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESE_EEEESE_EEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseISO_EE(ptr noundef nonnull align 1 dereferenceable(1) %13, ptr noundef nonnull align 1 dereferenceable(1) %14)
          to label %59 unwind label %65

59:                                               ; preds = %57
  %60 = extractvalue { ptr, ptr } %58, 0
  store ptr %60, ptr %12, align 8
  %61 = getelementptr inbounds i8, ptr %12, i64 8
  %62 = extractvalue { ptr, ptr } %58, 1
  store ptr %62, ptr %61, align 8
  %63 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_12PartialPivLUINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESD_EEEESD_EEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef nonnull align 1 dereferenceable(1) %12)
          to label %64 unwind label %65

64:                                               ; preds = %59
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #8
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %15) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %14) #8
  call void @_ZN5Eigen12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(66) %13) #8
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %13) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #8
  br label %104

65:                                               ; preds = %59, %57, %56, %55
  %66 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #8
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %15) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %14) #8
  call void @_ZN5Eigen12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(66) %13) #8
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %13) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #8
  br label %109

67:                                               ; preds = %53
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #8
  call void @llvm.lifetime.start.p0(i64 160, ptr nonnull %18) #8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE19colPivHouseholderQrEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::ColPivHouseholderQR") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %.043)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %19) #8
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %20) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %21) #8
  store double -1.000000e+00, ptr %21, align 8, !tbaa !88
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.627") align 8 %20, ptr noundef nonnull align 1 dereferenceable(1) %.042, ptr noundef nonnull align 8 dereferenceable(8) %21)
          to label %68 unwind label %77

68:                                               ; preds = %67
  invoke void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEplIS6_EEKNS1_INS2_13scalar_sum_opIdNS2_6traitsIT_E6ScalarEEEKSD_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.621") align 8 %19, ptr noundef nonnull align 1 dereferenceable(1) %20, ptr noundef nonnull align 1 dereferenceable(1) %3)
          to label %69 unwind label %77

69:                                               ; preds = %68
  %70 = invoke { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKNS2_IdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESE_EEEESE_EEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseISO_EE(ptr noundef nonnull align 1 dereferenceable(1) %18, ptr noundef nonnull align 1 dereferenceable(1) %19)
          to label %71 unwind label %77

71:                                               ; preds = %69
  %72 = extractvalue { ptr, ptr } %70, 0
  store ptr %72, ptr %17, align 8
  %73 = getelementptr inbounds i8, ptr %17, i64 8
  %74 = extractvalue { ptr, ptr } %70, 1
  store ptr %74, ptr %73, align 8
  %75 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_19ColPivHouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESD_EEEESD_EEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef nonnull align 1 dereferenceable(1) %17)
          to label %76 unwind label %77

76:                                               ; preds = %71
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %21) #8
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %20) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %19) #8
  call void @_ZN5Eigen19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(160) %18) #8
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %18) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #8
  br label %104

77:                                               ; preds = %71, %69, %68, %67
  %78 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %21) #8
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %20) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %19) #8
  call void @_ZN5Eigen19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(160) %18) #8
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %18) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #8
  br label %109

79:                                               ; preds = %53
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %22) #8
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %23) #8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13householderQrEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::HouseholderQR") align 8 %23, ptr noundef nonnull align 1 dereferenceable(1) %.043)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %24) #8
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %25) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %26) #8
  store double -1.000000e+00, ptr %26, align 8, !tbaa !88
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.627") align 8 %25, ptr noundef nonnull align 1 dereferenceable(1) %.042, ptr noundef nonnull align 8 dereferenceable(8) %26)
          to label %80 unwind label %89

80:                                               ; preds = %79
  invoke void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEplIS6_EEKNS1_INS2_13scalar_sum_opIdNS2_6traitsIT_E6ScalarEEEKSD_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.621") align 8 %24, ptr noundef nonnull align 1 dereferenceable(1) %25, ptr noundef nonnull align 1 dereferenceable(1) %3)
          to label %81 unwind label %89

81:                                               ; preds = %80
  %82 = invoke { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKNS2_IdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESE_EEEESE_EEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseISO_EE(ptr noundef nonnull align 1 dereferenceable(1) %23, ptr noundef nonnull align 1 dereferenceable(1) %24)
          to label %83 unwind label %89

83:                                               ; preds = %81
  %84 = extractvalue { ptr, ptr } %82, 0
  store ptr %84, ptr %22, align 8
  %85 = getelementptr inbounds i8, ptr %22, i64 8
  %86 = extractvalue { ptr, ptr } %82, 1
  store ptr %86, ptr %85, align 8
  %87 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_13HouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESD_EEEESD_EEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef nonnull align 1 dereferenceable(1) %22)
          to label %88 unwind label %89

88:                                               ; preds = %83
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #8
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %25) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %24) #8
  call void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57) %23) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %23) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %22) #8
  br label %104

89:                                               ; preds = %83, %81, %80, %79
  %90 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #8
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %25) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %24) #8
  call void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57) %23) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %23) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %22) #8
  br label %109

91:                                               ; preds = %53
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %27) #8
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %28) #8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3lltEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::LLT") align 8 %28, ptr noundef nonnull align 1 dereferenceable(1) %.043)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %29) #8
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %30) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %31) #8
  store double -1.000000e+00, ptr %31, align 8, !tbaa !88
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.627") align 8 %30, ptr noundef nonnull align 1 dereferenceable(1) %.042, ptr noundef nonnull align 8 dereferenceable(8) %31)
          to label %92 unwind label %101

92:                                               ; preds = %91
  invoke void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEplIS6_EEKNS1_INS2_13scalar_sum_opIdNS2_6traitsIT_E6ScalarEEEKSD_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.621") align 8 %29, ptr noundef nonnull align 1 dereferenceable(1) %30, ptr noundef nonnull align 1 dereferenceable(1) %3)
          to label %93 unwind label %101

93:                                               ; preds = %92
  %94 = invoke { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEEE5solveINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKNS2_IdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESE_EEEESE_EEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseISO_EE(ptr noundef nonnull align 1 dereferenceable(1) %28, ptr noundef nonnull align 1 dereferenceable(1) %29)
          to label %95 unwind label %101

95:                                               ; preds = %93
  %96 = extractvalue { ptr, ptr } %94, 0
  store ptr %96, ptr %27, align 8
  %97 = getelementptr inbounds i8, ptr %27, i64 8
  %98 = extractvalue { ptr, ptr } %94, 1
  store ptr %98, ptr %97, align 8
  %99 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_3LLTINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1EEENS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESD_EEEESD_EEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef nonnull align 1 dereferenceable(1) %27)
          to label %100 unwind label %101

100:                                              ; preds = %95
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #8
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %30) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %29) #8
  call void @_ZN5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %28) #8
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %28) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %27) #8
  br label %104

101:                                              ; preds = %95, %93, %92, %91
  %102 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #8
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %30) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %29) #8
  call void @_ZN5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %28) #8
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %28) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %27) #8
  br label %109

103:                                              ; preds = %53
  call void @__assert_fail(ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.4, i32 noundef 601, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics25ForwardDynamicsLagrangianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RS4_NS_4Math12LinearSolverEPSt6vectorI15SpatialVector_tSaISB_EEPNS3_IdLin1ELin1ELi0ELin1ELin1EEEPS4_) #10
  unreachable

104:                                              ; preds = %100, %88, %76, %64
  br i1 %43, label %105, label %106

105:                                              ; preds = %104
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %.042) #8
  call void @_ZdlPvm(ptr noundef nonnull %.042, i64 noundef 16) #9
  br label %106

106:                                              ; preds = %105, %104
  br i1 %32, label %107, label %108

107:                                              ; preds = %106
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %.043) #8
  call void @_ZdlPvm(ptr noundef nonnull %.043, i64 noundef 24) #9
  br label %108

108:                                              ; preds = %107, %106
  ret void

109:                                              ; preds = %51, %40, %101, %89, %77, %65
  %.pn = phi { ptr, i32 } [ %102, %101 ], [ %90, %89 ], [ %78, %77 ], [ %66, %65 ], [ %52, %51 ], [ %41, %40 ]
  resume { ptr, i32 } %.pn
}

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.596") align 8, i64 noundef, i64 noundef) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #5 align 2

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) local_unnamed_addr #6

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.601") align 8, i64 noundef) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE12partialPivLuEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::PartialPivLU") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKNS2_IdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESE_EEEESE_EEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseISO_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.627") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEplIS6_EEKNS1_INS2_13scalar_sum_opIdNS2_6traitsIT_E6ScalarEEEKSD_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.621") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_12PartialPivLUINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESD_EEEESD_EEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(66)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE19colPivHouseholderQrEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::ColPivHouseholderQR") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKNS2_IdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESE_EEEESE_EEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseISO_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_19ColPivHouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESD_EEEESD_EEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(160)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13householderQrEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::HouseholderQR") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKNS2_IdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESE_EEEESE_EEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseISO_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_13HouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESD_EEEESD_EEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3lltEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::LLT") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEEE5solveINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKNS2_IdLin1ELi1ELi0ELin1ELi1EEEKNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESE_EEEESE_EEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseISO_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_3LLTINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1EEENS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS7_INS8_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS8_18scalar_constant_opIdEESD_EEEESD_EEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EED2Ev(ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #2 align 2

attributes #0 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 #3 = { 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 #4 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nobuiltin 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 #7 = { builtin allocsize(0) }
attributes #8 = { nounwind }
attributes #9 = { builtin nounwind }
attributes #10 = { noreturn nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !18, i64 72}
!6 = !{!"_ZTSN17RigidBodyDynamics5ModelE", !7, i64 0, !7, i64 24, !14, i64 48, !18, i64 72, !18, i64 76, !18, i64 80, !18, i64 84, !19, i64 88, !24, i64 112, !24, i64 136, !29, i64 160, !24, i64 184, !24, i64 208, !24, i64 232, !7, i64 256, !34, i64 280, !7, i64 304, !39, i64 328, !39, i64 352, !44, i64 376, !48, i64 400, !7, i64 424, !52, i64 448, !24, i64 472, !56, i64 496, !24, i64 520, !24, i64 544, !61, i64 568, !61, i64 584, !24, i64 600, !65, i64 624, !65, i64 648, !24, i64 672, !24, i64 696, !34, i64 720, !34, i64 744, !70, i64 768, !18, i64 792, !75, i64 800, !80, i64 824}
!7 = !{!"_ZTSSt6vectorIjSaIjEE", !8, i64 0}
!8 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !9, i64 0}
!9 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !10, i64 0}
!10 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!11 = !{!"any pointer", !12, i64 0}
!12 = !{!"omnipotent char", !13, i64 0}
!13 = !{!"Simple C++ TBAA"}
!14 = !{!"_ZTSSt6vectorIS_IjSaIjEESaIS1_EE", !15, i64 0}
!15 = !{!"_ZTSSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE", !16, i64 0}
!16 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE12_Vector_implE", !17, i64 0}
!17 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!18 = !{!"int", !12, i64 0}
!19 = !{!"_ZTS9Vector3_t", !20, i64 0}
!20 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !12, i64 0}
!24 = !{!"_ZTSSt6vectorI15SpatialVector_tSaIS0_EE", !25, i64 0}
!25 = !{!"_ZTSSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !26, i64 0}
!26 = !{!"_ZTSSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !27, i64 0}
!27 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!29 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointESaIS1_EE", !30, i64 0}
!30 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !31, i64 0}
!31 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !32, i64 0}
!32 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!34 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformESaIS2_EE", !35, i64 0}
!35 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !36, i64 0}
!36 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !37, i64 0}
!37 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !38, i64 0}
!38 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!39 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEESaIS2_EE", !40, i64 0}
!40 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !41, i64 0}
!41 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !42, i64 0}
!42 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !43, i64 0}
!43 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!44 = !{!"_ZTSSt6vectorI9Matrix3_tSaIS0_EE", !45, i64 0}
!45 = !{!"_ZTSSt12_Vector_baseI9Matrix3_tSaIS0_EE", !46, i64 0}
!46 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE12_Vector_implE", !47, i64 0}
!47 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!48 = !{!"_ZTSSt6vectorI9Vector3_tSaIS0_EE", !49, i64 0}
!49 = !{!"_ZTSSt12_Vector_baseI9Vector3_tSaIS0_EE", !50, i64 0}
!50 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE12_Vector_implE", !51, i64 0}
!51 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!52 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !53, i64 0}
!53 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !54, i64 0}
!54 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE12_Vector_implE", !55, i64 0}
!55 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!56 = !{!"_ZTSSt6vectorI15SpatialMatrix_tSaIS0_EE", !57, i64 0}
!57 = !{!"_ZTSSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !58, i64 0}
!58 = !{!"_ZTSSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !59, i64 0}
!59 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !60, i64 0}
!60 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!61 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !62, i64 0}
!62 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !63, i64 0}
!63 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !11, i64 0, !64, i64 8}
!64 = !{!"long", !12, i64 0}
!65 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaESaIS2_EE", !66, i64 0}
!66 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !67, i64 0}
!67 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !68, i64 0}
!68 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !69, i64 0}
!69 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!70 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyESaIS1_EE", !71, i64 0}
!71 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !72, i64 0}
!72 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !73, i64 0}
!73 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !74, i64 0}
!74 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!75 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyESaIS1_EE", !76, i64 0}
!76 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !77, i64 0}
!77 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !78, i64 0}
!78 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !79, i64 0}
!79 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!80 = !{!"_ZTSSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjSt4lessIS5_ESaISt4pairIKS5_jEEE", !81, i64 0}
!81 = !{!"_ZTSSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE", !82, i64 0}
!82 = !{!"_ZTSNSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE13_Rb_tree_implISC_Lb1EEE", !83, i64 0, !85, i64 8}
!83 = !{!"_ZTSSt20_Rb_tree_key_compareISt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEE", !84, i64 0}
!84 = !{!"_ZTSSt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE"}
!85 = !{!"_ZTSSt15_Rb_tree_header", !86, i64 0, !64, i64 32}
!86 = !{!"_ZTSSt18_Rb_tree_node_base", !87, i64 0, !11, i64 8, !11, i64 16, !11, i64 24}
!87 = !{!"_ZTSSt14_Rb_tree_color", !12, i64 0}
!88 = !{!89, !89, i64 0}
!89 = !{!"double", !12, i64 0}


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