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

; 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.my_shared_ptr = type { ptr, ptr }
%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator" = type { i8 }

@.str.2 = external hidden unnamed_addr constant [1 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [40 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [27 x i8], align 1

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

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

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

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

; Function Attrs: mustprogress nounwind uwtable
declare noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf11parseSphereERNS_6SphereEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef) #3

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf8parseBoxERNS_3BoxEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef) #3

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf13parseCylinderERNS_8CylinderEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) #3

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf9parseMeshERNS_4MeshEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef) #3

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN4urdf13parseGeometryEP12TiXmlElement(ptr dead_on_unwind noalias writable sret(%class.my_shared_ptr) align 8 %0, ptr noundef %1) #3 personality ptr @__gxx_personality_v0 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca %class.my_shared_ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca ptr, align 8
  %10 = alloca %"class.std::__cxx11::basic_string", align 8
  %11 = alloca %"class.std::allocator", align 1
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  store ptr %0, ptr %3, align 8
  store ptr %1, ptr %4, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %5) #7
  call void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %5)
  %16 = load ptr, ptr %4, align 8, !tbaa !5
  %17 = icmp ne ptr %16, null
  br i1 %17, label %24, label %18

18:                                               ; preds = %2
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 8 dereferenceable(16) %5)
          to label %19 unwind label %20

19:                                               ; preds = %18
  store i32 1, ptr %8, align 4
  br label %181

20:                                               ; preds = %18
  %21 = landingpad { ptr, i32 }
          cleanup
  %22 = extractvalue { ptr, i32 } %21, 0
  store ptr %22, ptr %6, align 8
  %23 = extractvalue { ptr, i32 } %21, 1
  store i32 %23, ptr %7, align 4
  br label %182

24:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #7
  %25 = load ptr, ptr %4, align 8, !tbaa !5
  %26 = invoke noundef ptr @_ZN9TiXmlNode17FirstChildElementEv(ptr noundef nonnull align 8 dereferenceable(80) %25)
          to label %27 unwind label %33

27:                                               ; preds = %24
  store ptr %26, ptr %9, align 8, !tbaa !5
  %28 = load ptr, ptr %9, align 8, !tbaa !5
  %29 = icmp ne ptr %28, null
  br i1 %29, label %37, label %30

30:                                               ; preds = %27
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef @.str.21, ptr noundef @.str.2, ptr noundef @.str.2, ptr noundef @.str.2)
          to label %31 unwind label %33

31:                                               ; preds = %30
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 8 dereferenceable(16) %5)
          to label %32 unwind label %33

32:                                               ; preds = %31
  store i32 1, ptr %8, align 4
  br label %179

33:                                               ; preds = %31, %30, %24
  %34 = landingpad { ptr, i32 }
          cleanup
  %35 = extractvalue { ptr, i32 } %34, 0
  store ptr %35, ptr %6, align 8
  %36 = extractvalue { ptr, i32 } %34, 1
  store i32 %36, ptr %7, align 4
  br label %180

37:                                               ; preds = %27
  call void @llvm.lifetime.start.p0(i64 32, ptr %10) #7
  %38 = load ptr, ptr %9, align 8, !tbaa !5
  %39 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK9TiXmlNode9ValueTStrEv(ptr noundef nonnull align 8 dereferenceable(80) %38)
          to label %40 unwind label %58

40:                                               ; preds = %37
  %41 = invoke noundef ptr @_ZNK11TiXmlString5c_strEv(ptr noundef nonnull align 8 dereferenceable(8) %39)
          to label %42 unwind label %58

42:                                               ; preds = %40
  call void @llvm.lifetime.start.p0(i64 1, ptr %11) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %11) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %10, ptr noundef %41, ptr noundef nonnull align 1 dereferenceable(1) %11)
          to label %43 unwind label %62

43:                                               ; preds = %42
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %11) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %11) #7
  %44 = invoke noundef zeroext i1 @_ZSteqIcSt11char_traitsIcESaIcEEbRKNSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_(ptr noundef nonnull align 8 dereferenceable(32) %10, ptr noundef @.str.22)
          to label %45 unwind label %66

45:                                               ; preds = %43
  br i1 %44, label %46, label %83

46:                                               ; preds = %45
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #7
  %47 = invoke noalias noundef nonnull ptr @_Znwm(i64 noundef 24) #8
          to label %48 unwind label %70

48:                                               ; preds = %46
  invoke void @_ZN4urdf6SphereC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %47)
          to label %49 unwind label %74

49:                                               ; preds = %48
  store ptr %47, ptr %12, align 8, !tbaa !5
  %50 = load ptr, ptr %12, align 8, !tbaa !5
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEE5resetEPKS1_(ptr noundef nonnull align 8 dereferenceable(16) %5, ptr noundef %50)
          to label %51 unwind label %70

51:                                               ; preds = %49
  %52 = load ptr, ptr %12, align 8, !tbaa !5
  %53 = load ptr, ptr %9, align 8, !tbaa !5
  %54 = invoke noundef zeroext i1 @_ZN4urdf11parseSphereERNS_6SphereEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(24) %52, ptr noundef %53)
          to label %55 unwind label %70

55:                                               ; preds = %51
  br i1 %54, label %56, label %78

56:                                               ; preds = %55
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 8 dereferenceable(16) %5)
          to label %57 unwind label %70

57:                                               ; preds = %56
  store i32 1, ptr %8, align 4
  br label %79

58:                                               ; preds = %40, %37
  %59 = landingpad { ptr, i32 }
          cleanup
  %60 = extractvalue { ptr, i32 } %59, 0
  store ptr %60, ptr %6, align 8
  %61 = extractvalue { ptr, i32 } %59, 1
  store i32 %61, ptr %7, align 4
  br label %178

62:                                               ; preds = %42
  %63 = landingpad { ptr, i32 }
          cleanup
  %64 = extractvalue { ptr, i32 } %63, 0
  store ptr %64, ptr %6, align 8
  %65 = extractvalue { ptr, i32 } %63, 1
  store i32 %65, ptr %7, align 4
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %11) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %11) #7
  br label %178

66:                                               ; preds = %174, %169, %167, %139, %111, %83, %43
  %67 = landingpad { ptr, i32 }
          cleanup
  %68 = extractvalue { ptr, i32 } %67, 0
  store ptr %68, ptr %6, align 8
  %69 = extractvalue { ptr, i32 } %67, 1
  store i32 %69, ptr %7, align 4
  br label %177

70:                                               ; preds = %56, %51, %49, %46
  %71 = landingpad { ptr, i32 }
          cleanup
  %72 = extractvalue { ptr, i32 } %71, 0
  store ptr %72, ptr %6, align 8
  %73 = extractvalue { ptr, i32 } %71, 1
  store i32 %73, ptr %7, align 4
  br label %82

74:                                               ; preds = %48
  %75 = landingpad { ptr, i32 }
          cleanup
  %76 = extractvalue { ptr, i32 } %75, 0
  store ptr %76, ptr %6, align 8
  %77 = extractvalue { ptr, i32 } %75, 1
  store i32 %77, ptr %7, align 4
  call void @_ZdlPvm(ptr noundef %47, i64 noundef 24) #9
  br label %82

78:                                               ; preds = %55
  store i32 0, ptr %8, align 4
  br label %79

79:                                               ; preds = %78, %57
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #7
  %80 = load i32, ptr %8, align 4
  switch i32 %80, label %176 [
    i32 0, label %81
  ]

81:                                               ; preds = %79
  br label %174

82:                                               ; preds = %74, %70
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #7
  br label %177

83:                                               ; preds = %45
  %84 = invoke noundef zeroext i1 @_ZSteqIcSt11char_traitsIcESaIcEEbRKNSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_(ptr noundef nonnull align 8 dereferenceable(32) %10, ptr noundef @.str.23)
          to label %85 unwind label %66

85:                                               ; preds = %83
  br i1 %84, label %86, label %111

86:                                               ; preds = %85
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #7
  %87 = invoke noalias noundef nonnull ptr @_Znwm(i64 noundef 40) #8
          to label %88 unwind label %98

88:                                               ; preds = %86
  invoke void @_ZN4urdf3BoxC2Ev(ptr noundef nonnull align 8 dereferenceable(40) %87)
          to label %89 unwind label %102

89:                                               ; preds = %88
  store ptr %87, ptr %13, align 8, !tbaa !5
  %90 = load ptr, ptr %13, align 8, !tbaa !5
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEE5resetEPKS1_(ptr noundef nonnull align 8 dereferenceable(16) %5, ptr noundef %90)
          to label %91 unwind label %98

91:                                               ; preds = %89
  %92 = load ptr, ptr %13, align 8, !tbaa !5
  %93 = load ptr, ptr %9, align 8, !tbaa !5
  %94 = invoke noundef zeroext i1 @_ZN4urdf8parseBoxERNS_3BoxEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(40) %92, ptr noundef %93)
          to label %95 unwind label %98

95:                                               ; preds = %91
  br i1 %94, label %96, label %106

96:                                               ; preds = %95
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 8 dereferenceable(16) %5)
          to label %97 unwind label %98

97:                                               ; preds = %96
  store i32 1, ptr %8, align 4
  br label %107

98:                                               ; preds = %96, %91, %89, %86
  %99 = landingpad { ptr, i32 }
          cleanup
  %100 = extractvalue { ptr, i32 } %99, 0
  store ptr %100, ptr %6, align 8
  %101 = extractvalue { ptr, i32 } %99, 1
  store i32 %101, ptr %7, align 4
  br label %110

102:                                              ; preds = %88
  %103 = landingpad { ptr, i32 }
          cleanup
  %104 = extractvalue { ptr, i32 } %103, 0
  store ptr %104, ptr %6, align 8
  %105 = extractvalue { ptr, i32 } %103, 1
  store i32 %105, ptr %7, align 4
  call void @_ZdlPvm(ptr noundef %87, i64 noundef 40) #9
  br label %110

106:                                              ; preds = %95
  store i32 0, ptr %8, align 4
  br label %107

107:                                              ; preds = %106, %97
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #7
  %108 = load i32, ptr %8, align 4
  switch i32 %108, label %176 [
    i32 0, label %109
  ]

109:                                              ; preds = %107
  br label %173

110:                                              ; preds = %102, %98
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #7
  br label %177

111:                                              ; preds = %85
  %112 = invoke noundef zeroext i1 @_ZSteqIcSt11char_traitsIcESaIcEEbRKNSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_(ptr noundef nonnull align 8 dereferenceable(32) %10, ptr noundef @.str.24)
          to label %113 unwind label %66

113:                                              ; preds = %111
  br i1 %112, label %114, label %139

114:                                              ; preds = %113
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #7
  %115 = invoke noalias noundef nonnull ptr @_Znwm(i64 noundef 32) #8
          to label %116 unwind label %126

116:                                              ; preds = %114
  invoke void @_ZN4urdf8CylinderC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %115)
          to label %117 unwind label %130

117:                                              ; preds = %116
  store ptr %115, ptr %14, align 8, !tbaa !5
  %118 = load ptr, ptr %14, align 8, !tbaa !5
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEE5resetEPKS1_(ptr noundef nonnull align 8 dereferenceable(16) %5, ptr noundef %118)
          to label %119 unwind label %126

119:                                              ; preds = %117
  %120 = load ptr, ptr %14, align 8, !tbaa !5
  %121 = load ptr, ptr %9, align 8, !tbaa !5
  %122 = invoke noundef zeroext i1 @_ZN4urdf13parseCylinderERNS_8CylinderEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(32) %120, ptr noundef %121)
          to label %123 unwind label %126

123:                                              ; preds = %119
  br i1 %122, label %124, label %134

124:                                              ; preds = %123
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 8 dereferenceable(16) %5)
          to label %125 unwind label %126

125:                                              ; preds = %124
  store i32 1, ptr %8, align 4
  br label %135

126:                                              ; preds = %124, %119, %117, %114
  %127 = landingpad { ptr, i32 }
          cleanup
  %128 = extractvalue { ptr, i32 } %127, 0
  store ptr %128, ptr %6, align 8
  %129 = extractvalue { ptr, i32 } %127, 1
  store i32 %129, ptr %7, align 4
  br label %138

130:                                              ; preds = %116
  %131 = landingpad { ptr, i32 }
          cleanup
  %132 = extractvalue { ptr, i32 } %131, 0
  store ptr %132, ptr %6, align 8
  %133 = extractvalue { ptr, i32 } %131, 1
  store i32 %133, ptr %7, align 4
  call void @_ZdlPvm(ptr noundef %115, i64 noundef 32) #9
  br label %138

134:                                              ; preds = %123
  store i32 0, ptr %8, align 4
  br label %135

135:                                              ; preds = %134, %125
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #7
  %136 = load i32, ptr %8, align 4
  switch i32 %136, label %176 [
    i32 0, label %137
  ]

137:                                              ; preds = %135
  br label %172

138:                                              ; preds = %130, %126
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #7
  br label %177

139:                                              ; preds = %113
  %140 = invoke noundef zeroext i1 @_ZSteqIcSt11char_traitsIcESaIcEEbRKNSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_(ptr noundef nonnull align 8 dereferenceable(32) %10, ptr noundef @.str.25)
          to label %141 unwind label %66

141:                                              ; preds = %139
  br i1 %140, label %142, label %167

142:                                              ; preds = %141
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #7
  %143 = invoke noalias noundef nonnull ptr @_Znwm(i64 noundef 72) #8
          to label %144 unwind label %154

144:                                              ; preds = %142
  invoke void @_ZN4urdf4MeshC2Ev(ptr noundef nonnull align 8 dereferenceable(72) %143)
          to label %145 unwind label %158

145:                                              ; preds = %144
  store ptr %143, ptr %15, align 8, !tbaa !5
  %146 = load ptr, ptr %15, align 8, !tbaa !5
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEE5resetEPKS1_(ptr noundef nonnull align 8 dereferenceable(16) %5, ptr noundef %146)
          to label %147 unwind label %154

147:                                              ; preds = %145
  %148 = load ptr, ptr %15, align 8, !tbaa !5
  %149 = load ptr, ptr %9, align 8, !tbaa !5
  %150 = invoke noundef zeroext i1 @_ZN4urdf9parseMeshERNS_4MeshEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(72) %148, ptr noundef %149)
          to label %151 unwind label %154

151:                                              ; preds = %147
  br i1 %150, label %152, label %162

152:                                              ; preds = %151
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 8 dereferenceable(16) %5)
          to label %153 unwind label %154

153:                                              ; preds = %152
  store i32 1, ptr %8, align 4
  br label %163

154:                                              ; preds = %152, %147, %145, %142
  %155 = landingpad { ptr, i32 }
          cleanup
  %156 = extractvalue { ptr, i32 } %155, 0
  store ptr %156, ptr %6, align 8
  %157 = extractvalue { ptr, i32 } %155, 1
  store i32 %157, ptr %7, align 4
  br label %166

158:                                              ; preds = %144
  %159 = landingpad { ptr, i32 }
          cleanup
  %160 = extractvalue { ptr, i32 } %159, 0
  store ptr %160, ptr %6, align 8
  %161 = extractvalue { ptr, i32 } %159, 1
  store i32 %161, ptr %7, align 4
  call void @_ZdlPvm(ptr noundef %143, i64 noundef 72) #9
  br label %166

162:                                              ; preds = %151
  store i32 0, ptr %8, align 4
  br label %163

163:                                              ; preds = %162, %153
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #7
  %164 = load i32, ptr %8, align 4
  switch i32 %164, label %176 [
    i32 0, label %165
  ]

165:                                              ; preds = %163
  br label %171

166:                                              ; preds = %158, %154
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #7
  br label %177

167:                                              ; preds = %141
  %168 = call noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32) %10) #7
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef @.str.26, ptr noundef %168, ptr noundef @.str.2, ptr noundef @.str.2)
          to label %169 unwind label %66

169:                                              ; preds = %167
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 8 dereferenceable(16) %5)
          to label %170 unwind label %66

170:                                              ; preds = %169
  store i32 1, ptr %8, align 4
  br label %176

171:                                              ; preds = %165
  br label %172

172:                                              ; preds = %171, %137
  br label %173

173:                                              ; preds = %172, %109
  br label %174

174:                                              ; preds = %173, %81
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %0)
          to label %175 unwind label %66

175:                                              ; preds = %174
  store i32 1, ptr %8, align 4
  br label %176

176:                                              ; preds = %175, %170, %163, %135, %107, %79
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %10) #7
  br label %179

177:                                              ; preds = %166, %138, %110, %82, %66
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #7
  br label %178

178:                                              ; preds = %177, %62, %58
  call void @llvm.lifetime.end.p0(i64 32, ptr %10) #7
  br label %180

179:                                              ; preds = %176, %32
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #7
  br label %181

180:                                              ; preds = %178, %33
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #7
  br label %182

181:                                              ; preds = %179, %19
  call void @_ZN13my_shared_ptrIN4urdf8GeometryEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %5) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %5) #7
  ret void

182:                                              ; preds = %180, %20
  call void @_ZN13my_shared_ptrIN4urdf8GeometryEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %5) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %5) #7
  br label %183

183:                                              ; preds = %182
  %184 = load ptr, ptr %6, align 8
  %185 = load i32, ptr %7, align 4
  %186 = insertvalue { ptr, i32 } poison, ptr %184, 0
  %187 = insertvalue { ptr, i32 } %186, i32 %185, 1
  resume { ptr, i32 } %187
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN9TiXmlNode17FirstChildElementEv(ptr noundef nonnull align 8 dereferenceable(80)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK9TiXmlNode9ValueTStrEv(ptr noundef nonnull align 8 dereferenceable(80)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK11TiXmlString5c_strEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZSteqIcSt11char_traitsIcESaIcEEbRKNSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) #4

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf6SphereC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN13my_shared_ptrIN4urdf8GeometryEE5resetEPKS1_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf3BoxC2Ev(ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf8CylinderC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf4MeshC2Ev(ptr noundef nonnull align 8 dereferenceable(72)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN13my_shared_ptrIN4urdf8GeometryEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

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

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

!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"}


; 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.my_shared_ptr = type { ptr, ptr }
%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator" = type { i8 }

@.str.2 = external hidden unnamed_addr constant [1 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [40 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [27 x i8], align 1

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

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

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

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

; Function Attrs: mustprogress nounwind uwtable
declare noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf11parseSphereERNS_6SphereEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf8parseBoxERNS_3BoxEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf13parseCylinderERNS_8CylinderEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf9parseMeshERNS_4MeshEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN4urdf13parseGeometryEP12TiXmlElement(ptr dead_on_unwind noalias writable sret(%class.my_shared_ptr) align 8 %0, ptr noundef %1) local_unnamed_addr #3 personality ptr @__gxx_personality_v0 {
  %3 = alloca %class.my_shared_ptr, align 8
  %4 = alloca %"class.std::__cxx11::basic_string", align 8
  %5 = alloca %"class.std::allocator", align 1
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %3) #7
  call void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %3)
  %.not = icmp eq ptr %1, null
  br i1 %.not, label %6, label %9

6:                                                ; preds = %2
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 8 dereferenceable(16) %3)
          to label %79 unwind label %7

7:                                                ; preds = %6
  %8 = landingpad { ptr, i32 }
          cleanup
  br label %80

9:                                                ; preds = %2
  %10 = invoke noundef ptr @_ZN9TiXmlNode17FirstChildElementEv(ptr noundef nonnull align 8 dereferenceable(80) %1)
          to label %11 unwind label %14

11:                                               ; preds = %9
  %.not36 = icmp eq ptr %10, null
  br i1 %.not36, label %12, label %16

12:                                               ; preds = %11
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef nonnull @.str.21, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2)
          to label %13 unwind label %14

13:                                               ; preds = %12
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 8 dereferenceable(16) %3)
          to label %79 unwind label %14

14:                                               ; preds = %13, %12, %9
  %15 = landingpad { ptr, i32 }
          cleanup
  br label %80

16:                                               ; preds = %11
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %4) #7
  %17 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK9TiXmlNode9ValueTStrEv(ptr noundef nonnull align 8 dereferenceable(80) %10)
  %18 = call noundef ptr @_ZNK11TiXmlString5c_strEv(ptr noundef nonnull align 8 dereferenceable(8) %17)
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %5) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %4, ptr noundef %18, ptr noundef nonnull align 1 dereferenceable(1) %5)
          to label %19 unwind label %28

19:                                               ; preds = %16
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %5) #7
  %20 = call noundef zeroext i1 @_ZSteqIcSt11char_traitsIcESaIcEEbRKNSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_(ptr noundef nonnull align 8 dereferenceable(32) %4, ptr noundef nonnull @.str.22)
  br i1 %20, label %21, label %34

21:                                               ; preds = %19
  %22 = invoke noalias noundef nonnull dereferenceable(24) ptr @_Znwm(i64 noundef 24) #8
          to label %23 unwind label %32

23:                                               ; preds = %21
  call void @_ZN4urdf6SphereC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %22)
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEE5resetEPKS1_(ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef nonnull %22)
          to label %24 unwind label %32

24:                                               ; preds = %23
  %25 = invoke noundef zeroext i1 @_ZN4urdf11parseSphereERNS_6SphereEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(24) %22, ptr noundef nonnull %10)
          to label %26 unwind label %32

26:                                               ; preds = %24
  br i1 %25, label %27, label %.critedge

27:                                               ; preds = %26
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 8 dereferenceable(16) %3)
          to label %76 unwind label %32

28:                                               ; preds = %16
  %29 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %5) #7
  br label %78

30:                                               ; preds = %75, %73
  %31 = landingpad { ptr, i32 }
          cleanup
  br label %77

32:                                               ; preds = %27, %24, %23, %21
  %33 = landingpad { ptr, i32 }
          cleanup
  br label %77

34:                                               ; preds = %19
  %35 = call noundef zeroext i1 @_ZSteqIcSt11char_traitsIcESaIcEEbRKNSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_(ptr noundef nonnull align 8 dereferenceable(32) %4, ptr noundef nonnull @.str.23)
  br i1 %35, label %36, label %48

36:                                               ; preds = %34
  %37 = invoke noalias noundef nonnull dereferenceable(40) ptr @_Znwm(i64 noundef 40) #8
          to label %38 unwind label %44

38:                                               ; preds = %36
  invoke void @_ZN4urdf3BoxC2Ev(ptr noundef nonnull align 8 dereferenceable(40) %37)
          to label %39 unwind label %46

39:                                               ; preds = %38
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEE5resetEPKS1_(ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef nonnull %37)
          to label %40 unwind label %44

40:                                               ; preds = %39
  %41 = invoke noundef zeroext i1 @_ZN4urdf8parseBoxERNS_3BoxEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(40) %37, ptr noundef nonnull %10)
          to label %42 unwind label %44

42:                                               ; preds = %40
  br i1 %41, label %43, label %.critedge

43:                                               ; preds = %42
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 8 dereferenceable(16) %3)
          to label %76 unwind label %44

44:                                               ; preds = %43, %40, %39, %36
  %45 = landingpad { ptr, i32 }
          cleanup
  br label %77

46:                                               ; preds = %38
  %47 = landingpad { ptr, i32 }
          cleanup
  call void @_ZdlPvm(ptr noundef nonnull %37, i64 noundef 40) #9
  br label %77

48:                                               ; preds = %34
  %49 = call noundef zeroext i1 @_ZSteqIcSt11char_traitsIcESaIcEEbRKNSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_(ptr noundef nonnull align 8 dereferenceable(32) %4, ptr noundef nonnull @.str.24)
  br i1 %49, label %50, label %59

50:                                               ; preds = %48
  %51 = invoke noalias noundef nonnull dereferenceable(32) ptr @_Znwm(i64 noundef 32) #8
          to label %52 unwind label %57

52:                                               ; preds = %50
  call void @_ZN4urdf8CylinderC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %51)
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEE5resetEPKS1_(ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef nonnull %51)
          to label %53 unwind label %57

53:                                               ; preds = %52
  %54 = invoke noundef zeroext i1 @_ZN4urdf13parseCylinderERNS_8CylinderEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(32) %51, ptr noundef nonnull %10)
          to label %55 unwind label %57

55:                                               ; preds = %53
  br i1 %54, label %56, label %.critedge

56:                                               ; preds = %55
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 8 dereferenceable(16) %3)
          to label %76 unwind label %57

57:                                               ; preds = %56, %53, %52, %50
  %58 = landingpad { ptr, i32 }
          cleanup
  br label %77

59:                                               ; preds = %48
  %60 = call noundef zeroext i1 @_ZSteqIcSt11char_traitsIcESaIcEEbRKNSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_(ptr noundef nonnull align 8 dereferenceable(32) %4, ptr noundef nonnull @.str.25)
  br i1 %60, label %61, label %73

61:                                               ; preds = %59
  %62 = invoke noalias noundef nonnull dereferenceable(72) ptr @_Znwm(i64 noundef 72) #8
          to label %63 unwind label %69

63:                                               ; preds = %61
  invoke void @_ZN4urdf4MeshC2Ev(ptr noundef nonnull align 8 dereferenceable(72) %62)
          to label %64 unwind label %71

64:                                               ; preds = %63
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEE5resetEPKS1_(ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef nonnull %62)
          to label %65 unwind label %69

65:                                               ; preds = %64
  %66 = invoke noundef zeroext i1 @_ZN4urdf9parseMeshERNS_4MeshEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(72) %62, ptr noundef nonnull %10)
          to label %67 unwind label %69

67:                                               ; preds = %65
  br i1 %66, label %68, label %.critedge

68:                                               ; preds = %67
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 8 dereferenceable(16) %3)
          to label %76 unwind label %69

69:                                               ; preds = %68, %65, %64, %61
  %70 = landingpad { ptr, i32 }
          cleanup
  br label %77

71:                                               ; preds = %63
  %72 = landingpad { ptr, i32 }
          cleanup
  call void @_ZdlPvm(ptr noundef nonnull %62, i64 noundef 72) #9
  br label %77

73:                                               ; preds = %59
  %74 = call noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32) %4) #7
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef nonnull @.str.26, ptr noundef %74, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2)
          to label %75 unwind label %30

75:                                               ; preds = %73
  invoke void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 8 dereferenceable(16) %3)
          to label %76 unwind label %30

.critedge:                                        ; preds = %67, %55, %42, %26
  call void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %0)
  br label %76

76:                                               ; preds = %68, %56, %43, %27, %75, %.critedge
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #7
  br label %79

77:                                               ; preds = %69, %71, %44, %46, %57, %32, %30
  %.pn40 = phi { ptr, i32 } [ %33, %32 ], [ %58, %57 ], [ %31, %30 ], [ %45, %44 ], [ %47, %46 ], [ %70, %69 ], [ %72, %71 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #7
  br label %78

78:                                               ; preds = %77, %28
  %.pn40.pn = phi { ptr, i32 } [ %.pn40, %77 ], [ %29, %28 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #7
  br label %80

79:                                               ; preds = %76, %13, %6
  call void @_ZN13my_shared_ptrIN4urdf8GeometryEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %3) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %3) #7
  ret void

80:                                               ; preds = %14, %78, %7
  %.pn40.pn.pn.pn = phi { ptr, i32 } [ %8, %7 ], [ %.pn40.pn, %78 ], [ %15, %14 ]
  call void @_ZN13my_shared_ptrIN4urdf8GeometryEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %3) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %3) #7
  resume { ptr, i32 } %.pn40.pn.pn.pn
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN13my_shared_ptrIN4urdf8GeometryEEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN9TiXmlNode17FirstChildElementEv(ptr noundef nonnull align 8 dereferenceable(80)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK9TiXmlNode9ValueTStrEv(ptr noundef nonnull align 8 dereferenceable(80)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK11TiXmlString5c_strEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZSteqIcSt11char_traitsIcESaIcEEbRKNSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) local_unnamed_addr #4

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf6SphereC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN13my_shared_ptrIN4urdf8GeometryEE5resetEPKS1_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf3BoxC2Ev(ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf8CylinderC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf4MeshC2Ev(ptr noundef nonnull align 8 dereferenceable(72)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN13my_shared_ptrIN4urdf8GeometryEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

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

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

!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)"}


; Effective O3 passes: CorrelatedValuePropagationPass,GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,SROAPass,SimplifyCFGPass