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

; 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::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64 }
%"class.Eigen::Product.350" = type { ptr, ptr }
%"struct.RigidBodyDynamics::ConstraintSet" = type { i32, i8, %"class.std::vector", %"class.std::vector.1", %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.11", %"class.std::vector.6", %"class.std::vector.16", %"class.std::vector.16", %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.27", %"class.std::vector.34", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::HouseholderQR", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.16", %"class.std::vector.27", %"class.std::vector.27", %"class.Eigen::Matrix", %"class.std::vector.60", %"class.std::vector.27", %"class.Eigen::Matrix", %"class.std::vector.16" }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.1" = type { %"struct.std::_Vector_base.2" }
%"struct.std::_Vector_base.2" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.11" = type { %"struct.std::_Vector_base.12" }
%"struct.std::_Vector_base.12" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.6" = type { %"struct.std::_Vector_base.7" }
%"struct.std::_Vector_base.7" = 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.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.34" = type { %"struct.std::_Vector_base.35" }
%"struct.std::_Vector_base.35" = type { %"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::HouseholderQR" = type <{ %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix.51", i8, [7 x i8] }>
%"class.Eigen::Matrix.51" = type { %"class.Eigen::PlainObjectBase.52" }
%"class.Eigen::PlainObjectBase.52" = type { %"class.Eigen::DenseStorage.59" }
%"class.Eigen::DenseStorage.59" = type { ptr, i64 }
%"class.Eigen::Matrix.41" = type { %"class.Eigen::PlainObjectBase.42" }
%"class.Eigen::PlainObjectBase.42" = type { %"class.Eigen::DenseStorage.49" }
%"class.Eigen::DenseStorage.49" = type { ptr, i64, i64 }
%"class.std::vector.60" = type { %"class.std::vector.61" }
%"class.std::vector.61" = type { %"struct.std::_Vector_base.62" }
%"struct.std::_Vector_base.62" = 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.27" = type { %"class.std::vector.28" }
%"class.std::vector.28" = type { %"struct.std::_Vector_base.29" }
%"struct.std::_Vector_base.29" = 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.16" = type { %"struct.std::_Vector_base.17" }
%"struct.std::_Vector_base.17" = 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 }
%"struct.RigidBodyDynamics::Model" = type { %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.118", i32, i32, i32, i32, %class.Vector3_t, %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.123", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.6", %"class.std::vector.21", %"class.std::vector.6", %"class.std::vector.130", %"class.std::vector.130", %"class.std::vector.137", %"class.std::vector.16", %"class.std::vector.6", %"class.std::vector.142", %"class.std::vector.27", %"class.std::vector.60", %"class.std::vector.27", %"class.std::vector.27", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.std::vector.27", %"class.std::vector.147", %"class.std::vector.147", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.154", i32, %"class.std::vector.161", %"class.std::map" }
%"class.std::vector.118" = type { %"struct.std::_Vector_base.119" }
%"struct.std::_Vector_base.119" = 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.70" }
%"class.Eigen::Matrix.70" = type { %"class.Eigen::PlainObjectBase.71" }
%"class.Eigen::PlainObjectBase.71" = type { %"class.Eigen::DenseStorage.78" }
%"class.Eigen::DenseStorage.78" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"class.std::vector.123" = type { %"class.std::vector.124" }
%"class.std::vector.124" = type { %"struct.std::_Vector_base.125" }
%"struct.std::_Vector_base.125" = 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.130" = type { %"class.std::vector.131" }
%"class.std::vector.131" = type { %"struct.std::_Vector_base.132" }
%"struct.std::_Vector_base.132" = 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.137" = type { %"struct.std::_Vector_base.138" }
%"struct.std::_Vector_base.138" = 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.142" = type { %"struct.std::_Vector_base.143" }
%"struct.std::_Vector_base.143" = 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.147" = type { %"class.std::vector.148" }
%"class.std::vector.148" = type { %"struct.std::_Vector_base.149" }
%"struct.std::_Vector_base.149" = 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.154" = type { %"class.std::vector.155" }
%"class.std::vector.155" = type { %"struct.std::_Vector_base.156" }
%"struct.std::_Vector_base.156" = 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.161" = type { %"class.std::vector.162" }
%"class.std::vector.162" = type { %"struct.std::_Vector_base.163" }
%"struct.std::_Vector_base.163" = 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 }

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160)) #1 align 2

declare i32 @__gxx_personality_v0(...)

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

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics28SolveConstrainedSystemDirectERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERKS2_RKNS1_IdLin1ELi1ELi0ELin1ELi1EEES8_RS6_S9_S3_S9_S9_RNS_4Math12LinearSolverE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), 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 nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

declare void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef, ptr noundef, ptr noundef) #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics23CalcConstraintsJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS_13ConstraintSetERNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(1160), ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) #1

declare 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) #4

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics31ComputeConstraintImpulsesDirectERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_RNS_13ConstraintSetERS4_(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(1160) %3, ptr noundef nonnull align 8 dereferenceable(16) %4) #1 personality ptr @__gxx_personality_v0 {
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca %"class.Eigen::Matrix", align 8
  %12 = alloca %"class.Eigen::Product.350", align 8
  %13 = alloca ptr, align 8
  %14 = alloca i32, align 4
  %15 = alloca i32, align 4
  %16 = alloca i32, align 4
  store ptr %0, ptr %6, align 8, !tbaa !5
  store ptr %1, ptr %7, align 8, !tbaa !5
  store ptr %2, ptr %8, align 8, !tbaa !5
  store ptr %3, ptr %9, align 8, !tbaa !5
  store ptr %4, ptr %10, align 8, !tbaa !5
  %17 = load ptr, ptr %6, align 8, !tbaa !5
  %18 = load ptr, ptr %7, align 8, !tbaa !5
  call void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872) %17, ptr noundef %18, ptr noundef null, ptr noundef null)
  %19 = load ptr, ptr %6, align 8, !tbaa !5
  %20 = load ptr, ptr %7, align 8, !tbaa !5
  %21 = load ptr, ptr %9, align 8, !tbaa !5
  %22 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %21, i32 0, i32 23
  call void @_ZN17RigidBodyDynamics27CompositeRigidBodyAlgorithmERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872) %19, ptr noundef nonnull align 8 dereferenceable(16) %20, ptr noundef nonnull align 8 dereferenceable(24) %22, i1 noundef zeroext false)
  %23 = load ptr, ptr %6, align 8, !tbaa !5
  %24 = load ptr, ptr %7, align 8, !tbaa !5
  %25 = load ptr, ptr %9, align 8, !tbaa !5
  %26 = load ptr, ptr %9, align 8, !tbaa !5
  %27 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %26, i32 0, i32 26
  call void @_ZN17RigidBodyDynamics23CalcConstraintsJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS_13ConstraintSetERNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872) %23, ptr noundef nonnull align 8 dereferenceable(16) %24, ptr noundef nonnull align 8 dereferenceable(1160) %25, ptr noundef nonnull align 8 dereferenceable(24) %27, i1 noundef zeroext false)
  %28 = load ptr, ptr %9, align 8, !tbaa !5
  %29 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %28, i32 0, i32 23
  %30 = load ptr, ptr %9, align 8, !tbaa !5
  %31 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %30, i32 0, i32 26
  call void @llvm.lifetime.start.p0(i64 16, ptr %11) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr %12) #5
  %32 = load ptr, ptr %9, align 8, !tbaa !5
  %33 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %32, i32 0, i32 23
  %34 = load ptr, ptr %8, align 8, !tbaa !5
  %35 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %33, ptr noundef nonnull align 1 dereferenceable(1) %34)
  %36 = getelementptr inbounds { ptr, ptr }, ptr %12, i32 0, i32 0
  %37 = extractvalue { ptr, ptr } %35, 0
  store ptr %37, ptr %36, align 8
  %38 = getelementptr inbounds { ptr, ptr }, ptr %12, i32 0, i32 1
  %39 = extractvalue { ptr, ptr } %35, 1
  store ptr %39, ptr %38, align 8
  call void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_7ProductINS0_IdLin1ELin1ELi0ELin1ELin1EEES1_Li0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %11, ptr noundef nonnull align 1 dereferenceable(1) %12)
  %40 = load ptr, ptr %9, align 8, !tbaa !5
  %41 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %40, i32 0, i32 22
  %42 = load ptr, ptr %10, align 8, !tbaa !5
  %43 = load ptr, ptr %9, align 8, !tbaa !5
  %44 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %43, i32 0, i32 21
  %45 = load ptr, ptr %9, align 8, !tbaa !5
  %46 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %45, i32 0, i32 27
  %47 = load ptr, ptr %9, align 8, !tbaa !5
  %48 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %47, i32 0, i32 28
  %49 = load ptr, ptr %9, align 8, !tbaa !5
  %50 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %49, i32 0, i32 29
  %51 = load ptr, ptr %9, align 8, !tbaa !5
  %52 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %51, i32 0, i32 0
  invoke void @_ZN17RigidBodyDynamics28SolveConstrainedSystemDirectERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERKS2_RKNS1_IdLin1ELi1ELi0ELin1ELi1EEES8_RS6_S9_S3_S9_S9_RNS_4Math12LinearSolverE(ptr noundef nonnull align 8 dereferenceable(24) %29, ptr noundef nonnull align 8 dereferenceable(24) %31, ptr noundef nonnull align 8 dereferenceable(16) %11, ptr noundef nonnull align 8 dereferenceable(16) %41, ptr noundef nonnull align 8 dereferenceable(16) %42, ptr noundef nonnull align 8 dereferenceable(16) %44, ptr noundef nonnull align 8 dereferenceable(24) %46, ptr noundef nonnull align 8 dereferenceable(16) %48, ptr noundef nonnull align 8 dereferenceable(16) %50, ptr noundef nonnull align 4 dereferenceable(4) %52)
          to label %53 unwind label %61

53:                                               ; preds = %5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %11) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %12) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %11) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #5
  store i32 0, ptr %15, align 4, !tbaa !9
  br label %54

54:                                               ; preds = %76, %53
  %55 = load i32, ptr %15, align 4, !tbaa !9
  %56 = load ptr, ptr %6, align 8, !tbaa !5
  %57 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %56, i32 0, i32 3
  %58 = load i32, ptr %57, align 8, !tbaa !11
  %59 = icmp ult i32 %55, %58
  br i1 %59, label %65, label %60

60:                                               ; preds = %54
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #5
  br label %79

61:                                               ; preds = %5
  %62 = landingpad { ptr, i32 }
          cleanup
  %63 = extractvalue { ptr, i32 } %62, 0
  store ptr %63, ptr %13, align 8
  %64 = extractvalue { ptr, i32 } %62, 1
  store i32 %64, ptr %14, align 4
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %11) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %12) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %11) #5
  br label %107

65:                                               ; preds = %54
  %66 = load ptr, ptr %9, align 8, !tbaa !5
  %67 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %66, i32 0, i32 29
  %68 = load i32, ptr %15, align 4, !tbaa !9
  %69 = zext i32 %68 to i64
  %70 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %67, i64 noundef %69)
  %71 = load double, ptr %70, align 8, !tbaa !90
  %72 = load ptr, ptr %10, align 8, !tbaa !5
  %73 = load i32, ptr %15, align 4, !tbaa !9
  %74 = zext i32 %73 to i64
  %75 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %72, i64 noundef %74)
  store double %71, ptr %75, align 8, !tbaa !90
  br label %76

76:                                               ; preds = %65
  %77 = load i32, ptr %15, align 4, !tbaa !9
  %78 = add i32 %77, 1
  store i32 %78, ptr %15, align 4, !tbaa !9
  br label %54, !llvm.loop !92

79:                                               ; preds = %60
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #5
  store i32 0, ptr %16, align 4, !tbaa !9
  br label %80

80:                                               ; preds = %103, %79
  %81 = load i32, ptr %16, align 4, !tbaa !9
  %82 = zext i32 %81 to i64
  %83 = load ptr, ptr %9, align 8, !tbaa !5
  %84 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %83)
  %85 = icmp ult i64 %82, %84
  br i1 %85, label %87, label %86

86:                                               ; preds = %80
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #5
  br label %106

87:                                               ; preds = %80
  %88 = load ptr, ptr %9, align 8, !tbaa !5
  %89 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %88, i32 0, i32 29
  %90 = load ptr, ptr %6, align 8, !tbaa !5
  %91 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %90, i32 0, i32 3
  %92 = load i32, ptr %91, align 8, !tbaa !11
  %93 = load i32, ptr %16, align 4, !tbaa !9
  %94 = add i32 %92, %93
  %95 = zext i32 %94 to i64
  %96 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %89, i64 noundef %95)
  %97 = load double, ptr %96, align 8, !tbaa !90
  %98 = load ptr, ptr %9, align 8, !tbaa !5
  %99 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %98, i32 0, i32 21
  %100 = load i32, ptr %16, align 4, !tbaa !9
  %101 = zext i32 %100 to i64
  %102 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %99, i64 noundef %101)
  store double %97, ptr %102, align 8, !tbaa !90
  br label %103

103:                                              ; preds = %87
  %104 = load i32, ptr %16, align 4, !tbaa !9
  %105 = add i32 %104, 1
  store i32 %105, ptr %16, align 4, !tbaa !9
  br label %80, !llvm.loop !94

106:                                              ; preds = %86
  ret void

107:                                              ; preds = %61
  %108 = load ptr, ptr %13, align 8
  %109 = load i32, ptr %14, align 4
  %110 = insertvalue { ptr, i32 } poison, ptr %108, 0
  %111 = insertvalue { ptr, i32 } %110, i32 %109, 1
  resume { ptr, i32 } %111
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_7ProductINS0_IdLin1ELin1ELi0ELin1ELin1EEES1_Li0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { 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 #3 = { 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 #4 = { "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 = { 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 = !{!"int", !7, i64 0}
!11 = !{!12, !10, i64 72}
!12 = !{!"_ZTSN17RigidBodyDynamics5ModelE", !13, i64 0, !13, i64 24, !17, i64 48, !10, i64 72, !10, i64 76, !10, i64 80, !10, i64 84, !21, i64 88, !26, i64 112, !26, i64 136, !31, i64 160, !26, i64 184, !26, i64 208, !26, i64 232, !13, i64 256, !36, i64 280, !13, i64 304, !41, i64 328, !41, i64 352, !46, i64 376, !50, i64 400, !13, i64 424, !54, i64 448, !26, i64 472, !58, i64 496, !26, i64 520, !26, i64 544, !63, i64 568, !63, i64 584, !26, i64 600, !67, i64 624, !67, i64 648, !26, i64 672, !26, i64 696, !36, i64 720, !36, i64 744, !72, i64 768, !10, i64 792, !77, i64 800, !82, i64 824}
!13 = !{!"_ZTSSt6vectorIjSaIjEE", !14, i64 0}
!14 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !15, i64 0}
!15 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !16, i64 0}
!16 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!17 = !{!"_ZTSSt6vectorIS_IjSaIjEESaIS1_EE", !18, i64 0}
!18 = !{!"_ZTSSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE12_Vector_implE", !20, i64 0}
!20 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!21 = !{!"_ZTS9Vector3_t", !22, i64 0}
!22 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !25, i64 0}
!25 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!26 = !{!"_ZTSSt6vectorI15SpatialVector_tSaIS0_EE", !27, i64 0}
!27 = !{!"_ZTSSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !28, i64 0}
!28 = !{!"_ZTSSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !29, i64 0}
!29 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !30, i64 0}
!30 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!31 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointESaIS1_EE", !32, i64 0}
!32 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !33, i64 0}
!33 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !34, i64 0}
!34 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !35, i64 0}
!35 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!36 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformESaIS2_EE", !37, i64 0}
!37 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !38, i64 0}
!38 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !39, i64 0}
!39 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !40, i64 0}
!40 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!41 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEESaIS2_EE", !42, i64 0}
!42 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !43, i64 0}
!43 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !44, i64 0}
!44 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !45, i64 0}
!45 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!46 = !{!"_ZTSSt6vectorI9Matrix3_tSaIS0_EE", !47, i64 0}
!47 = !{!"_ZTSSt12_Vector_baseI9Matrix3_tSaIS0_EE", !48, i64 0}
!48 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE12_Vector_implE", !49, i64 0}
!49 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!50 = !{!"_ZTSSt6vectorI9Vector3_tSaIS0_EE", !51, i64 0}
!51 = !{!"_ZTSSt12_Vector_baseI9Vector3_tSaIS0_EE", !52, i64 0}
!52 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE12_Vector_implE", !53, i64 0}
!53 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!54 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !55, i64 0}
!55 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !56, i64 0}
!56 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE12_Vector_implE", !57, i64 0}
!57 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!58 = !{!"_ZTSSt6vectorI15SpatialMatrix_tSaIS0_EE", !59, i64 0}
!59 = !{!"_ZTSSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !60, i64 0}
!60 = !{!"_ZTSSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !61, i64 0}
!61 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !62, i64 0}
!62 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!63 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !64, i64 0}
!64 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !65, i64 0}
!65 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !66, i64 8}
!66 = !{!"long", !7, i64 0}
!67 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaESaIS2_EE", !68, i64 0}
!68 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !69, i64 0}
!69 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !70, i64 0}
!70 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !71, i64 0}
!71 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!72 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyESaIS1_EE", !73, i64 0}
!73 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !74, i64 0}
!74 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !75, i64 0}
!75 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !76, i64 0}
!76 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!77 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyESaIS1_EE", !78, i64 0}
!78 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !79, i64 0}
!79 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !80, i64 0}
!80 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !81, i64 0}
!81 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!82 = !{!"_ZTSSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjSt4lessIS5_ESaISt4pairIKS5_jEEE", !83, i64 0}
!83 = !{!"_ZTSSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE", !84, i64 0}
!84 = !{!"_ZTSNSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE13_Rb_tree_implISC_Lb1EEE", !85, i64 0, !87, i64 8}
!85 = !{!"_ZTSSt20_Rb_tree_key_compareISt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEE", !86, i64 0}
!86 = !{!"_ZTSSt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE"}
!87 = !{!"_ZTSSt15_Rb_tree_header", !88, i64 0, !66, i64 32}
!88 = !{!"_ZTSSt18_Rb_tree_node_base", !89, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!89 = !{!"_ZTSSt14_Rb_tree_color", !7, i64 0}
!90 = !{!91, !91, i64 0}
!91 = !{!"double", !7, i64 0}
!92 = distinct !{!92, !93}
!93 = !{!"llvm.loop.mustprogress"}
!94 = distinct !{!94, !93}


; 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::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64 }
%"class.Eigen::Product.350" = type { ptr, ptr }

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160)) local_unnamed_addr #1 align 2

declare i32 @__gxx_personality_v0(...)

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

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics28SolveConstrainedSystemDirectERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERKS2_RKNS1_IdLin1ELi1ELi0ELin1ELi1EEES8_RS6_S9_S3_S9_S9_RNS_4Math12LinearSolverE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), 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 nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

declare void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics23CalcConstraintsJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS_13ConstraintSetERNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(1160), ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) local_unnamed_addr #1

declare 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 #4

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics31ComputeConstraintImpulsesDirectERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_RNS_13ConstraintSetERS4_(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(1160) %3, ptr noundef nonnull align 8 dereferenceable(16) %4) local_unnamed_addr #1 personality ptr @__gxx_personality_v0 {
  %6 = alloca %"class.Eigen::Matrix", align 8
  %7 = alloca %"class.Eigen::Product.350", align 8
  tail call void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull %1, ptr noundef null, ptr noundef null)
  %8 = getelementptr inbounds i8, ptr %3, i64 464
  tail 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) %8, i1 noundef zeroext false)
  %9 = getelementptr inbounds i8, ptr %3, i64 520
  tail call void @_ZN17RigidBodyDynamics23CalcConstraintsJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS_13ConstraintSetERNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(1160) %3, ptr noundef nonnull align 8 dereferenceable(24) %9, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %7) #5
  %10 = tail call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %8, ptr noundef nonnull align 1 dereferenceable(1) %2)
  %11 = extractvalue { ptr, ptr } %10, 0
  store ptr %11, ptr %7, align 8
  %12 = getelementptr inbounds i8, ptr %7, i64 8
  %13 = extractvalue { ptr, ptr } %10, 1
  store ptr %13, ptr %12, align 8
  call void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_7ProductINS0_IdLin1ELin1ELi0ELin1ELin1EEES1_Li0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %6, ptr noundef nonnull align 1 dereferenceable(1) %7)
  %14 = getelementptr inbounds i8, ptr %3, i64 448
  %15 = getelementptr inbounds i8, ptr %3, i64 432
  %16 = getelementptr inbounds i8, ptr %3, i64 544
  %17 = getelementptr inbounds i8, ptr %3, i64 568
  %18 = getelementptr inbounds i8, ptr %3, i64 584
  invoke void @_ZN17RigidBodyDynamics28SolveConstrainedSystemDirectERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERKS2_RKNS1_IdLin1ELi1ELi0ELin1ELi1EEES8_RS6_S9_S3_S9_S9_RNS_4Math12LinearSolverE(ptr noundef nonnull align 8 dereferenceable(24) %8, ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(16) %6, ptr noundef nonnull align 8 dereferenceable(16) %14, ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef nonnull align 8 dereferenceable(16) %15, ptr noundef nonnull align 8 dereferenceable(24) %16, ptr noundef nonnull align 8 dereferenceable(16) %17, ptr noundef nonnull align 8 dereferenceable(16) %18, ptr noundef nonnull align 4 dereferenceable(4) %3)
          to label %19 unwind label %23

19:                                               ; preds = %5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %6) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #5
  %20 = getelementptr inbounds i8, ptr %0, i64 72
  %21 = load i32, ptr %20, align 8, !tbaa !5
  %.not = icmp eq i32 %21, 0
  br i1 %.not, label %.preheader, label %.lr.ph

.preheader:                                       ; preds = %.lr.ph, %19
  %22 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %3)
  %.not41 = icmp eq i64 %22, 0
  br i1 %.not41, label %._crit_edge, label %.lr.ph40

23:                                               ; preds = %5
  %24 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %6) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #5
  resume { ptr, i32 } %24

.lr.ph:                                           ; preds = %19, %.lr.ph
  %indvars.iv = phi i64 [ %indvars.iv.next, %.lr.ph ], [ 0, %19 ]
  %25 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %18, i64 noundef %indvars.iv)
  %26 = load double, ptr %25, align 8, !tbaa !88
  %27 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %indvars.iv)
  store double %26, ptr %27, align 8, !tbaa !88
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %28 = load i32, ptr %20, align 8, !tbaa !5
  %29 = zext i32 %28 to i64
  %30 = icmp ult i64 %indvars.iv.next, %29
  br i1 %30, label %.lr.ph, label %.preheader, !llvm.loop !90

._crit_edge:                                      ; preds = %.lr.ph40, %.preheader
  ret void

.lr.ph40:                                         ; preds = %.preheader, %.lr.ph40
  %31 = phi i64 [ %39, %.lr.ph40 ], [ 0, %.preheader ]
  %.039 = phi i32 [ %38, %.lr.ph40 ], [ 0, %.preheader ]
  %32 = load i32, ptr %20, align 8, !tbaa !5
  %33 = add i32 %32, %.039
  %34 = zext i32 %33 to i64
  %35 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %18, i64 noundef %34)
  %36 = load double, ptr %35, align 8, !tbaa !88
  %37 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef %31)
  store double %36, ptr %37, align 8, !tbaa !88
  %38 = add i32 %.039, 1
  %39 = zext i32 %38 to i64
  %40 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %3)
  %41 = icmp ugt i64 %40, %39
  br i1 %41, label %.lr.ph40, label %._crit_edge, !llvm.loop !92
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_7ProductINS0_IdLin1ELin1ELi0ELin1ELin1EEES1_Li0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), 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 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { 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 #3 = { 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 #4 = { "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 = { 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}
!90 = distinct !{!90, !91}
!91 = !{!"llvm.loop.mustprogress"}
!92 = distinct !{!92, !91}


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