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

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

%class.SpatialVector_t = type { %"class.Eigen::Matrix.90" }
%"class.Eigen::Matrix.90" = type { %"class.Eigen::PlainObjectBase.91" }
%"class.Eigen::PlainObjectBase.91" = type { %"class.Eigen::DenseStorage.98" }
%"class.Eigen::DenseStorage.98" = type { %"struct.Eigen::internal::plain_array.99" }
%"struct.Eigen::internal::plain_array.99" = type { [6 x double] }
%"class.Eigen::CwiseBinaryOp" = type <{ ptr, ptr, [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.120" = type <{ ptr, %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%class.Matrix3_t = type { %"class.Eigen::Matrix.104" }
%"class.Eigen::Matrix.104" = type { %"class.Eigen::PlainObjectBase.105" }
%"class.Eigen::PlainObjectBase.105" = type { %"class.Eigen::DenseStorage.112" }
%"class.Eigen::DenseStorage.112" = type { %"struct.Eigen::internal::plain_array.113" }
%"struct.Eigen::internal::plain_array.113" = type { [9 x double] }
%class.Vector3_t = type { %"class.Eigen::Matrix" }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%class.SpatialMatrix_t = type { %"class.Eigen::Matrix.183" }
%"class.Eigen::Matrix.183" = type { %"class.Eigen::PlainObjectBase.184" }
%"class.Eigen::PlainObjectBase.184" = type { %"class.Eigen::DenseStorage.191" }
%"class.Eigen::DenseStorage.191" = type { %"struct.Eigen::internal::plain_array.192" }
%"struct.Eigen::internal::plain_array.192" = type { [36 x double] }
%"class.Eigen::CwiseNullaryOp.240" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::Product.176" = type { ptr, ptr }
%"class.Eigen::CwiseBinaryOp.395" = type <{ ptr, %"class.Eigen::Product.401", [8 x i8] }>
%"class.Eigen::Product.401" = type { ptr, %"class.Eigen::Transpose.408" }
%"class.Eigen::Transpose.408" = type { %"class.Eigen::CwiseBinaryOp.414" }
%"class.Eigen::CwiseBinaryOp.414" = type <{ ptr, %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.422" = type { [8 x i8], %"class.Eigen::CwiseBinaryOp.428", %"class.Eigen::CwiseBinaryOp.435", [8 x i8] }
%"class.Eigen::CwiseBinaryOp.428" = type <{ ptr, %"class.Eigen::Product.176", [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.435" = type <{ [8 x i8], %"class.Eigen::CwiseBinaryOp.120", %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::Product.443" = type { %"class.Eigen::Product.450", ptr }
%"class.Eigen::Product.450" = type { ptr, ptr }
%"class.Eigen::NoAlias" = type { ptr }
%"class.Eigen::NoAlias.457" = type { ptr }
%"class.Eigen::Product.332" = type { ptr, ptr }
%"class.Eigen::Inverse" = type { %"class.Eigen::Product.339" }
%"class.Eigen::Product.339" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::Block.462" = type { %"class.Eigen::BlockImpl.463" }
%"class.Eigen::BlockImpl.463" = type { %"class.Eigen::internal::BlockImpl_dense.464" }
%"class.Eigen::internal::BlockImpl_dense.464" = type { %"class.Eigen::MapBase.465", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.465" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"class.Eigen::CwiseBinaryOp.471" = type <{ ptr, %"class.Eigen::Product.193", [8 x i8] }>
%"class.Eigen::Product.193" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::CwiseBinaryOp.478" = type <{ ptr, %"class.Eigen::Product.484", [8 x i8] }>
%"class.Eigen::Product.484" = type { %"class.Eigen::Product.491", %"class.Eigen::Transpose" }
%"class.Eigen::Product.491" = type { ptr, ptr }
%"class.Eigen::CwiseBinaryOp.499" = type <{ [8 x i8], %"class.Eigen::CwiseBinaryOp.428", %"class.Eigen::Product.505", [8 x i8] }>
%"class.Eigen::Product.505" = type { %"class.Eigen::Product.491", ptr }
%"class.Eigen::Product.374" = type { ptr, ptr }
%"class.Eigen::Matrix.153" = type { %"class.Eigen::PlainObjectBase.154" }
%"class.Eigen::PlainObjectBase.154" = type { %"class.Eigen::DenseStorage.161" }
%"class.Eigen::DenseStorage.161" = type { ptr, i64, i64 }
%"class.Eigen::Inverse.513" = type { %"class.Eigen::Product.381" }
%"class.Eigen::Product.381" = type { %"class.Eigen::Transpose.221", ptr }
%"class.Eigen::Transpose.221" = type { ptr }
%"class.Eigen::Matrix.57" = type { %"class.Eigen::PlainObjectBase.58" }
%"class.Eigen::PlainObjectBase.58" = type { %"class.Eigen::DenseStorage.65" }
%"class.Eigen::DenseStorage.65" = type { ptr, i64 }
%"class.Eigen::CwiseBinaryOp.519" = type <{ ptr, %"class.Eigen::Product.214", [8 x i8] }>
%"class.Eigen::Product.214" = type { %"class.Eigen::Transpose.221", ptr }
%"class.Eigen::CwiseBinaryOp.526" = type <{ ptr, %"class.Eigen::Product.532", [8 x i8] }>
%"class.Eigen::Product.532" = type { %"class.Eigen::Product.539", %"class.Eigen::Transpose.221" }
%"class.Eigen::Product.539" = type { ptr, ptr }
%"class.Eigen::CwiseBinaryOp.547" = type <{ [8 x i8], %"class.Eigen::CwiseBinaryOp.428", %"class.Eigen::Product.553", [8 x i8] }>
%"class.Eigen::Product.553" = type { %"class.Eigen::Product.539", ptr }
%"class.Eigen::CwiseBinaryOp.561" = type <{ ptr, %"class.Eigen::CwiseBinaryOp.120", [8 x i8] }>
%"class.Eigen::Product.568" = type { ptr, %"class.Eigen::CwiseBinaryOp.471" }
%"class.Eigen::CwiseBinaryOp.575" = type <{ ptr, %"class.Eigen::Product", [8 x i8] }>
%"class.Eigen::Product" = type { ptr, ptr }
%"class.Eigen::Product.582" = type { ptr, %"class.Eigen::CwiseBinaryOp.519" }
%"class.Eigen::CwiseBinaryOp.589" = type <{ ptr, %"class.Eigen::Product.168", [8 x i8] }>
%"class.Eigen::Product.168" = type { ptr, ptr }
%"struct.RigidBodyDynamics::Model" = type { %"class.std::vector", %"class.std::vector", %"class.std::vector.1", i32, i32, i32, i32, %class.Vector3_t, %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.14", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector", %"class.std::vector.21", %"class.std::vector", %"class.std::vector.28", %"class.std::vector.28", %"class.std::vector.35", %"class.std::vector.40", %"class.std::vector", %"class.std::vector.45", %"class.std::vector.8", %"class.std::vector.50", %"class.std::vector.8", %"class.std::vector.8", %"class.Eigen::Matrix.57", %"class.Eigen::Matrix.57", %"class.std::vector.8", %"class.std::vector.66", %"class.std::vector.66", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.73", i32, %"class.std::vector.80", %"class.std::map" }
%"class.std::vector.1" = type { %"struct.std::_Vector_base.2" }
%"struct.std::_Vector_base.2" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.14" = type { %"class.std::vector.15" }
%"class.std::vector.15" = type { %"struct.std::_Vector_base.16" }
%"struct.std::_Vector_base.16" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.28" = type { %"class.std::vector.29" }
%"class.std::vector.29" = type { %"struct.std::_Vector_base.30" }
%"struct.std::_Vector_base.30" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.35" = type { %"struct.std::_Vector_base.36" }
%"struct.std::_Vector_base.36" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.40" = type { %"struct.std::_Vector_base.41" }
%"struct.std::_Vector_base.41" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.45" = type { %"struct.std::_Vector_base.46" }
%"struct.std::_Vector_base.46" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.50" = type { %"class.std::vector.51" }
%"class.std::vector.51" = type { %"struct.std::_Vector_base.52" }
%"struct.std::_Vector_base.52" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.66" = type { %"class.std::vector.67" }
%"class.std::vector.67" = type { %"struct.std::_Vector_base.68" }
%"struct.std::_Vector_base.68" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.8" = type { %"class.std::vector.9" }
%"class.std::vector.9" = type { %"struct.std::_Vector_base.10" }
%"struct.std::_Vector_base.10" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.21" = type { %"class.std::vector.22" }
%"class.std::vector.22" = type { %"struct.std::_Vector_base.23" }
%"struct.std::_Vector_base.23" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.73" = type { %"class.std::vector.74" }
%"class.std::vector.74" = type { %"struct.std::_Vector_base.75" }
%"struct.std::_Vector_base.75" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.80" = type { %"class.std::vector.81" }
%"class.std::vector.81" = type { %"struct.std::_Vector_base.82" }
%"struct.std::_Vector_base.82" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"struct.std::_Rb_tree_header" = type { %"struct.std::_Rb_tree_node_base", i64 }
%"struct.std::_Rb_tree_node_base" = type { i32, ptr, ptr, ptr }
%"struct.RigidBodyDynamics::Joint" = type { ptr, i32, i32, i32, i32 }
%"struct.RigidBodyDynamics::CustomJoint" = type { ptr, i32, %"struct.RigidBodyDynamics::Math::SpatialTransform", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.57", %"class.Eigen::Matrix.57" }

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

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

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

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

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

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

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

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

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

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

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

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #1 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: 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)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #5 align 2

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

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

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransformmlERKS1_(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) #5 align 2

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

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

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

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

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

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

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

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

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

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

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi3ELi0ELi6ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransform17toMatrixTransposeEv(ptr dead_on_unwind noalias writable sret(%class.SpatialMatrix_t) align 16, ptr noundef nonnull align 8 dereferenceable(96)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(144) ptr @_ZN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEaSINS_7ProductINS0_IdLi6ELi6ELi0ELi6ELi6EEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(144), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLin1ELin1ELi0ELin1ELin1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_7ProductINS0_IdLi6ELi6ELi0ELi6ELi6EEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics15ForwardDynamicsERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RS4_PSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef %5) #4 personality ptr @__gxx_personality_v0 {
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca %class.SpatialVector_t, align 16
  %14 = alloca double, align 8
  %15 = alloca double, align 8
  %16 = alloca double, align 8
  %17 = alloca i32, align 4
  %18 = alloca i32, align 4
  %19 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %20 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %21 = alloca %class.SpatialVector_t, align 16
  %22 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %23 = alloca %class.SpatialVector_t, align 16
  %24 = alloca %class.SpatialVector_t, align 16
  %25 = alloca %class.SpatialVector_t, align 16
  %26 = alloca %"class.Eigen::CwiseNullaryOp.240", align 8
  %27 = alloca %"class.Eigen::Product.176", align 8
  %28 = alloca %class.SpatialMatrix_t, align 16
  %29 = alloca i32, align 4
  %30 = alloca %"class.Eigen::Product.176", align 8
  %31 = alloca i32, align 4
  %32 = alloca %class.SpatialMatrix_t, align 16
  %33 = alloca %"class.Eigen::CwiseBinaryOp.395", align 8
  %34 = alloca %"class.Eigen::Product.401", align 8
  %35 = alloca %"class.Eigen::Transpose.408", align 8
  %36 = alloca %"class.Eigen::CwiseBinaryOp.414", align 8
  %37 = alloca %class.SpatialVector_t, align 16
  %38 = alloca %"class.Eigen::CwiseBinaryOp.422", align 8
  %39 = alloca %"class.Eigen::CwiseBinaryOp.428", align 8
  %40 = alloca %"class.Eigen::Product.176", align 8
  %41 = alloca %"class.Eigen::CwiseBinaryOp.435", align 8
  %42 = alloca %"class.Eigen::CwiseBinaryOp.120", align 8
  %43 = alloca %"class.Eigen::Product.443", align 8
  %44 = alloca %"class.Eigen::Product.450", align 8
  %45 = alloca %class.SpatialMatrix_t, align 16
  %46 = alloca %class.SpatialMatrix_t, align 16
  %47 = alloca %"class.Eigen::NoAlias", align 8
  %48 = alloca %class.SpatialVector_t, align 16
  %49 = alloca %"class.Eigen::NoAlias.457", align 8
  %50 = alloca %"class.Eigen::Product.332", align 8
  %51 = alloca %"class.Eigen::Matrix.104", align 8
  %52 = alloca %"class.Eigen::Inverse", align 8
  %53 = alloca %"class.Eigen::Product.339", align 8
  %54 = alloca %"class.Eigen::Transpose", align 8
  %55 = alloca %class.Vector3_t, align 8
  %56 = alloca %"class.Eigen::Block.462", align 8
  %57 = alloca %"class.Eigen::CwiseBinaryOp.471", align 8
  %58 = alloca %"class.Eigen::Product.193", align 8
  %59 = alloca %"class.Eigen::Transpose", align 8
  %60 = alloca i32, align 4
  %61 = alloca %class.SpatialMatrix_t, align 16
  %62 = alloca %"class.Eigen::CwiseBinaryOp.478", align 8
  %63 = alloca %"class.Eigen::Product.484", align 8
  %64 = alloca %"class.Eigen::Product.491", align 8
  %65 = alloca %"class.Eigen::Transpose", align 8
  %66 = alloca %class.SpatialVector_t, align 16
  %67 = alloca %"class.Eigen::CwiseBinaryOp.499", align 8
  %68 = alloca %"class.Eigen::CwiseBinaryOp.428", align 8
  %69 = alloca %"class.Eigen::Product.176", align 8
  %70 = alloca %"class.Eigen::Product.505", align 8
  %71 = alloca %"class.Eigen::Product.491", align 8
  %72 = alloca %"class.Eigen::Product.443", align 8
  %73 = alloca %"class.Eigen::Product.450", align 8
  %74 = alloca %class.SpatialMatrix_t, align 16
  %75 = alloca %class.SpatialMatrix_t, align 16
  %76 = alloca %"class.Eigen::NoAlias", align 8
  %77 = alloca %class.SpatialVector_t, align 16
  %78 = alloca %"class.Eigen::NoAlias.457", align 8
  %79 = alloca i32, align 4
  %80 = alloca i32, align 4
  %81 = alloca %"class.Eigen::Product.374", align 8
  %82 = alloca %"class.Eigen::Matrix.153", align 8
  %83 = alloca %"class.Eigen::Inverse.513", align 8
  %84 = alloca %"class.Eigen::Product.381", align 8
  %85 = alloca %"class.Eigen::Transpose.221", align 8
  %86 = alloca ptr, align 8
  %87 = alloca i32, align 4
  %88 = alloca %"class.Eigen::Matrix.57", align 8
  %89 = alloca %"class.Eigen::Block.462", align 8
  %90 = alloca %"class.Eigen::CwiseBinaryOp.519", align 8
  %91 = alloca %"class.Eigen::Product.214", align 8
  %92 = alloca %"class.Eigen::Transpose.221", align 8
  %93 = alloca i32, align 4
  %94 = alloca %class.SpatialMatrix_t, align 16
  %95 = alloca %"class.Eigen::CwiseBinaryOp.526", align 8
  %96 = alloca %"class.Eigen::Product.532", align 8
  %97 = alloca %"class.Eigen::Product.539", align 8
  %98 = alloca %"class.Eigen::Transpose.221", align 8
  %99 = alloca %class.SpatialVector_t, align 16
  %100 = alloca %"class.Eigen::CwiseBinaryOp.547", align 8
  %101 = alloca %"class.Eigen::CwiseBinaryOp.428", align 8
  %102 = alloca %"class.Eigen::Product.176", align 8
  %103 = alloca %"class.Eigen::Product.553", align 8
  %104 = alloca %"class.Eigen::Product.539", align 8
  %105 = alloca %"class.Eigen::Product.443", align 8
  %106 = alloca %"class.Eigen::Product.450", align 8
  %107 = alloca %class.SpatialMatrix_t, align 16
  %108 = alloca %class.SpatialMatrix_t, align 16
  %109 = alloca %"class.Eigen::NoAlias", align 8
  %110 = alloca %class.SpatialVector_t, align 16
  %111 = alloca %"class.Eigen::NoAlias.457", align 8
  %112 = alloca %"class.Eigen::CwiseBinaryOp.120", align 8
  %113 = alloca double, align 8
  %114 = alloca i32, align 4
  %115 = alloca i32, align 4
  %116 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %117 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %118 = alloca %class.SpatialVector_t, align 16
  %119 = alloca %"class.Eigen::CwiseBinaryOp.561", align 8
  %120 = alloca %"class.Eigen::CwiseBinaryOp.120", align 8
  %121 = alloca %class.Vector3_t, align 8
  %122 = alloca %"class.Eigen::Product.568", align 8
  %123 = alloca %"class.Eigen::CwiseBinaryOp.471", align 8
  %124 = alloca %"class.Eigen::Product.193", align 8
  %125 = alloca %"class.Eigen::Transpose", align 8
  %126 = alloca %"class.Eigen::CwiseBinaryOp.575", align 8
  %127 = alloca %"class.Eigen::Product", align 8
  %128 = alloca i32, align 4
  %129 = alloca i32, align 4
  %130 = alloca %"class.Eigen::Matrix.57", align 8
  %131 = alloca %"class.Eigen::Product.582", align 8
  %132 = alloca %"class.Eigen::CwiseBinaryOp.519", align 8
  %133 = alloca %"class.Eigen::Product.214", align 8
  %134 = alloca %"class.Eigen::Transpose.221", align 8
  %135 = alloca i32, align 4
  %136 = alloca %"class.Eigen::CwiseBinaryOp.589", align 8
  %137 = alloca %"class.Eigen::Product.168", align 8
  store ptr %0, ptr %7, align 8, !tbaa !5
  store ptr %1, ptr %8, align 8, !tbaa !5
  store ptr %2, ptr %9, align 8, !tbaa !5
  store ptr %3, ptr %10, align 8, !tbaa !5
  store ptr %4, ptr %11, align 8, !tbaa !5
  store ptr %5, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 48, ptr %13) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #6
  store double 0.000000e+00, ptr %14, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #6
  store double 0.000000e+00, ptr %15, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #6
  store double 0.000000e+00, ptr %16, align 8, !tbaa !9
  %138 = load ptr, ptr %7, align 8, !tbaa !5
  %139 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %138, i32 0, i32 7
  %140 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %139, i64 noundef 0)
  %141 = load ptr, ptr %7, align 8, !tbaa !5
  %142 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %141, i32 0, i32 7
  %143 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %142, i64 noundef 1)
  %144 = load ptr, ptr %7, align 8, !tbaa !5
  %145 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %144, i32 0, i32 7
  %146 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %145, i64 noundef 2)
  call void @_ZN15SpatialVector_tC2ERKdS1_S1_S1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(48) %13, ptr noundef nonnull align 8 dereferenceable(8) %14, ptr noundef nonnull align 8 dereferenceable(8) %15, ptr noundef nonnull align 8 dereferenceable(8) %16, ptr noundef nonnull align 8 dereferenceable(8) %140, ptr noundef nonnull align 8 dereferenceable(8) %143, ptr noundef nonnull align 8 dereferenceable(8) %146)
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #6
  store i32 0, ptr %17, align 4, !tbaa !11
  %147 = load ptr, ptr %7, align 8, !tbaa !5
  %148 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %147, i32 0, i32 8
  %149 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %148, i64 noundef 0) #6
  %150 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %149)
  store i32 1, ptr %17, align 4, !tbaa !11
  br label %151

151:                                              ; preds = %306, %6
  %152 = load i32, ptr %17, align 4, !tbaa !11
  %153 = zext i32 %152 to i64
  %154 = load ptr, ptr %7, align 8, !tbaa !5
  %155 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %154, i32 0, i32 38
  %156 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %155) #6
  %157 = icmp ult i64 %153, %156
  br i1 %157, label %158, label %309

158:                                              ; preds = %151
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #6
  %159 = load ptr, ptr %7, align 8, !tbaa !5
  %160 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %159, i32 0, i32 0
  %161 = load i32, ptr %17, align 4, !tbaa !11
  %162 = zext i32 %161 to i64
  %163 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %160, i64 noundef %162) #6
  %164 = load i32, ptr %163, align 4, !tbaa !11
  store i32 %164, ptr %18, align 4, !tbaa !11
  %165 = load ptr, ptr %7, align 8, !tbaa !5
  %166 = load i32, ptr %17, align 4, !tbaa !11
  %167 = load ptr, ptr %8, align 8, !tbaa !5
  %168 = load ptr, ptr %9, align 8, !tbaa !5
  call void @_ZN17RigidBodyDynamics5jcalcERNS_5ModelEjRKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_(ptr noundef nonnull align 8 dereferenceable(872) %165, i32 noundef %166, ptr noundef nonnull align 8 dereferenceable(16) %167, ptr noundef nonnull align 8 dereferenceable(16) %168)
  %169 = load i32, ptr %18, align 4, !tbaa !11
  %170 = icmp ne i32 %169, 0
  br i1 %170, label %171, label %188

171:                                              ; preds = %158
  call void @llvm.lifetime.start.p0(i64 96, ptr %19) #6
  %172 = load ptr, ptr %7, align 8, !tbaa !5
  %173 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %172, i32 0, i32 34
  %174 = load i32, ptr %17, align 4, !tbaa !11
  %175 = zext i32 %174 to i64
  %176 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %173, i64 noundef %175) #6
  %177 = load ptr, ptr %7, align 8, !tbaa !5
  %178 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %177, i32 0, i32 35
  %179 = load i32, ptr %18, align 4, !tbaa !11
  %180 = zext i32 %179 to i64
  %181 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %178, i64 noundef %180) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransformmlERKS1_(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %19, ptr noundef nonnull align 8 dereferenceable(96) %176, ptr noundef nonnull align 8 dereferenceable(96) %181)
  %182 = load ptr, ptr %7, align 8, !tbaa !5
  %183 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %182, i32 0, i32 35
  %184 = load i32, ptr %17, align 4, !tbaa !11
  %185 = zext i32 %184 to i64
  %186 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %183, i64 noundef %185) #6
  %187 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96) %186, ptr noundef nonnull align 8 dereferenceable(96) %19) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr %19) #6
  br label %200

188:                                              ; preds = %158
  %189 = load ptr, ptr %7, align 8, !tbaa !5
  %190 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %189, i32 0, i32 34
  %191 = load i32, ptr %17, align 4, !tbaa !11
  %192 = zext i32 %191 to i64
  %193 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %190, i64 noundef %192) #6
  %194 = load ptr, ptr %7, align 8, !tbaa !5
  %195 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %194, i32 0, i32 35
  %196 = load i32, ptr %17, align 4, !tbaa !11
  %197 = zext i32 %196 to i64
  %198 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %195, i64 noundef %197) #6
  %199 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96) %198, ptr noundef nonnull align 8 dereferenceable(96) %193)
  br label %200

200:                                              ; preds = %188, %171
  call void @llvm.lifetime.start.p0(i64 24, ptr %20) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %21) #6
  %201 = load ptr, ptr %7, align 8, !tbaa !5
  %202 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %201, i32 0, i32 34
  %203 = load i32, ptr %17, align 4, !tbaa !11
  %204 = zext i32 %203 to i64
  %205 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %202, i64 noundef %204) #6
  %206 = load ptr, ptr %7, align 8, !tbaa !5
  %207 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %206, i32 0, i32 8
  %208 = load i32, ptr %18, align 4, !tbaa !11
  %209 = zext i32 %208 to i64
  %210 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %207, i64 noundef %209) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %21, ptr noundef nonnull align 8 dereferenceable(96) %205, ptr noundef nonnull align 16 dereferenceable(48) %210)
  %211 = load ptr, ptr %7, align 8, !tbaa !5
  %212 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %211, i32 0, i32 12
  %213 = load i32, ptr %17, align 4, !tbaa !11
  %214 = zext i32 %213 to i64
  %215 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %212, i64 noundef %214) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %20, ptr noundef nonnull align 1 dereferenceable(1) %21, ptr noundef nonnull align 1 dereferenceable(1) %215)
  %216 = load ptr, ptr %7, align 8, !tbaa !5
  %217 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %216, i32 0, i32 8
  %218 = load i32, ptr %17, align 4, !tbaa !11
  %219 = zext i32 %218 to i64
  %220 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %217, i64 noundef %219) #6
  %221 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %220, ptr noundef nonnull align 1 dereferenceable(1) %20)
  call void @llvm.lifetime.end.p0(i64 48, ptr %21) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %20) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %22) #6
  %222 = load ptr, ptr %7, align 8, !tbaa !5
  %223 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %222, i32 0, i32 13
  %224 = load i32, ptr %17, align 4, !tbaa !11
  %225 = zext i32 %224 to i64
  %226 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %223, i64 noundef %225) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %23) #6
  %227 = load ptr, ptr %7, align 8, !tbaa !5
  %228 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %227, i32 0, i32 8
  %229 = load i32, ptr %17, align 4, !tbaa !11
  %230 = zext i32 %229 to i64
  %231 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %228, i64 noundef %230) #6
  %232 = load ptr, ptr %7, align 8, !tbaa !5
  %233 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %232, i32 0, i32 12
  %234 = load i32, ptr %17, align 4, !tbaa !11
  %235 = zext i32 %234 to i64
  %236 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %233, i64 noundef %235) #6
  call void @_ZN17RigidBodyDynamics4Math6crossmERK15SpatialVector_tS3_(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %23, ptr noundef nonnull align 16 dereferenceable(48) %231, ptr noundef nonnull align 16 dereferenceable(48) %236)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %22, ptr noundef nonnull align 1 dereferenceable(1) %226, ptr noundef nonnull align 1 dereferenceable(1) %23)
  %237 = load ptr, ptr %7, align 8, !tbaa !5
  %238 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %237, i32 0, i32 23
  %239 = load i32, ptr %17, align 4, !tbaa !11
  %240 = zext i32 %239 to i64
  %241 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %238, i64 noundef %240) #6
  %242 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %241, ptr noundef nonnull align 1 dereferenceable(1) %22)
  call void @llvm.lifetime.end.p0(i64 48, ptr %23) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %22) #6
  %243 = load ptr, ptr %7, align 8, !tbaa !5
  %244 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %243, i32 0, i32 30
  %245 = load i32, ptr %17, align 4, !tbaa !11
  %246 = zext i32 %245 to i64
  %247 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %244, i64 noundef %246) #6
  %248 = load ptr, ptr %7, align 8, !tbaa !5
  %249 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %248, i32 0, i32 24
  %250 = load i32, ptr %17, align 4, !tbaa !11
  %251 = zext i32 %250 to i64
  %252 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %249, i64 noundef %251) #6
  call void @_ZNK17RigidBodyDynamics4Math23SpatialRigidBodyInertia16setSpatialMatrixER15SpatialMatrix_t(ptr noundef nonnull align 8 dereferenceable(80) %247, ptr noundef nonnull align 16 dereferenceable(288) %252)
  call void @llvm.lifetime.start.p0(i64 48, ptr %24) #6
  %253 = load ptr, ptr %7, align 8, !tbaa !5
  %254 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %253, i32 0, i32 8
  %255 = load i32, ptr %17, align 4, !tbaa !11
  %256 = zext i32 %255 to i64
  %257 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %254, i64 noundef %256) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %25) #6
  %258 = load ptr, ptr %7, align 8, !tbaa !5
  %259 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %258, i32 0, i32 30
  %260 = load i32, ptr %17, align 4, !tbaa !11
  %261 = zext i32 %260 to i64
  %262 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %259, i64 noundef %261) #6
  %263 = load ptr, ptr %7, align 8, !tbaa !5
  %264 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %263, i32 0, i32 8
  %265 = load i32, ptr %17, align 4, !tbaa !11
  %266 = zext i32 %265 to i64
  %267 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %264, i64 noundef %266) #6
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %25, ptr noundef nonnull align 8 dereferenceable(80) %262, ptr noundef nonnull align 16 dereferenceable(48) %267)
  call void @_ZN17RigidBodyDynamics4Math6crossfERK15SpatialVector_tS3_(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %24, ptr noundef nonnull align 16 dereferenceable(48) %257, ptr noundef nonnull align 16 dereferenceable(48) %25)
  %268 = load ptr, ptr %7, align 8, !tbaa !5
  %269 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %268, i32 0, i32 25
  %270 = load i32, ptr %17, align 4, !tbaa !11
  %271 = zext i32 %270 to i64
  %272 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %269, i64 noundef %271) #6
  %273 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48) %272, ptr noundef nonnull align 16 dereferenceable(48) %24) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %25) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %24) #6
  %274 = load ptr, ptr %12, align 8, !tbaa !5
  %275 = icmp ne ptr %274, null
  call void @llvm.lifetime.start.p0(i64 16, ptr %26) #6
  br i1 %275, label %276, label %282

276:                                              ; preds = %200
  %277 = load ptr, ptr %12, align 8, !tbaa !5
  %278 = load i32, ptr %17, align 4, !tbaa !11
  %279 = zext i32 %278 to i64
  %280 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %277, i64 noundef %279) #6
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.240") align 8 %26)
  %281 = call noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEneINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES2_EEEEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %280, ptr noundef nonnull align 1 dereferenceable(1) %26)
  br label %282

282:                                              ; preds = %276, %200
  %283 = phi i1 [ false, %200 ], [ %281, %276 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #6
  br i1 %283, label %284, label %305

284:                                              ; preds = %282
  call void @llvm.lifetime.start.p0(i64 16, ptr %27) #6
  call void @llvm.lifetime.start.p0(i64 288, ptr %28) #6
  %285 = load ptr, ptr %7, align 8, !tbaa !5
  %286 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %285, i32 0, i32 35
  %287 = load i32, ptr %17, align 4, !tbaa !11
  %288 = zext i32 %287 to i64
  %289 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %286, i64 noundef %288) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform15toMatrixAdjointEv(ptr dead_on_unwind writable sret(%class.SpatialMatrix_t) align 16 %28, ptr noundef nonnull align 8 dereferenceable(96) %289)
  %290 = load ptr, ptr %12, align 8, !tbaa !5
  %291 = load i32, ptr %17, align 4, !tbaa !11
  %292 = zext i32 %291 to i64
  %293 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %290, i64 noundef %292) #6
  %294 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %28, ptr noundef nonnull align 1 dereferenceable(1) %293)
  %295 = getelementptr inbounds { ptr, ptr }, ptr %27, i32 0, i32 0
  %296 = extractvalue { ptr, ptr } %294, 0
  store ptr %296, ptr %295, align 8
  %297 = getelementptr inbounds { ptr, ptr }, ptr %27, i32 0, i32 1
  %298 = extractvalue { ptr, ptr } %294, 1
  store ptr %298, ptr %297, align 8
  %299 = load ptr, ptr %7, align 8, !tbaa !5
  %300 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %299, i32 0, i32 25
  %301 = load i32, ptr %17, align 4, !tbaa !11
  %302 = zext i32 %301 to i64
  %303 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %300, i64 noundef %302) #6
  %304 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmIINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEERS2_RKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %303, ptr noundef nonnull align 1 dereferenceable(1) %27)
  call void @llvm.lifetime.end.p0(i64 288, ptr %28) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #6
  br label %305

305:                                              ; preds = %284, %282
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #6
  br label %306

306:                                              ; preds = %305
  %307 = load i32, ptr %17, align 4, !tbaa !11
  %308 = add i32 %307, 1
  store i32 %308, ptr %17, align 4, !tbaa !11
  br label %151, !llvm.loop !13

309:                                              ; preds = %151
  %310 = load ptr, ptr %7, align 8, !tbaa !5
  %311 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %310, i32 0, i32 38
  %312 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %311) #6
  %313 = sub i64 %312, 1
  %314 = trunc i64 %313 to i32
  store i32 %314, ptr %17, align 4, !tbaa !11
  br label %315

315:                                              ; preds = %1019, %309
  %316 = load i32, ptr %17, align 4, !tbaa !11
  %317 = icmp ugt i32 %316, 0
  br i1 %317, label %318, label %1022

318:                                              ; preds = %315
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #6
  %319 = load ptr, ptr %7, align 8, !tbaa !5
  %320 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %319, i32 0, i32 10
  %321 = load i32, ptr %17, align 4, !tbaa !11
  %322 = zext i32 %321 to i64
  %323 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %320, i64 noundef %322) #6
  %324 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %323, i32 0, i32 3
  %325 = load i32, ptr %324, align 8, !tbaa !15
  store i32 %325, ptr %29, align 4, !tbaa !11
  %326 = load ptr, ptr %7, align 8, !tbaa !5
  %327 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %326, i32 0, i32 10
  %328 = load i32, ptr %17, align 4, !tbaa !11
  %329 = zext i32 %328 to i64
  %330 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %327, i64 noundef %329) #6
  %331 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %330, i32 0, i32 2
  %332 = load i32, ptr %331, align 4, !tbaa !18
  %333 = icmp eq i32 %332, 1
  br i1 %333, label %334, label %499

334:                                              ; preds = %318
  %335 = load ptr, ptr %7, align 8, !tbaa !5
  %336 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %335, i32 0, i32 10
  %337 = load i32, ptr %17, align 4, !tbaa !11
  %338 = zext i32 %337 to i64
  %339 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %336, i64 noundef %338) #6
  %340 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %339, i32 0, i32 1
  %341 = load i32, ptr %340, align 8, !tbaa !19
  %342 = icmp ne i32 %341, 21
  br i1 %342, label %343, label %499

343:                                              ; preds = %334
  call void @llvm.lifetime.start.p0(i64 16, ptr %30) #6
  %344 = load ptr, ptr %7, align 8, !tbaa !5
  %345 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %344, i32 0, i32 24
  %346 = load i32, ptr %17, align 4, !tbaa !11
  %347 = zext i32 %346 to i64
  %348 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %345, i64 noundef %347) #6
  %349 = load ptr, ptr %7, align 8, !tbaa !5
  %350 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %349, i32 0, i32 11
  %351 = load i32, ptr %17, align 4, !tbaa !11
  %352 = zext i32 %351 to i64
  %353 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %350, i64 noundef %352) #6
  %354 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %348, ptr noundef nonnull align 1 dereferenceable(1) %353)
  %355 = getelementptr inbounds { ptr, ptr }, ptr %30, i32 0, i32 0
  %356 = extractvalue { ptr, ptr } %354, 0
  store ptr %356, ptr %355, align 8
  %357 = getelementptr inbounds { ptr, ptr }, ptr %30, i32 0, i32 1
  %358 = extractvalue { ptr, ptr } %354, 1
  store ptr %358, ptr %357, align 8
  %359 = load ptr, ptr %7, align 8, !tbaa !5
  %360 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %359, i32 0, i32 26
  %361 = load i32, ptr %17, align 4, !tbaa !11
  %362 = zext i32 %361 to i64
  %363 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %360, i64 noundef %362) #6
  %364 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen7ProductINS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %363, ptr noundef nonnull align 1 dereferenceable(1) %30)
  call void @llvm.lifetime.end.p0(i64 16, ptr %30) #6
  %365 = load ptr, ptr %7, align 8, !tbaa !5
  %366 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %365, i32 0, i32 11
  %367 = load i32, ptr %17, align 4, !tbaa !11
  %368 = zext i32 %367 to i64
  %369 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %366, i64 noundef %368) #6
  %370 = load ptr, ptr %7, align 8, !tbaa !5
  %371 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %370, i32 0, i32 26
  %372 = load i32, ptr %17, align 4, !tbaa !11
  %373 = zext i32 %372 to i64
  %374 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %371, i64 noundef %373) #6
  %375 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %369, ptr noundef nonnull align 1 dereferenceable(1) %374)
  %376 = load ptr, ptr %7, align 8, !tbaa !5
  %377 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %376, i32 0, i32 27
  %378 = load i32, ptr %17, align 4, !tbaa !11
  %379 = zext i32 %378 to i64
  %380 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %377, i64 noundef %379)
  store double %375, ptr %380, align 8, !tbaa !9
  %381 = load ptr, ptr %10, align 8, !tbaa !5
  %382 = load i32, ptr %29, align 4, !tbaa !11
  %383 = zext i32 %382 to i64
  %384 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %381, i64 noundef %383)
  %385 = load double, ptr %384, align 8, !tbaa !9
  %386 = load ptr, ptr %7, align 8, !tbaa !5
  %387 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %386, i32 0, i32 11
  %388 = load i32, ptr %17, align 4, !tbaa !11
  %389 = zext i32 %388 to i64
  %390 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %387, i64 noundef %389) #6
  %391 = load ptr, ptr %7, align 8, !tbaa !5
  %392 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %391, i32 0, i32 25
  %393 = load i32, ptr %17, align 4, !tbaa !11
  %394 = zext i32 %393 to i64
  %395 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %392, i64 noundef %394) #6
  %396 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %390, ptr noundef nonnull align 1 dereferenceable(1) %395)
  %397 = fsub double %385, %396
  %398 = load ptr, ptr %7, align 8, !tbaa !5
  %399 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %398, i32 0, i32 28
  %400 = load i32, ptr %17, align 4, !tbaa !11
  %401 = zext i32 %400 to i64
  %402 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %399, i64 noundef %401)
  store double %397, ptr %402, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %31) #6
  %403 = load ptr, ptr %7, align 8, !tbaa !5
  %404 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %403, i32 0, i32 0
  %405 = load i32, ptr %17, align 4, !tbaa !11
  %406 = zext i32 %405 to i64
  %407 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %404, i64 noundef %406) #6
  %408 = load i32, ptr %407, align 4, !tbaa !11
  store i32 %408, ptr %31, align 4, !tbaa !11
  %409 = load i32, ptr %31, align 4, !tbaa !11
  %410 = icmp ne i32 %409, 0
  br i1 %410, label %411, label %498

411:                                              ; preds = %343
  call void @llvm.lifetime.start.p0(i64 288, ptr %32) #6
  call void @llvm.lifetime.start.p0(i64 56, ptr %33) #6
  %412 = load ptr, ptr %7, align 8, !tbaa !5
  %413 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %412, i32 0, i32 24
  %414 = load i32, ptr %17, align 4, !tbaa !11
  %415 = zext i32 %414 to i64
  %416 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %413, i64 noundef %415) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %34) #6
  %417 = load ptr, ptr %7, align 8, !tbaa !5
  %418 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %417, i32 0, i32 26
  %419 = load i32, ptr %17, align 4, !tbaa !11
  %420 = zext i32 %419 to i64
  %421 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %418, i64 noundef %420) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %35) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %36) #6
  %422 = load ptr, ptr %7, align 8, !tbaa !5
  %423 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %422, i32 0, i32 26
  %424 = load i32, ptr %17, align 4, !tbaa !11
  %425 = zext i32 %424 to i64
  %426 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %423, i64 noundef %425) #6
  %427 = load ptr, ptr %7, align 8, !tbaa !5
  %428 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %427, i32 0, i32 27
  %429 = load i32, ptr %17, align 4, !tbaa !11
  %430 = zext i32 %429 to i64
  %431 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %428, i64 noundef %430)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEdvIdEEKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.414") align 8 %36, ptr noundef nonnull align 1 dereferenceable(1) %426, ptr noundef nonnull align 8 dereferenceable(8) %431)
  call void @_ZNK5Eigen9DenseBaseINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEE9transposeEv(ptr dead_on_unwind writable sret(%"class.Eigen::Transpose.408") align 8 %35, ptr noundef nonnull align 1 dereferenceable(1) %36)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlINS_9TransposeIKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKS2_KNS_14CwiseNullaryOpINS7_18scalar_constant_opIdEESA_EEEEEEEEKNS_7ProductIS2_T_Li0EEERKNS0_ISK_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.401") align 8 %34, ptr noundef nonnull align 1 dereferenceable(1) %421, ptr noundef nonnull align 1 dereferenceable(1) %35)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS1_IdLi6ELi1ELi0ELi6ELi1EEENS_9TransposeIKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKS6_KNS_14CwiseNullaryOpINS9_18scalar_constant_opIdEESC_EEEEEELi0EEEEEKNS8_INS9_20scalar_difference_opIdNS9_6traitsIT_E6ScalarEEEKS2_KSO_EERKNS0_ISO_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.395") align 8 %33, ptr noundef nonnull align 1 dereferenceable(1) %416, ptr noundef nonnull align 1 dereferenceable(1) %34)
  call void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS6_IdLi6ELi1ELi0ELi6ELi1EEENS1_9TransposeIKNS2_INS3_18scalar_quotient_opIddEEKSA_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEESE_EEEEEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288) %32, ptr noundef nonnull align 1 dereferenceable(1) %33)
  call void @llvm.lifetime.end.p0(i64 32, ptr %36) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %35) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %34) #6
  call void @llvm.lifetime.end.p0(i64 56, ptr %33) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %37) #6
  call void @llvm.lifetime.start.p0(i64 112, ptr %38) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %39) #6
  %432 = load ptr, ptr %7, align 8, !tbaa !5
  %433 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %432, i32 0, i32 25
  %434 = load i32, ptr %17, align 4, !tbaa !11
  %435 = zext i32 %434 to i64
  %436 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %433, i64 noundef %435) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %40) #6
  %437 = load ptr, ptr %7, align 8, !tbaa !5
  %438 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %437, i32 0, i32 23
  %439 = load i32, ptr %17, align 4, !tbaa !11
  %440 = zext i32 %439 to i64
  %441 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %438, i64 noundef %440) #6
  %442 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %32, ptr noundef nonnull align 1 dereferenceable(1) %441)
  %443 = getelementptr inbounds { ptr, ptr }, ptr %40, i32 0, i32 0
  %444 = extractvalue { ptr, ptr } %442, 0
  store ptr %444, ptr %443, align 8
  %445 = getelementptr inbounds { ptr, ptr }, ptr %40, i32 0, i32 1
  %446 = extractvalue { ptr, ptr } %442, 1
  store ptr %446, ptr %445, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS9_6traitsIT_E6ScalarEEEKS2_KSC_EERKNS0_ISC_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.428") align 8 %39, ptr noundef nonnull align 1 dereferenceable(1) %436, ptr noundef nonnull align 1 dereferenceable(1) %40)
  call void @llvm.lifetime.start.p0(i64 64, ptr %41) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %42) #6
  %447 = load ptr, ptr %7, align 8, !tbaa !5
  %448 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %447, i32 0, i32 26
  %449 = load i32, ptr %17, align 4, !tbaa !11
  %450 = zext i32 %449 to i64
  %451 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %448, i64 noundef %450) #6
  %452 = load ptr, ptr %7, align 8, !tbaa !5
  %453 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %452, i32 0, i32 28
  %454 = load i32, ptr %17, align 4, !tbaa !11
  %455 = zext i32 %454 to i64
  %456 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %453, i64 noundef %455)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8 %42, ptr noundef nonnull align 1 dereferenceable(1) %451, ptr noundef nonnull align 8 dereferenceable(8) %456)
  %457 = load ptr, ptr %7, align 8, !tbaa !5
  %458 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %457, i32 0, i32 27
  %459 = load i32, ptr %17, align 4, !tbaa !11
  %460 = zext i32 %459 to i64
  %461 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %458, i64 noundef %460)
  call void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEdvIdEEKNS1_INS2_18scalar_quotient_opIdNS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdSI_NSG_IdSI_EEEEEE5valueEE4typeEEEKSD_KNS2_19plain_constant_typeISD_SN_E4typeEEERKSI_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.435") align 8 %41, ptr noundef nonnull align 1 dereferenceable(1) %42, ptr noundef nonnull align 8 dereferenceable(8) %461)
  call void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_7ProductINS5_IdLi6ELi6ELi0ELi6ELi6EEES6_Li0EEEEEEplINS1_INS2_18scalar_quotient_opIddEEKNS1_INS2_17scalar_product_opIddEES7_KNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEESN_EEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKSC_KSS_EERKNS0_ISS_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.422") align 8 %38, ptr noundef nonnull align 1 dereferenceable(1) %39, ptr noundef nonnull align 1 dereferenceable(1) %41)
  call void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi6ELi0ELi6ELi6EEES7_Li0EEEEEKNS2_INS3_18scalar_quotient_opIddEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEESN_EEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %37, ptr noundef nonnull align 1 dereferenceable(1) %38)
  call void @llvm.lifetime.end.p0(i64 32, ptr %42) #6
  call void @llvm.lifetime.end.p0(i64 64, ptr %41) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %40) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %39) #6
  call void @llvm.lifetime.end.p0(i64 112, ptr %38) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %43) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %44) #6
  call void @llvm.lifetime.start.p0(i64 288, ptr %45) #6
  %462 = load ptr, ptr %7, align 8, !tbaa !5
  %463 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %462, i32 0, i32 34
  %464 = load i32, ptr %17, align 4, !tbaa !11
  %465 = zext i32 %464 to i64
  %466 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %463, i64 noundef %465) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform17toMatrixTransposeEv(ptr dead_on_unwind writable sret(%class.SpatialMatrix_t) align 16 %45, ptr noundef nonnull align 8 dereferenceable(96) %466)
  %467 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %45, ptr noundef nonnull align 1 dereferenceable(1) %32)
  %468 = getelementptr inbounds { ptr, ptr }, ptr %44, i32 0, i32 0
  %469 = extractvalue { ptr, ptr } %467, 0
  store ptr %469, ptr %468, align 8
  %470 = getelementptr inbounds { ptr, ptr }, ptr %44, i32 0, i32 1
  %471 = extractvalue { ptr, ptr } %467, 1
  store ptr %471, ptr %470, align 8
  call void @llvm.lifetime.start.p0(i64 288, ptr %46) #6
  %472 = load ptr, ptr %7, align 8, !tbaa !5
  %473 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %472, i32 0, i32 34
  %474 = load i32, ptr %17, align 4, !tbaa !11
  %475 = zext i32 %474 to i64
  %476 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %473, i64 noundef %475) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind writable sret(%class.SpatialMatrix_t) align 16 %46, ptr noundef nonnull align 8 dereferenceable(96) %476)
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEES3_Li0EEEEmlIS3_EEKNS1_IS4_T_Li0EEERKNS0_IS7_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.443") align 8 %43, ptr noundef nonnull align 1 dereferenceable(1) %44, ptr noundef nonnull align 1 dereferenceable(1) %46)
  call void @llvm.lifetime.start.p0(i64 8, ptr %47) #6
  %477 = load ptr, ptr %7, align 8, !tbaa !5
  %478 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %477, i32 0, i32 24
  %479 = load i32, ptr %31, align 4, !tbaa !11
  %480 = zext i32 %479 to i64
  %481 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %478, i64 noundef %480) #6
  %482 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %481)
  %483 = getelementptr inbounds %"class.Eigen::NoAlias", ptr %47, i32 0, i32 0
  store ptr %482, ptr %483, align 8
  %484 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS_10MatrixBaseEEpLINS_7ProductINS6_IS2_S2_Li0EEES2_Li0EEEEERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %47, ptr noundef nonnull align 1 dereferenceable(1) %43)
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr %46) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr %45) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %44) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %43) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %48) #6
  %485 = load ptr, ptr %7, align 8, !tbaa !5
  %486 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %485, i32 0, i32 34
  %487 = load i32, ptr %17, align 4, !tbaa !11
  %488 = zext i32 %487 to i64
  %489 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %486, i64 noundef %488) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %48, ptr noundef nonnull align 8 dereferenceable(96) %489, ptr noundef nonnull align 16 dereferenceable(48) %37)
  call void @llvm.lifetime.start.p0(i64 8, ptr %49) #6
  %490 = load ptr, ptr %7, align 8, !tbaa !5
  %491 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %490, i32 0, i32 25
  %492 = load i32, ptr %31, align 4, !tbaa !11
  %493 = zext i32 %492 to i64
  %494 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %491, i64 noundef %493) #6
  %495 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %494)
  %496 = getelementptr inbounds %"class.Eigen::NoAlias.457", ptr %49, i32 0, i32 0
  store ptr %495, ptr %496, align 8
  %497 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEENS_10MatrixBaseEEpLIS2_EERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %49, ptr noundef nonnull align 1 dereferenceable(1) %48)
  call void @llvm.lifetime.end.p0(i64 8, ptr %49) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %48) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %37) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr %32) #6
  br label %498

498:                                              ; preds = %411, %343
  call void @llvm.lifetime.end.p0(i64 4, ptr %31) #6
  br label %1018

499:                                              ; preds = %334, %318
  %500 = load ptr, ptr %7, align 8, !tbaa !5
  %501 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %500, i32 0, i32 10
  %502 = load i32, ptr %17, align 4, !tbaa !11
  %503 = zext i32 %502 to i64
  %504 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %501, i64 noundef %503) #6
  %505 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %504, i32 0, i32 2
  %506 = load i32, ptr %505, align 4, !tbaa !18
  %507 = icmp eq i32 %506, 3
  br i1 %507, label %508, label %702

508:                                              ; preds = %499
  %509 = load ptr, ptr %7, align 8, !tbaa !5
  %510 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %509, i32 0, i32 10
  %511 = load i32, ptr %17, align 4, !tbaa !11
  %512 = zext i32 %511 to i64
  %513 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %510, i64 noundef %512) #6
  %514 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %513, i32 0, i32 1
  %515 = load i32, ptr %514, align 8, !tbaa !19
  %516 = icmp ne i32 %515, 21
  br i1 %516, label %517, label %702

517:                                              ; preds = %508
  call void @llvm.lifetime.start.p0(i64 16, ptr %50) #6
  %518 = load ptr, ptr %7, align 8, !tbaa !5
  %519 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %518, i32 0, i32 24
  %520 = load i32, ptr %17, align 4, !tbaa !11
  %521 = zext i32 %520 to i64
  %522 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %519, i64 noundef %521) #6
  %523 = load ptr, ptr %7, align 8, !tbaa !5
  %524 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %523, i32 0, i32 17
  %525 = load i32, ptr %17, align 4, !tbaa !11
  %526 = zext i32 %525 to i64
  %527 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %524, i64 noundef %526) #6
  %528 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi3ELi0ELi6ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %522, ptr noundef nonnull align 1 dereferenceable(1) %527)
  %529 = getelementptr inbounds { ptr, ptr }, ptr %50, i32 0, i32 0
  %530 = extractvalue { ptr, ptr } %528, 0
  store ptr %530, ptr %529, align 8
  %531 = getelementptr inbounds { ptr, ptr }, ptr %50, i32 0, i32 1
  %532 = extractvalue { ptr, ptr } %528, 1
  store ptr %532, ptr %531, align 8
  %533 = load ptr, ptr %7, align 8, !tbaa !5
  %534 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %533, i32 0, i32 18
  %535 = load i32, ptr %17, align 4, !tbaa !11
  %536 = zext i32 %535 to i64
  %537 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %534, i64 noundef %536) #6
  %538 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEaSINS_7ProductINS0_IdLi6ELi6ELi0ELi6ELi6EEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(144) %537, ptr noundef nonnull align 1 dereferenceable(1) %50)
  call void @llvm.lifetime.end.p0(i64 16, ptr %50) #6
  call void @llvm.lifetime.start.p0(i64 72, ptr %51) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %52) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %53) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %54) #6
  %539 = load ptr, ptr %7, align 8, !tbaa !5
  %540 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %539, i32 0, i32 17
  %541 = load i32, ptr %17, align 4, !tbaa !11
  %542 = zext i32 %541 to i64
  %543 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %540, i64 noundef %542) #6
  %544 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %543)
  %545 = getelementptr inbounds %"class.Eigen::Transpose", ptr %54, i32 0, i32 0
  store ptr %544, ptr %545, align 8
  %546 = load ptr, ptr %7, align 8, !tbaa !5
  %547 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %546, i32 0, i32 18
  %548 = load i32, ptr %17, align 4, !tbaa !11
  %549 = zext i32 %548 to i64
  %550 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %547, i64 noundef %549) #6
  %551 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %54, ptr noundef nonnull align 1 dereferenceable(1) %550)
  %552 = getelementptr inbounds { ptr, ptr }, ptr %53, i32 0, i32 0
  %553 = extractvalue { ptr, ptr } %551, 0
  store ptr %553, ptr %552, align 8
  %554 = getelementptr inbounds { ptr, ptr }, ptr %53, i32 0, i32 1
  %555 = extractvalue { ptr, ptr } %551, 1
  store ptr %555, ptr %554, align 8
  %556 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEES4_Li0EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1) %53)
  %557 = getelementptr inbounds %"class.Eigen::Inverse", ptr %52, i32 0, i32 0
  %558 = getelementptr inbounds { ptr, ptr }, ptr %557, i32 0, i32 0
  %559 = extractvalue { ptr, ptr } %556, 0
  store ptr %559, ptr %558, align 8
  %560 = getelementptr inbounds { ptr, ptr }, ptr %557, i32 0, i32 1
  %561 = extractvalue { ptr, ptr } %556, 1
  store ptr %561, ptr %560, align 8
  call void @_ZNK5Eigen9DenseBaseINS_7InverseINS_7ProductINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEES5_Li0EEEEEE4evalEv(ptr dead_on_unwind writable sret(%"class.Eigen::Matrix.104") align 8 %51, ptr noundef nonnull align 1 dereferenceable(1) %52)
  %562 = load ptr, ptr %7, align 8, !tbaa !5
  %563 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %562, i32 0, i32 19
  %564 = load i32, ptr %17, align 4, !tbaa !11
  %565 = zext i32 %564 to i64
  %566 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %563, i64 noundef %565) #6
  %567 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZN9Matrix3_taSIN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72) %566, ptr noundef nonnull align 1 dereferenceable(1) %51)
  call void @llvm.lifetime.end.p0(i64 8, ptr %54) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %53) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %52) #6
  call void @llvm.lifetime.end.p0(i64 72, ptr %51) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %55) #6
  call void @llvm.lifetime.start.p0(i64 56, ptr %56) #6
  %568 = load ptr, ptr %10, align 8, !tbaa !5
  %569 = load i32, ptr %29, align 4, !tbaa !11
  %570 = zext i32 %569 to i64
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIiiEEKNS3_18ConstFixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block.462") align 8 %56, ptr noundef nonnull align 1 dereferenceable(1) %568, i64 noundef %570, i64 noundef 0, i32 noundef 3, i32 noundef 1)
  call void @_ZN9Vector3_tC2IN5Eigen5BlockIKNS1_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %55, ptr noundef nonnull align 1 dereferenceable(1) %56)
  call void @llvm.lifetime.end.p0(i64 56, ptr %56) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %57) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %58) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %59) #6
  %571 = load ptr, ptr %7, align 8, !tbaa !5
  %572 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %571, i32 0, i32 17
  %573 = load i32, ptr %17, align 4, !tbaa !11
  %574 = zext i32 %573 to i64
  %575 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %572, i64 noundef %574) #6
  %576 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %575)
  %577 = getelementptr inbounds %"class.Eigen::Transpose", ptr %59, i32 0, i32 0
  store ptr %576, ptr %577, align 8
  %578 = load ptr, ptr %7, align 8, !tbaa !5
  %579 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %578, i32 0, i32 25
  %580 = load i32, ptr %17, align 4, !tbaa !11
  %581 = zext i32 %580 to i64
  %582 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %579, i64 noundef %581) #6
  %583 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %59, ptr noundef nonnull align 1 dereferenceable(1) %582)
  %584 = getelementptr inbounds { ptr, ptr }, ptr %58, i32 0, i32 0
  %585 = extractvalue { ptr, ptr } %583, 0
  store ptr %585, ptr %584, align 8
  %586 = getelementptr inbounds { ptr, ptr }, ptr %58, i32 0, i32 1
  %587 = extractvalue { ptr, ptr } %583, 1
  store ptr %587, ptr %586, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.471") align 8 %57, ptr noundef nonnull align 1 dereferenceable(1) %55, ptr noundef nonnull align 1 dereferenceable(1) %58)
  %588 = load ptr, ptr %7, align 8, !tbaa !5
  %589 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %588, i32 0, i32 20
  %590 = load i32, ptr %17, align 4, !tbaa !11
  %591 = zext i32 %590 to i64
  %592 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %589, i64 noundef %591) #6
  %593 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_7ProductINS1_9TransposeINS6_IdLi6ELi3ELi0ELi6ELi3EEEEENS6_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %592, ptr noundef nonnull align 1 dereferenceable(1) %57)
  call void @llvm.lifetime.end.p0(i64 8, ptr %59) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %58) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %57) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %60) #6
  %594 = load ptr, ptr %7, align 8, !tbaa !5
  %595 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %594, i32 0, i32 0
  %596 = load i32, ptr %17, align 4, !tbaa !11
  %597 = zext i32 %596 to i64
  %598 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %595, i64 noundef %597) #6
  %599 = load i32, ptr %598, align 4, !tbaa !11
  store i32 %599, ptr %60, align 4, !tbaa !11
  %600 = load i32, ptr %60, align 4, !tbaa !11
  %601 = icmp ne i32 %600, 0
  br i1 %601, label %602, label %701

602:                                              ; preds = %517
  call void @llvm.lifetime.start.p0(i64 288, ptr %61) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %62) #6
  %603 = load ptr, ptr %7, align 8, !tbaa !5
  %604 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %603, i32 0, i32 24
  %605 = load i32, ptr %17, align 4, !tbaa !11
  %606 = zext i32 %605 to i64
  %607 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %604, i64 noundef %606) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %63) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %64) #6
  %608 = load ptr, ptr %7, align 8, !tbaa !5
  %609 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %608, i32 0, i32 18
  %610 = load i32, ptr %17, align 4, !tbaa !11
  %611 = zext i32 %610 to i64
  %612 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %609, i64 noundef %611) #6
  %613 = load ptr, ptr %7, align 8, !tbaa !5
  %614 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %613, i32 0, i32 19
  %615 = load i32, ptr %17, align 4, !tbaa !11
  %616 = zext i32 %615 to i64
  %617 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %614, i64 noundef %616) #6
  %618 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %612, ptr noundef nonnull align 1 dereferenceable(1) %617)
  %619 = getelementptr inbounds { ptr, ptr }, ptr %64, i32 0, i32 0
  %620 = extractvalue { ptr, ptr } %618, 0
  store ptr %620, ptr %619, align 8
  %621 = getelementptr inbounds { ptr, ptr }, ptr %64, i32 0, i32 1
  %622 = extractvalue { ptr, ptr } %618, 1
  store ptr %622, ptr %621, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %65) #6
  %623 = load ptr, ptr %7, align 8, !tbaa !5
  %624 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %623, i32 0, i32 18
  %625 = load i32, ptr %17, align 4, !tbaa !11
  %626 = zext i32 %625 to i64
  %627 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %624, i64 noundef %626) #6
  %628 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %627)
  %629 = getelementptr inbounds %"class.Eigen::Transpose", ptr %65, i32 0, i32 0
  store ptr %628, ptr %629, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS2_IdLi3ELi3ELi0ELi3ELi3EEELi0EEEEmlINS_9TransposeIS3_EEEEKNS1_IS5_T_Li0EEERKNS0_ISA_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.484") align 8 %63, ptr noundef nonnull align 1 dereferenceable(1) %64, ptr noundef nonnull align 1 dereferenceable(1) %65)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS5_INS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS_9TransposeIS6_EELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSD_6traitsIT_E6ScalarEEEKS2_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.478") align 8 %62, ptr noundef nonnull align 1 dereferenceable(1) %607, ptr noundef nonnull align 1 dereferenceable(1) %63)
  call void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS1_9TransposeISA_EELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288) %61, ptr noundef nonnull align 1 dereferenceable(1) %62)
  call void @llvm.lifetime.end.p0(i64 8, ptr %65) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %64) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %63) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %62) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %66) #6
  call void @llvm.lifetime.start.p0(i64 72, ptr %67) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %68) #6
  %630 = load ptr, ptr %7, align 8, !tbaa !5
  %631 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %630, i32 0, i32 25
  %632 = load i32, ptr %17, align 4, !tbaa !11
  %633 = zext i32 %632 to i64
  %634 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %631, i64 noundef %633) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %69) #6
  %635 = load ptr, ptr %7, align 8, !tbaa !5
  %636 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %635, i32 0, i32 23
  %637 = load i32, ptr %17, align 4, !tbaa !11
  %638 = zext i32 %637 to i64
  %639 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %636, i64 noundef %638) #6
  %640 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %61, ptr noundef nonnull align 1 dereferenceable(1) %639)
  %641 = getelementptr inbounds { ptr, ptr }, ptr %69, i32 0, i32 0
  %642 = extractvalue { ptr, ptr } %640, 0
  store ptr %642, ptr %641, align 8
  %643 = getelementptr inbounds { ptr, ptr }, ptr %69, i32 0, i32 1
  %644 = extractvalue { ptr, ptr } %640, 1
  store ptr %644, ptr %643, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS9_6traitsIT_E6ScalarEEEKS2_KSC_EERKNS0_ISC_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.428") align 8 %68, ptr noundef nonnull align 1 dereferenceable(1) %634, ptr noundef nonnull align 1 dereferenceable(1) %69)
  call void @llvm.lifetime.start.p0(i64 24, ptr %70) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %71) #6
  %645 = load ptr, ptr %7, align 8, !tbaa !5
  %646 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %645, i32 0, i32 18
  %647 = load i32, ptr %17, align 4, !tbaa !11
  %648 = zext i32 %647 to i64
  %649 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %646, i64 noundef %648) #6
  %650 = load ptr, ptr %7, align 8, !tbaa !5
  %651 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %650, i32 0, i32 19
  %652 = load i32, ptr %17, align 4, !tbaa !11
  %653 = zext i32 %652 to i64
  %654 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %651, i64 noundef %653) #6
  %655 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %649, ptr noundef nonnull align 1 dereferenceable(1) %654)
  %656 = getelementptr inbounds { ptr, ptr }, ptr %71, i32 0, i32 0
  %657 = extractvalue { ptr, ptr } %655, 0
  store ptr %657, ptr %656, align 8
  %658 = getelementptr inbounds { ptr, ptr }, ptr %71, i32 0, i32 1
  %659 = extractvalue { ptr, ptr } %655, 1
  store ptr %659, ptr %658, align 8
  %660 = load ptr, ptr %7, align 8, !tbaa !5
  %661 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %660, i32 0, i32 20
  %662 = load i32, ptr %17, align 4, !tbaa !11
  %663 = zext i32 %662 to i64
  %664 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %661, i64 noundef %663) #6
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS2_IdLi3ELi3ELi0ELi3ELi3EEELi0EEEEmlINS2_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS1_IS5_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.505") align 8 %70, ptr noundef nonnull align 1 dereferenceable(1) %71, ptr noundef nonnull align 1 dereferenceable(1) %664)
  call void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_7ProductINS5_IdLi6ELi6ELi0ELi6ELi6EEES6_Li0EEEEEEplINS8_INS8_INS5_IdLi6ELi3ELi0ELi6ELi3EEENS5_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS5_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKSC_KSL_EERKNS0_ISL_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.499") align 8 %67, ptr noundef nonnull align 1 dereferenceable(1) %68, ptr noundef nonnull align 1 dereferenceable(1) %70)
  call void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi6ELi0ELi6ELi6EEES7_Li0EEEEEKNS9_INS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %66, ptr noundef nonnull align 1 dereferenceable(1) %67)
  call void @llvm.lifetime.end.p0(i64 16, ptr %71) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %70) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %69) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %68) #6
  call void @llvm.lifetime.end.p0(i64 72, ptr %67) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %72) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %73) #6
  call void @llvm.lifetime.start.p0(i64 288, ptr %74) #6
  %665 = load ptr, ptr %7, align 8, !tbaa !5
  %666 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %665, i32 0, i32 34
  %667 = load i32, ptr %17, align 4, !tbaa !11
  %668 = zext i32 %667 to i64
  %669 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %666, i64 noundef %668) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform17toMatrixTransposeEv(ptr dead_on_unwind writable sret(%class.SpatialMatrix_t) align 16 %74, ptr noundef nonnull align 8 dereferenceable(96) %669)
  %670 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %74, ptr noundef nonnull align 1 dereferenceable(1) %61)
  %671 = getelementptr inbounds { ptr, ptr }, ptr %73, i32 0, i32 0
  %672 = extractvalue { ptr, ptr } %670, 0
  store ptr %672, ptr %671, align 8
  %673 = getelementptr inbounds { ptr, ptr }, ptr %73, i32 0, i32 1
  %674 = extractvalue { ptr, ptr } %670, 1
  store ptr %674, ptr %673, align 8
  call void @llvm.lifetime.start.p0(i64 288, ptr %75) #6
  %675 = load ptr, ptr %7, align 8, !tbaa !5
  %676 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %675, i32 0, i32 34
  %677 = load i32, ptr %17, align 4, !tbaa !11
  %678 = zext i32 %677 to i64
  %679 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %676, i64 noundef %678) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind writable sret(%class.SpatialMatrix_t) align 16 %75, ptr noundef nonnull align 8 dereferenceable(96) %679)
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEES3_Li0EEEEmlIS3_EEKNS1_IS4_T_Li0EEERKNS0_IS7_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.443") align 8 %72, ptr noundef nonnull align 1 dereferenceable(1) %73, ptr noundef nonnull align 1 dereferenceable(1) %75)
  call void @llvm.lifetime.start.p0(i64 8, ptr %76) #6
  %680 = load ptr, ptr %7, align 8, !tbaa !5
  %681 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %680, i32 0, i32 24
  %682 = load i32, ptr %60, align 4, !tbaa !11
  %683 = zext i32 %682 to i64
  %684 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %681, i64 noundef %683) #6
  %685 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %684)
  %686 = getelementptr inbounds %"class.Eigen::NoAlias", ptr %76, i32 0, i32 0
  store ptr %685, ptr %686, align 8
  %687 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS_10MatrixBaseEEpLINS_7ProductINS6_IS2_S2_Li0EEES2_Li0EEEEERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %76, ptr noundef nonnull align 1 dereferenceable(1) %72)
  call void @llvm.lifetime.end.p0(i64 8, ptr %76) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr %75) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr %74) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %73) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %72) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %77) #6
  %688 = load ptr, ptr %7, align 8, !tbaa !5
  %689 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %688, i32 0, i32 34
  %690 = load i32, ptr %17, align 4, !tbaa !11
  %691 = zext i32 %690 to i64
  %692 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %689, i64 noundef %691) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %77, ptr noundef nonnull align 8 dereferenceable(96) %692, ptr noundef nonnull align 16 dereferenceable(48) %66)
  call void @llvm.lifetime.start.p0(i64 8, ptr %78) #6
  %693 = load ptr, ptr %7, align 8, !tbaa !5
  %694 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %693, i32 0, i32 25
  %695 = load i32, ptr %60, align 4, !tbaa !11
  %696 = zext i32 %695 to i64
  %697 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %694, i64 noundef %696) #6
  %698 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %697)
  %699 = getelementptr inbounds %"class.Eigen::NoAlias.457", ptr %78, i32 0, i32 0
  store ptr %698, ptr %699, align 8
  %700 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEENS_10MatrixBaseEEpLIS2_EERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %78, ptr noundef nonnull align 1 dereferenceable(1) %77)
  call void @llvm.lifetime.end.p0(i64 8, ptr %78) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %77) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %66) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr %61) #6
  br label %701

701:                                              ; preds = %602, %517
  call void @llvm.lifetime.end.p0(i64 4, ptr %60) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %55) #6
  br label %1017

702:                                              ; preds = %508, %499
  %703 = load ptr, ptr %7, align 8, !tbaa !5
  %704 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %703, i32 0, i32 10
  %705 = load i32, ptr %17, align 4, !tbaa !11
  %706 = zext i32 %705 to i64
  %707 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %704, i64 noundef %706) #6
  %708 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %707, i32 0, i32 1
  %709 = load i32, ptr %708, align 8, !tbaa !19
  %710 = icmp eq i32 %709, 21
  br i1 %710, label %711, label %1016

711:                                              ; preds = %702
  call void @llvm.lifetime.start.p0(i64 4, ptr %79) #6
  %712 = load ptr, ptr %7, align 8, !tbaa !5
  %713 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %712, i32 0, i32 10
  %714 = load i32, ptr %17, align 4, !tbaa !11
  %715 = zext i32 %714 to i64
  %716 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %713, i64 noundef %715) #6
  %717 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %716, i32 0, i32 4
  %718 = load i32, ptr %717, align 4, !tbaa !20
  store i32 %718, ptr %79, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %80) #6
  %719 = load ptr, ptr %7, align 8, !tbaa !5
  %720 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %719, i32 0, i32 22
  %721 = load i32, ptr %79, align 4, !tbaa !11
  %722 = zext i32 %721 to i64
  %723 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %720, i64 noundef %722) #6
  %724 = load ptr, ptr %723, align 8, !tbaa !5
  %725 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %724, i32 0, i32 1
  %726 = load i32, ptr %725, align 8, !tbaa !21
  store i32 %726, ptr %80, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 16, ptr %81) #6
  %727 = load ptr, ptr %7, align 8, !tbaa !5
  %728 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %727, i32 0, i32 24
  %729 = load i32, ptr %17, align 4, !tbaa !11
  %730 = zext i32 %729 to i64
  %731 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %728, i64 noundef %730) #6
  %732 = load ptr, ptr %7, align 8, !tbaa !5
  %733 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %732, i32 0, i32 22
  %734 = load i32, ptr %79, align 4, !tbaa !11
  %735 = zext i32 %734 to i64
  %736 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %733, i64 noundef %735) #6
  %737 = load ptr, ptr %736, align 8, !tbaa !5
  %738 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %737, i32 0, i32 3
  %739 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLin1ELin1ELi0ELin1ELin1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %731, ptr noundef nonnull align 1 dereferenceable(1) %738)
  %740 = getelementptr inbounds { ptr, ptr }, ptr %81, i32 0, i32 0
  %741 = extractvalue { ptr, ptr } %739, 0
  store ptr %741, ptr %740, align 8
  %742 = getelementptr inbounds { ptr, ptr }, ptr %81, i32 0, i32 1
  %743 = extractvalue { ptr, ptr } %739, 1
  store ptr %743, ptr %742, align 8
  %744 = load ptr, ptr %7, align 8, !tbaa !5
  %745 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %744, i32 0, i32 22
  %746 = load i32, ptr %79, align 4, !tbaa !11
  %747 = zext i32 %746 to i64
  %748 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %745, i64 noundef %747) #6
  %749 = load ptr, ptr %748, align 8, !tbaa !5
  %750 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %749, i32 0, i32 4
  %751 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_7ProductINS0_IdLi6ELi6ELi0ELi6ELi6EEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %750, ptr noundef nonnull align 1 dereferenceable(1) %81)
  call void @llvm.lifetime.end.p0(i64 16, ptr %81) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %82) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %83) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %84) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %85) #6
  %752 = load ptr, ptr %7, align 8, !tbaa !5
  %753 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %752, i32 0, i32 22
  %754 = load i32, ptr %79, align 4, !tbaa !11
  %755 = zext i32 %754 to i64
  %756 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %753, i64 noundef %755) #6
  %757 = load ptr, ptr %756, align 8, !tbaa !5
  %758 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %757, i32 0, i32 3
  %759 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %758)
  %760 = getelementptr inbounds %"class.Eigen::Transpose.221", ptr %85, i32 0, i32 0
  store ptr %759, ptr %760, align 8
  %761 = load ptr, ptr %7, align 8, !tbaa !5
  %762 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %761, i32 0, i32 22
  %763 = load i32, ptr %79, align 4, !tbaa !11
  %764 = zext i32 %763 to i64
  %765 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %762, i64 noundef %764) #6
  %766 = load ptr, ptr %765, align 8, !tbaa !5
  %767 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %766, i32 0, i32 4
  %768 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %85, ptr noundef nonnull align 1 dereferenceable(1) %767)
  %769 = getelementptr inbounds { ptr, ptr }, ptr %84, i32 0, i32 0
  %770 = extractvalue { ptr, ptr } %768, 0
  store ptr %770, ptr %769, align 8
  %771 = getelementptr inbounds { ptr, ptr }, ptr %84, i32 0, i32 1
  %772 = extractvalue { ptr, ptr } %768, 1
  store ptr %772, ptr %771, align 8
  %773 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEES4_Li0EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1) %84)
  %774 = getelementptr inbounds %"class.Eigen::Inverse.513", ptr %83, i32 0, i32 0
  %775 = getelementptr inbounds { ptr, ptr }, ptr %774, i32 0, i32 0
  %776 = extractvalue { ptr, ptr } %773, 0
  store ptr %776, ptr %775, align 8
  %777 = getelementptr inbounds { ptr, ptr }, ptr %774, i32 0, i32 1
  %778 = extractvalue { ptr, ptr } %773, 1
  store ptr %778, ptr %777, align 8
  call void @_ZNK5Eigen9DenseBaseINS_7InverseINS_7ProductINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEES5_Li0EEEEEE4evalEv(ptr dead_on_unwind writable sret(%"class.Eigen::Matrix.153") align 8 %82, ptr noundef nonnull align 1 dereferenceable(1) %83)
  %779 = load ptr, ptr %7, align 8, !tbaa !5
  %780 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %779, i32 0, i32 22
  %781 = load i32, ptr %79, align 4, !tbaa !11
  %782 = zext i32 %781 to i64
  %783 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %780, i64 noundef %782) #6
  %784 = load ptr, ptr %783, align 8, !tbaa !5
  %785 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %784, i32 0, i32 5
  %786 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %785, ptr noundef nonnull align 8 dereferenceable(24) %82)
          to label %787 unwind label %962

787:                                              ; preds = %711
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %82) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %85) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %84) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %83) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %82) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %88) #6
  call void @llvm.lifetime.start.p0(i64 56, ptr %89) #6
  %788 = load ptr, ptr %10, align 8, !tbaa !5
  %789 = load i32, ptr %29, align 4, !tbaa !11
  %790 = zext i32 %789 to i64
  %791 = load i32, ptr %80, align 4, !tbaa !11
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEEKNS3_18ConstFixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block.462") align 8 %89, ptr noundef nonnull align 1 dereferenceable(1) %788, i64 noundef %790, i64 noundef 0, i32 noundef %791, i32 noundef 1)
  call void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_5BlockIKS1_Lin1ELin1ELb0EEEEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %88, ptr noundef nonnull align 8 dereferenceable(56) %89)
  call void @llvm.lifetime.end.p0(i64 56, ptr %89) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %90) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %91) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %92) #6
  %792 = load ptr, ptr %7, align 8, !tbaa !5
  %793 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %792, i32 0, i32 22
  %794 = load i32, ptr %79, align 4, !tbaa !11
  %795 = zext i32 %794 to i64
  %796 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %793, i64 noundef %795) #6
  %797 = load ptr, ptr %796, align 8, !tbaa !5
  %798 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %797, i32 0, i32 3
  %799 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %798)
          to label %800 unwind label %966

800:                                              ; preds = %787
  %801 = getelementptr inbounds %"class.Eigen::Transpose.221", ptr %92, i32 0, i32 0
  store ptr %799, ptr %801, align 8
  %802 = load ptr, ptr %7, align 8, !tbaa !5
  %803 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %802, i32 0, i32 25
  %804 = load i32, ptr %17, align 4, !tbaa !11
  %805 = zext i32 %804 to i64
  %806 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %803, i64 noundef %805) #6
  %807 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %92, ptr noundef nonnull align 1 dereferenceable(1) %806)
          to label %808 unwind label %966

808:                                              ; preds = %800
  %809 = getelementptr inbounds { ptr, ptr }, ptr %91, i32 0, i32 0
  %810 = extractvalue { ptr, ptr } %807, 0
  store ptr %810, ptr %809, align 8
  %811 = getelementptr inbounds { ptr, ptr }, ptr %91, i32 0, i32 1
  %812 = extractvalue { ptr, ptr } %807, 1
  store ptr %812, ptr %811, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.519") align 8 %90, ptr noundef nonnull align 1 dereferenceable(1) %88, ptr noundef nonnull align 1 dereferenceable(1) %91)
          to label %813 unwind label %966

813:                                              ; preds = %808
  %814 = load ptr, ptr %7, align 8, !tbaa !5
  %815 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %814, i32 0, i32 22
  %816 = load i32, ptr %79, align 4, !tbaa !11
  %817 = zext i32 %816 to i64
  %818 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %815, i64 noundef %817) #6
  %819 = load ptr, ptr %818, align 8, !tbaa !5
  %820 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %819, i32 0, i32 6
  %821 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS_7ProductINS_9TransposeINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %820, ptr noundef nonnull align 1 dereferenceable(1) %90)
          to label %822 unwind label %966

822:                                              ; preds = %813
  call void @llvm.lifetime.end.p0(i64 8, ptr %92) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %91) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %90) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %93) #6
  %823 = load ptr, ptr %7, align 8, !tbaa !5
  %824 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %823, i32 0, i32 0
  %825 = load i32, ptr %17, align 4, !tbaa !11
  %826 = zext i32 %825 to i64
  %827 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %824, i64 noundef %826) #6
  %828 = load i32, ptr %827, align 4, !tbaa !11
  store i32 %828, ptr %93, align 4, !tbaa !11
  %829 = load i32, ptr %93, align 4, !tbaa !11
  %830 = icmp ne i32 %829, 0
  br i1 %830, label %831, label %1013

831:                                              ; preds = %822
  call void @llvm.lifetime.start.p0(i64 288, ptr %94) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %95) #6
  %832 = load ptr, ptr %7, align 8, !tbaa !5
  %833 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %832, i32 0, i32 24
  %834 = load i32, ptr %17, align 4, !tbaa !11
  %835 = zext i32 %834 to i64
  %836 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %833, i64 noundef %835) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %96) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %97) #6
  %837 = load ptr, ptr %7, align 8, !tbaa !5
  %838 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %837, i32 0, i32 22
  %839 = load i32, ptr %79, align 4, !tbaa !11
  %840 = zext i32 %839 to i64
  %841 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %838, i64 noundef %840) #6
  %842 = load ptr, ptr %841, align 8, !tbaa !5
  %843 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %842, i32 0, i32 4
  %844 = load ptr, ptr %7, align 8, !tbaa !5
  %845 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %844, i32 0, i32 22
  %846 = load i32, ptr %79, align 4, !tbaa !11
  %847 = zext i32 %846 to i64
  %848 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %845, i64 noundef %847) #6
  %849 = load ptr, ptr %848, align 8, !tbaa !5
  %850 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %849, i32 0, i32 5
  %851 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %843, ptr noundef nonnull align 1 dereferenceable(1) %850)
          to label %852 unwind label %970

852:                                              ; preds = %831
  %853 = getelementptr inbounds { ptr, ptr }, ptr %97, i32 0, i32 0
  %854 = extractvalue { ptr, ptr } %851, 0
  store ptr %854, ptr %853, align 8
  %855 = getelementptr inbounds { ptr, ptr }, ptr %97, i32 0, i32 1
  %856 = extractvalue { ptr, ptr } %851, 1
  store ptr %856, ptr %855, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %98) #6
  %857 = load ptr, ptr %7, align 8, !tbaa !5
  %858 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %857, i32 0, i32 22
  %859 = load i32, ptr %79, align 4, !tbaa !11
  %860 = zext i32 %859 to i64
  %861 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %858, i64 noundef %860) #6
  %862 = load ptr, ptr %861, align 8, !tbaa !5
  %863 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %862, i32 0, i32 4
  %864 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %863)
          to label %865 unwind label %974

865:                                              ; preds = %852
  %866 = getelementptr inbounds %"class.Eigen::Transpose.221", ptr %98, i32 0, i32 0
  store ptr %864, ptr %866, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEES3_Li0EEEEmlINS_9TransposeIS3_EEEEKNS1_IS4_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.532") align 8 %96, ptr noundef nonnull align 1 dereferenceable(1) %97, ptr noundef nonnull align 1 dereferenceable(1) %98)
          to label %867 unwind label %974

867:                                              ; preds = %865
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS5_INS1_IdLin1ELin1ELi0ELin1ELin1EEES6_Li0EEENS_9TransposeIS6_EELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.526") align 8 %95, ptr noundef nonnull align 1 dereferenceable(1) %836, ptr noundef nonnull align 1 dereferenceable(1) %96)
          to label %868 unwind label %974

868:                                              ; preds = %867
  invoke void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESA_Li0EEENS1_9TransposeISA_EELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288) %94, ptr noundef nonnull align 1 dereferenceable(1) %95)
          to label %869 unwind label %974

869:                                              ; preds = %868
  call void @llvm.lifetime.end.p0(i64 8, ptr %98) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %97) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %96) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %95) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %99) #6
  call void @llvm.lifetime.start.p0(i64 72, ptr %100) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %101) #6
  %870 = load ptr, ptr %7, align 8, !tbaa !5
  %871 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %870, i32 0, i32 25
  %872 = load i32, ptr %17, align 4, !tbaa !11
  %873 = zext i32 %872 to i64
  %874 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %871, i64 noundef %873) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %102) #6
  %875 = load ptr, ptr %7, align 8, !tbaa !5
  %876 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %875, i32 0, i32 23
  %877 = load i32, ptr %17, align 4, !tbaa !11
  %878 = zext i32 %877 to i64
  %879 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %876, i64 noundef %878) #6
  %880 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %94, ptr noundef nonnull align 1 dereferenceable(1) %879)
          to label %881 unwind label %979

881:                                              ; preds = %869
  %882 = getelementptr inbounds { ptr, ptr }, ptr %102, i32 0, i32 0
  %883 = extractvalue { ptr, ptr } %880, 0
  store ptr %883, ptr %882, align 8
  %884 = getelementptr inbounds { ptr, ptr }, ptr %102, i32 0, i32 1
  %885 = extractvalue { ptr, ptr } %880, 1
  store ptr %885, ptr %884, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS9_6traitsIT_E6ScalarEEEKS2_KSC_EERKNS0_ISC_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.428") align 8 %101, ptr noundef nonnull align 1 dereferenceable(1) %874, ptr noundef nonnull align 1 dereferenceable(1) %102)
          to label %886 unwind label %979

886:                                              ; preds = %881
  call void @llvm.lifetime.start.p0(i64 24, ptr %103) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %104) #6
  %887 = load ptr, ptr %7, align 8, !tbaa !5
  %888 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %887, i32 0, i32 22
  %889 = load i32, ptr %79, align 4, !tbaa !11
  %890 = zext i32 %889 to i64
  %891 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %888, i64 noundef %890) #6
  %892 = load ptr, ptr %891, align 8, !tbaa !5
  %893 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %892, i32 0, i32 4
  %894 = load ptr, ptr %7, align 8, !tbaa !5
  %895 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %894, i32 0, i32 22
  %896 = load i32, ptr %79, align 4, !tbaa !11
  %897 = zext i32 %896 to i64
  %898 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %895, i64 noundef %897) #6
  %899 = load ptr, ptr %898, align 8, !tbaa !5
  %900 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %899, i32 0, i32 5
  %901 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %893, ptr noundef nonnull align 1 dereferenceable(1) %900)
          to label %902 unwind label %983

902:                                              ; preds = %886
  %903 = getelementptr inbounds { ptr, ptr }, ptr %104, i32 0, i32 0
  %904 = extractvalue { ptr, ptr } %901, 0
  store ptr %904, ptr %903, align 8
  %905 = getelementptr inbounds { ptr, ptr }, ptr %104, i32 0, i32 1
  %906 = extractvalue { ptr, ptr } %901, 1
  store ptr %906, ptr %905, align 8
  %907 = load ptr, ptr %7, align 8, !tbaa !5
  %908 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %907, i32 0, i32 22
  %909 = load i32, ptr %79, align 4, !tbaa !11
  %910 = zext i32 %909 to i64
  %911 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %908, i64 noundef %910) #6
  %912 = load ptr, ptr %911, align 8, !tbaa !5
  %913 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %912, i32 0, i32 6
  invoke void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEES3_Li0EEEEmlINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS1_IS4_T_Li0EEERKNS0_IS8_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.553") align 8 %103, ptr noundef nonnull align 1 dereferenceable(1) %104, ptr noundef nonnull align 1 dereferenceable(1) %913)
          to label %914 unwind label %983

914:                                              ; preds = %902
  invoke void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_7ProductINS5_IdLi6ELi6ELi0ELi6ELi6EEES6_Li0EEEEEEplINS8_INS8_INS5_IdLin1ELin1ELi0ELin1ELin1EEESF_Li0EEENS5_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKSC_KSK_EERKNS0_ISK_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.547") align 8 %100, ptr noundef nonnull align 1 dereferenceable(1) %101, ptr noundef nonnull align 1 dereferenceable(1) %103)
          to label %915 unwind label %983

915:                                              ; preds = %914
  invoke void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi6ELi0ELi6ELi6EEES7_Li0EEEEEKNS9_INS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESF_Li0EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %99, ptr noundef nonnull align 1 dereferenceable(1) %100)
          to label %916 unwind label %983

916:                                              ; preds = %915
  call void @llvm.lifetime.end.p0(i64 16, ptr %104) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %103) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %102) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %101) #6
  call void @llvm.lifetime.end.p0(i64 72, ptr %100) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %105) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %106) #6
  call void @llvm.lifetime.start.p0(i64 288, ptr %107) #6
  %917 = load ptr, ptr %7, align 8, !tbaa !5
  %918 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %917, i32 0, i32 34
  %919 = load i32, ptr %17, align 4, !tbaa !11
  %920 = zext i32 %919 to i64
  %921 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %918, i64 noundef %920) #6
  invoke void @_ZNK17RigidBodyDynamics4Math16SpatialTransform17toMatrixTransposeEv(ptr dead_on_unwind writable sret(%class.SpatialMatrix_t) align 16 %107, ptr noundef nonnull align 8 dereferenceable(96) %921)
          to label %922 unwind label %988

922:                                              ; preds = %916
  %923 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %107, ptr noundef nonnull align 1 dereferenceable(1) %94)
          to label %924 unwind label %988

924:                                              ; preds = %922
  %925 = getelementptr inbounds { ptr, ptr }, ptr %106, i32 0, i32 0
  %926 = extractvalue { ptr, ptr } %923, 0
  store ptr %926, ptr %925, align 8
  %927 = getelementptr inbounds { ptr, ptr }, ptr %106, i32 0, i32 1
  %928 = extractvalue { ptr, ptr } %923, 1
  store ptr %928, ptr %927, align 8
  call void @llvm.lifetime.start.p0(i64 288, ptr %108) #6
  %929 = load ptr, ptr %7, align 8, !tbaa !5
  %930 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %929, i32 0, i32 34
  %931 = load i32, ptr %17, align 4, !tbaa !11
  %932 = zext i32 %931 to i64
  %933 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %930, i64 noundef %932) #6
  invoke void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind writable sret(%class.SpatialMatrix_t) align 16 %108, ptr noundef nonnull align 8 dereferenceable(96) %933)
          to label %934 unwind label %992

934:                                              ; preds = %924
  invoke void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEES3_Li0EEEEmlIS3_EEKNS1_IS4_T_Li0EEERKNS0_IS7_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.443") align 8 %105, ptr noundef nonnull align 1 dereferenceable(1) %106, ptr noundef nonnull align 1 dereferenceable(1) %108)
          to label %935 unwind label %992

935:                                              ; preds = %934
  call void @llvm.lifetime.start.p0(i64 8, ptr %109) #6
  %936 = load ptr, ptr %7, align 8, !tbaa !5
  %937 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %936, i32 0, i32 24
  %938 = load i32, ptr %93, align 4, !tbaa !11
  %939 = zext i32 %938 to i64
  %940 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %937, i64 noundef %939) #6
  %941 = invoke ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %940)
          to label %942 unwind label %996

942:                                              ; preds = %935
  %943 = getelementptr inbounds %"class.Eigen::NoAlias", ptr %109, i32 0, i32 0
  store ptr %941, ptr %943, align 8
  %944 = invoke noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS_10MatrixBaseEEpLINS_7ProductINS6_IS2_S2_Li0EEES2_Li0EEEEERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %109, ptr noundef nonnull align 1 dereferenceable(1) %105)
          to label %945 unwind label %996

945:                                              ; preds = %942
  call void @llvm.lifetime.end.p0(i64 8, ptr %109) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr %108) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr %107) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %106) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %105) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %110) #6
  %946 = load ptr, ptr %7, align 8, !tbaa !5
  %947 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %946, i32 0, i32 34
  %948 = load i32, ptr %17, align 4, !tbaa !11
  %949 = zext i32 %948 to i64
  %950 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %947, i64 noundef %949) #6
  invoke void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %110, ptr noundef nonnull align 8 dereferenceable(96) %950, ptr noundef nonnull align 16 dereferenceable(48) %99)
          to label %951 unwind label %1002

951:                                              ; preds = %945
  call void @llvm.lifetime.start.p0(i64 8, ptr %111) #6
  %952 = load ptr, ptr %7, align 8, !tbaa !5
  %953 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %952, i32 0, i32 25
  %954 = load i32, ptr %93, align 4, !tbaa !11
  %955 = zext i32 %954 to i64
  %956 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %953, i64 noundef %955) #6
  %957 = invoke ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %956)
          to label %958 unwind label %1006

958:                                              ; preds = %951
  %959 = getelementptr inbounds %"class.Eigen::NoAlias.457", ptr %111, i32 0, i32 0
  store ptr %957, ptr %959, align 8
  %960 = invoke noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEENS_10MatrixBaseEEpLIS2_EERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %111, ptr noundef nonnull align 1 dereferenceable(1) %110)
          to label %961 unwind label %1006

961:                                              ; preds = %958
  call void @llvm.lifetime.end.p0(i64 8, ptr %111) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %110) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %99) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr %94) #6
  br label %1013

962:                                              ; preds = %711
  %963 = landingpad { ptr, i32 }
          cleanup
  %964 = extractvalue { ptr, i32 } %963, 0
  store ptr %964, ptr %86, align 8
  %965 = extractvalue { ptr, i32 } %963, 1
  store i32 %965, ptr %87, align 4
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %82) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %85) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %84) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %83) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %82) #6
  br label %1015

966:                                              ; preds = %813, %808, %800, %787
  %967 = landingpad { ptr, i32 }
          cleanup
  %968 = extractvalue { ptr, i32 } %967, 0
  store ptr %968, ptr %86, align 8
  %969 = extractvalue { ptr, i32 } %967, 1
  store i32 %969, ptr %87, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %92) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %91) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %90) #6
  br label %1014

970:                                              ; preds = %831
  %971 = landingpad { ptr, i32 }
          cleanup
  %972 = extractvalue { ptr, i32 } %971, 0
  store ptr %972, ptr %86, align 8
  %973 = extractvalue { ptr, i32 } %971, 1
  store i32 %973, ptr %87, align 4
  br label %978

974:                                              ; preds = %868, %867, %865, %852
  %975 = landingpad { ptr, i32 }
          cleanup
  %976 = extractvalue { ptr, i32 } %975, 0
  store ptr %976, ptr %86, align 8
  %977 = extractvalue { ptr, i32 } %975, 1
  store i32 %977, ptr %87, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %98) #6
  br label %978

978:                                              ; preds = %974, %970
  call void @llvm.lifetime.end.p0(i64 16, ptr %97) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %96) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %95) #6
  br label %1012

979:                                              ; preds = %881, %869
  %980 = landingpad { ptr, i32 }
          cleanup
  %981 = extractvalue { ptr, i32 } %980, 0
  store ptr %981, ptr %86, align 8
  %982 = extractvalue { ptr, i32 } %980, 1
  store i32 %982, ptr %87, align 4
  br label %987

983:                                              ; preds = %915, %914, %902, %886
  %984 = landingpad { ptr, i32 }
          cleanup
  %985 = extractvalue { ptr, i32 } %984, 0
  store ptr %985, ptr %86, align 8
  %986 = extractvalue { ptr, i32 } %984, 1
  store i32 %986, ptr %87, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %104) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %103) #6
  br label %987

987:                                              ; preds = %983, %979
  call void @llvm.lifetime.end.p0(i64 16, ptr %102) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %101) #6
  call void @llvm.lifetime.end.p0(i64 72, ptr %100) #6
  br label %1011

988:                                              ; preds = %922, %916
  %989 = landingpad { ptr, i32 }
          cleanup
  %990 = extractvalue { ptr, i32 } %989, 0
  store ptr %990, ptr %86, align 8
  %991 = extractvalue { ptr, i32 } %989, 1
  store i32 %991, ptr %87, align 4
  br label %1001

992:                                              ; preds = %934, %924
  %993 = landingpad { ptr, i32 }
          cleanup
  %994 = extractvalue { ptr, i32 } %993, 0
  store ptr %994, ptr %86, align 8
  %995 = extractvalue { ptr, i32 } %993, 1
  store i32 %995, ptr %87, align 4
  br label %1000

996:                                              ; preds = %942, %935
  %997 = landingpad { ptr, i32 }
          cleanup
  %998 = extractvalue { ptr, i32 } %997, 0
  store ptr %998, ptr %86, align 8
  %999 = extractvalue { ptr, i32 } %997, 1
  store i32 %999, ptr %87, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %109) #6
  br label %1000

1000:                                             ; preds = %996, %992
  call void @llvm.lifetime.end.p0(i64 288, ptr %108) #6
  br label %1001

1001:                                             ; preds = %1000, %988
  call void @llvm.lifetime.end.p0(i64 288, ptr %107) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %106) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %105) #6
  br label %1011

1002:                                             ; preds = %945
  %1003 = landingpad { ptr, i32 }
          cleanup
  %1004 = extractvalue { ptr, i32 } %1003, 0
  store ptr %1004, ptr %86, align 8
  %1005 = extractvalue { ptr, i32 } %1003, 1
  store i32 %1005, ptr %87, align 4
  br label %1010

1006:                                             ; preds = %958, %951
  %1007 = landingpad { ptr, i32 }
          cleanup
  %1008 = extractvalue { ptr, i32 } %1007, 0
  store ptr %1008, ptr %86, align 8
  %1009 = extractvalue { ptr, i32 } %1007, 1
  store i32 %1009, ptr %87, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %111) #6
  br label %1010

1010:                                             ; preds = %1006, %1002
  call void @llvm.lifetime.end.p0(i64 48, ptr %110) #6
  br label %1011

1011:                                             ; preds = %1010, %1001, %987
  call void @llvm.lifetime.end.p0(i64 48, ptr %99) #6
  br label %1012

1012:                                             ; preds = %1011, %978
  call void @llvm.lifetime.end.p0(i64 288, ptr %94) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %93) #6
  br label %1014

1013:                                             ; preds = %961, %822
  call void @llvm.lifetime.end.p0(i64 4, ptr %93) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %88) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %88) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %80) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %79) #6
  br label %1016

1014:                                             ; preds = %1012, %966
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %88) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %88) #6
  br label %1015

1015:                                             ; preds = %1014, %962
  call void @llvm.lifetime.end.p0(i64 4, ptr %80) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %79) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #6
  br label %1346

1016:                                             ; preds = %1013, %702
  br label %1017

1017:                                             ; preds = %1016, %701
  br label %1018

1018:                                             ; preds = %1017, %498
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #6
  br label %1019

1019:                                             ; preds = %1018
  %1020 = load i32, ptr %17, align 4, !tbaa !11
  %1021 = add i32 %1020, -1
  store i32 %1021, ptr %17, align 4, !tbaa !11
  br label %315, !llvm.loop !41

1022:                                             ; preds = %315
  call void @llvm.lifetime.start.p0(i64 32, ptr %112) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %113) #6
  store double -1.000000e+00, ptr %113, align 8, !tbaa !9
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8 %112, ptr noundef nonnull align 1 dereferenceable(1) %13, ptr noundef nonnull align 8 dereferenceable(8) %113)
  %1023 = load ptr, ptr %7, align 8, !tbaa !5
  %1024 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1023, i32 0, i32 9
  %1025 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1024, i64 noundef 0) #6
  %1026 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal17scalar_product_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %1025, ptr noundef nonnull align 1 dereferenceable(1) %112)
  call void @llvm.lifetime.end.p0(i64 8, ptr %113) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %112) #6
  store i32 1, ptr %17, align 4, !tbaa !11
  br label %1027

1027:                                             ; preds = %1342, %1022
  %1028 = load i32, ptr %17, align 4, !tbaa !11
  %1029 = zext i32 %1028 to i64
  %1030 = load ptr, ptr %7, align 8, !tbaa !5
  %1031 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1030, i32 0, i32 38
  %1032 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %1031) #6
  %1033 = icmp ult i64 %1029, %1032
  br i1 %1033, label %1034, label %1345

1034:                                             ; preds = %1027
  call void @llvm.lifetime.start.p0(i64 4, ptr %114) #6
  %1035 = load ptr, ptr %7, align 8, !tbaa !5
  %1036 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1035, i32 0, i32 10
  %1037 = load i32, ptr %17, align 4, !tbaa !11
  %1038 = zext i32 %1037 to i64
  %1039 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1036, i64 noundef %1038) #6
  %1040 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %1039, i32 0, i32 3
  %1041 = load i32, ptr %1040, align 8, !tbaa !15
  store i32 %1041, ptr %114, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %115) #6
  %1042 = load ptr, ptr %7, align 8, !tbaa !5
  %1043 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1042, i32 0, i32 0
  %1044 = load i32, ptr %17, align 4, !tbaa !11
  %1045 = zext i32 %1044 to i64
  %1046 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1043, i64 noundef %1045) #6
  %1047 = load i32, ptr %1046, align 4, !tbaa !11
  store i32 %1047, ptr %115, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 96, ptr %116) #6
  %1048 = load ptr, ptr %7, align 8, !tbaa !5
  %1049 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1048, i32 0, i32 34
  %1050 = load i32, ptr %17, align 4, !tbaa !11
  %1051 = zext i32 %1050 to i64
  %1052 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1049, i64 noundef %1051) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2ERKS1_(ptr noundef nonnull align 8 dereferenceable(96) %116, ptr noundef nonnull align 8 dereferenceable(96) %1052)
  call void @llvm.lifetime.start.p0(i64 24, ptr %117) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %118) #6
  %1053 = load ptr, ptr %7, align 8, !tbaa !5
  %1054 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1053, i32 0, i32 9
  %1055 = load i32, ptr %115, align 4, !tbaa !11
  %1056 = zext i32 %1055 to i64
  %1057 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1054, i64 noundef %1056) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %118, ptr noundef nonnull align 8 dereferenceable(96) %116, ptr noundef nonnull align 16 dereferenceable(48) %1057)
  %1058 = load ptr, ptr %7, align 8, !tbaa !5
  %1059 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1058, i32 0, i32 23
  %1060 = load i32, ptr %17, align 4, !tbaa !11
  %1061 = zext i32 %1060 to i64
  %1062 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1059, i64 noundef %1061) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %117, ptr noundef nonnull align 1 dereferenceable(1) %118, ptr noundef nonnull align 1 dereferenceable(1) %1062)
  %1063 = load ptr, ptr %7, align 8, !tbaa !5
  %1064 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1063, i32 0, i32 9
  %1065 = load i32, ptr %17, align 4, !tbaa !11
  %1066 = zext i32 %1065 to i64
  %1067 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1064, i64 noundef %1066) #6
  %1068 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %1067, ptr noundef nonnull align 1 dereferenceable(1) %117)
  call void @llvm.lifetime.end.p0(i64 48, ptr %118) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %117) #6
  %1069 = load ptr, ptr %7, align 8, !tbaa !5
  %1070 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1069, i32 0, i32 10
  %1071 = load i32, ptr %17, align 4, !tbaa !11
  %1072 = zext i32 %1071 to i64
  %1073 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1070, i64 noundef %1072) #6
  %1074 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %1073, i32 0, i32 2
  %1075 = load i32, ptr %1074, align 4, !tbaa !18
  %1076 = icmp eq i32 %1075, 1
  br i1 %1076, label %1077, label %1137

1077:                                             ; preds = %1034
  %1078 = load ptr, ptr %7, align 8, !tbaa !5
  %1079 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1078, i32 0, i32 10
  %1080 = load i32, ptr %17, align 4, !tbaa !11
  %1081 = zext i32 %1080 to i64
  %1082 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1079, i64 noundef %1081) #6
  %1083 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %1082, i32 0, i32 1
  %1084 = load i32, ptr %1083, align 8, !tbaa !19
  %1085 = icmp ne i32 %1084, 21
  br i1 %1085, label %1086, label %1137

1086:                                             ; preds = %1077
  %1087 = load ptr, ptr %7, align 8, !tbaa !5
  %1088 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1087, i32 0, i32 27
  %1089 = load i32, ptr %17, align 4, !tbaa !11
  %1090 = zext i32 %1089 to i64
  %1091 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %1088, i64 noundef %1090)
  %1092 = load double, ptr %1091, align 8, !tbaa !9
  %1093 = fdiv double 1.000000e+00, %1092
  %1094 = load ptr, ptr %7, align 8, !tbaa !5
  %1095 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1094, i32 0, i32 28
  %1096 = load i32, ptr %17, align 4, !tbaa !11
  %1097 = zext i32 %1096 to i64
  %1098 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %1095, i64 noundef %1097)
  %1099 = load double, ptr %1098, align 8, !tbaa !9
  %1100 = load ptr, ptr %7, align 8, !tbaa !5
  %1101 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1100, i32 0, i32 26
  %1102 = load i32, ptr %17, align 4, !tbaa !11
  %1103 = zext i32 %1102 to i64
  %1104 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1101, i64 noundef %1103) #6
  %1105 = load ptr, ptr %7, align 8, !tbaa !5
  %1106 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1105, i32 0, i32 9
  %1107 = load i32, ptr %17, align 4, !tbaa !11
  %1108 = zext i32 %1107 to i64
  %1109 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1106, i64 noundef %1108) #6
  %1110 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %1104, ptr noundef nonnull align 1 dereferenceable(1) %1109)
  %1111 = fsub double %1099, %1110
  %1112 = fmul double %1093, %1111
  %1113 = load ptr, ptr %11, align 8, !tbaa !5
  %1114 = load i32, ptr %114, align 4, !tbaa !11
  %1115 = zext i32 %1114 to i64
  %1116 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %1113, i64 noundef %1115)
  store double %1112, ptr %1116, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 48, ptr %119) #6
  %1117 = load ptr, ptr %7, align 8, !tbaa !5
  %1118 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1117, i32 0, i32 9
  %1119 = load i32, ptr %17, align 4, !tbaa !11
  %1120 = zext i32 %1119 to i64
  %1121 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1118, i64 noundef %1120) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %120) #6
  %1122 = load ptr, ptr %7, align 8, !tbaa !5
  %1123 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1122, i32 0, i32 11
  %1124 = load i32, ptr %17, align 4, !tbaa !11
  %1125 = zext i32 %1124 to i64
  %1126 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1123, i64 noundef %1125) #6
  %1127 = load ptr, ptr %11, align 8, !tbaa !5
  %1128 = load i32, ptr %114, align 4, !tbaa !11
  %1129 = zext i32 %1128 to i64
  %1130 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %1127, i64 noundef %1129)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8 %120, ptr noundef nonnull align 1 dereferenceable(1) %1126, ptr noundef nonnull align 8 dereferenceable(8) %1130)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEES9_EEEEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEES9_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.561") align 8 %119, ptr noundef nonnull align 1 dereferenceable(1) %1121, ptr noundef nonnull align 1 dereferenceable(1) %120)
  %1131 = load ptr, ptr %7, align 8, !tbaa !5
  %1132 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1131, i32 0, i32 9
  %1133 = load i32, ptr %17, align 4, !tbaa !11
  %1134 = zext i32 %1133 to i64
  %1135 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1132, i64 noundef %1134) #6
  %1136 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %1135, ptr noundef nonnull align 1 dereferenceable(1) %119)
  call void @llvm.lifetime.end.p0(i64 32, ptr %120) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %119) #6
  br label %1341

1137:                                             ; preds = %1077, %1034
  %1138 = load ptr, ptr %7, align 8, !tbaa !5
  %1139 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1138, i32 0, i32 10
  %1140 = load i32, ptr %17, align 4, !tbaa !11
  %1141 = zext i32 %1140 to i64
  %1142 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1139, i64 noundef %1141) #6
  %1143 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %1142, i32 0, i32 2
  %1144 = load i32, ptr %1143, align 4, !tbaa !18
  %1145 = icmp eq i32 %1144, 3
  br i1 %1145, label %1146, label %1224

1146:                                             ; preds = %1137
  %1147 = load ptr, ptr %7, align 8, !tbaa !5
  %1148 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1147, i32 0, i32 10
  %1149 = load i32, ptr %17, align 4, !tbaa !11
  %1150 = zext i32 %1149 to i64
  %1151 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1148, i64 noundef %1150) #6
  %1152 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %1151, i32 0, i32 1
  %1153 = load i32, ptr %1152, align 8, !tbaa !19
  %1154 = icmp ne i32 %1153, 21
  br i1 %1154, label %1155, label %1224

1155:                                             ; preds = %1146
  call void @llvm.lifetime.start.p0(i64 24, ptr %121) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %122) #6
  %1156 = load ptr, ptr %7, align 8, !tbaa !5
  %1157 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1156, i32 0, i32 19
  %1158 = load i32, ptr %17, align 4, !tbaa !11
  %1159 = zext i32 %1158 to i64
  %1160 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1157, i64 noundef %1159) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %123) #6
  %1161 = load ptr, ptr %7, align 8, !tbaa !5
  %1162 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1161, i32 0, i32 20
  %1163 = load i32, ptr %17, align 4, !tbaa !11
  %1164 = zext i32 %1163 to i64
  %1165 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1162, i64 noundef %1164) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %124) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %125) #6
  %1166 = load ptr, ptr %7, align 8, !tbaa !5
  %1167 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1166, i32 0, i32 18
  %1168 = load i32, ptr %17, align 4, !tbaa !11
  %1169 = zext i32 %1168 to i64
  %1170 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1167, i64 noundef %1169) #6
  %1171 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %1170)
  %1172 = getelementptr inbounds %"class.Eigen::Transpose", ptr %125, i32 0, i32 0
  store ptr %1171, ptr %1172, align 8
  %1173 = load ptr, ptr %7, align 8, !tbaa !5
  %1174 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1173, i32 0, i32 9
  %1175 = load i32, ptr %17, align 4, !tbaa !11
  %1176 = zext i32 %1175 to i64
  %1177 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1174, i64 noundef %1176) #6
  %1178 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %125, ptr noundef nonnull align 1 dereferenceable(1) %1177)
  %1179 = getelementptr inbounds { ptr, ptr }, ptr %124, i32 0, i32 0
  %1180 = extractvalue { ptr, ptr } %1178, 0
  store ptr %1180, ptr %1179, align 8
  %1181 = getelementptr inbounds { ptr, ptr }, ptr %124, i32 0, i32 1
  %1182 = extractvalue { ptr, ptr } %1178, 1
  store ptr %1182, ptr %1181, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.471") align 8 %123, ptr noundef nonnull align 1 dereferenceable(1) %1165, ptr noundef nonnull align 1 dereferenceable(1) %124)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEmlINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKNS1_IdLi3ELi1ELi0ELi3ELi1EEEKNS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEEKNSB_IS2_T_Li0EEERKNS0_ISJ_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.568") align 8 %122, ptr noundef nonnull align 1 dereferenceable(1) %1160, ptr noundef nonnull align 1 dereferenceable(1) %123)
  call void @_ZN9Vector3_tC2IN5Eigen7ProductINS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEENS1_13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS3_IdLi3ELi1ELi0ELi3ELi1EEEKNS2_INS1_9TransposeINS3_IdLi6ELi3ELi0ELi6ELi3EEEEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %121, ptr noundef nonnull align 1 dereferenceable(1) %122)
  call void @llvm.lifetime.end.p0(i64 8, ptr %125) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %124) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %123) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %122) #6
  %1183 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %121, i64 noundef 0)
  %1184 = load double, ptr %1183, align 8, !tbaa !9
  %1185 = load ptr, ptr %11, align 8, !tbaa !5
  %1186 = load i32, ptr %114, align 4, !tbaa !11
  %1187 = zext i32 %1186 to i64
  %1188 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %1185, i64 noundef %1187)
  store double %1184, ptr %1188, align 8, !tbaa !9
  %1189 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %121, i64 noundef 1)
  %1190 = load double, ptr %1189, align 8, !tbaa !9
  %1191 = load ptr, ptr %11, align 8, !tbaa !5
  %1192 = load i32, ptr %114, align 4, !tbaa !11
  %1193 = add i32 %1192, 1
  %1194 = zext i32 %1193 to i64
  %1195 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %1191, i64 noundef %1194)
  store double %1190, ptr %1195, align 8, !tbaa !9
  %1196 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %121, i64 noundef 2)
  %1197 = load double, ptr %1196, align 8, !tbaa !9
  %1198 = load ptr, ptr %11, align 8, !tbaa !5
  %1199 = load i32, ptr %114, align 4, !tbaa !11
  %1200 = add i32 %1199, 2
  %1201 = zext i32 %1200 to i64
  %1202 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %1198, i64 noundef %1201)
  store double %1197, ptr %1202, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 32, ptr %126) #6
  %1203 = load ptr, ptr %7, align 8, !tbaa !5
  %1204 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1203, i32 0, i32 9
  %1205 = load i32, ptr %17, align 4, !tbaa !11
  %1206 = zext i32 %1205 to i64
  %1207 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1204, i64 noundef %1206) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %127) #6
  %1208 = load ptr, ptr %7, align 8, !tbaa !5
  %1209 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1208, i32 0, i32 17
  %1210 = load i32, ptr %17, align 4, !tbaa !11
  %1211 = zext i32 %1210 to i64
  %1212 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1209, i64 noundef %1211) #6
  %1213 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %1212, ptr noundef nonnull align 1 dereferenceable(1) %121)
  %1214 = getelementptr inbounds { ptr, ptr }, ptr %127, i32 0, i32 0
  %1215 = extractvalue { ptr, ptr } %1213, 0
  store ptr %1215, ptr %1214, align 8
  %1216 = getelementptr inbounds { ptr, ptr }, ptr %127, i32 0, i32 1
  %1217 = extractvalue { ptr, ptr } %1213, 1
  store ptr %1217, ptr %1216, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.575") align 8 %126, ptr noundef nonnull align 1 dereferenceable(1) %1207, ptr noundef nonnull align 1 dereferenceable(1) %127)
  %1218 = load ptr, ptr %7, align 8, !tbaa !5
  %1219 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1218, i32 0, i32 9
  %1220 = load i32, ptr %17, align 4, !tbaa !11
  %1221 = zext i32 %1220 to i64
  %1222 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1219, i64 noundef %1221) #6
  %1223 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %1222, ptr noundef nonnull align 1 dereferenceable(1) %126)
  call void @llvm.lifetime.end.p0(i64 16, ptr %127) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %126) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %121) #6
  br label %1340

1224:                                             ; preds = %1146, %1137
  %1225 = load ptr, ptr %7, align 8, !tbaa !5
  %1226 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1225, i32 0, i32 10
  %1227 = load i32, ptr %17, align 4, !tbaa !11
  %1228 = zext i32 %1227 to i64
  %1229 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1226, i64 noundef %1228) #6
  %1230 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %1229, i32 0, i32 1
  %1231 = load i32, ptr %1230, align 8, !tbaa !19
  %1232 = icmp eq i32 %1231, 21
  br i1 %1232, label %1233, label %1339

1233:                                             ; preds = %1224
  call void @llvm.lifetime.start.p0(i64 4, ptr %128) #6
  %1234 = load ptr, ptr %7, align 8, !tbaa !5
  %1235 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1234, i32 0, i32 10
  %1236 = load i32, ptr %17, align 4, !tbaa !11
  %1237 = zext i32 %1236 to i64
  %1238 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1235, i64 noundef %1237) #6
  %1239 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %1238, i32 0, i32 4
  %1240 = load i32, ptr %1239, align 4, !tbaa !20
  store i32 %1240, ptr %128, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %129) #6
  %1241 = load ptr, ptr %7, align 8, !tbaa !5
  %1242 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1241, i32 0, i32 22
  %1243 = load i32, ptr %128, align 4, !tbaa !11
  %1244 = zext i32 %1243 to i64
  %1245 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1242, i64 noundef %1244) #6
  %1246 = load ptr, ptr %1245, align 8, !tbaa !5
  %1247 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %1246, i32 0, i32 1
  %1248 = load i32, ptr %1247, align 8, !tbaa !21
  store i32 %1248, ptr %129, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 16, ptr %130) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %131) #6
  %1249 = load ptr, ptr %7, align 8, !tbaa !5
  %1250 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1249, i32 0, i32 22
  %1251 = load i32, ptr %128, align 4, !tbaa !11
  %1252 = zext i32 %1251 to i64
  %1253 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1250, i64 noundef %1252) #6
  %1254 = load ptr, ptr %1253, align 8, !tbaa !5
  %1255 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %1254, i32 0, i32 5
  call void @llvm.lifetime.start.p0(i64 32, ptr %132) #6
  %1256 = load ptr, ptr %7, align 8, !tbaa !5
  %1257 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1256, i32 0, i32 22
  %1258 = load i32, ptr %128, align 4, !tbaa !11
  %1259 = zext i32 %1258 to i64
  %1260 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1257, i64 noundef %1259) #6
  %1261 = load ptr, ptr %1260, align 8, !tbaa !5
  %1262 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %1261, i32 0, i32 6
  call void @llvm.lifetime.start.p0(i64 16, ptr %133) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %134) #6
  %1263 = load ptr, ptr %7, align 8, !tbaa !5
  %1264 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1263, i32 0, i32 22
  %1265 = load i32, ptr %128, align 4, !tbaa !11
  %1266 = zext i32 %1265 to i64
  %1267 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1264, i64 noundef %1266) #6
  %1268 = load ptr, ptr %1267, align 8, !tbaa !5
  %1269 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %1268, i32 0, i32 4
  %1270 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %1269)
  %1271 = getelementptr inbounds %"class.Eigen::Transpose.221", ptr %134, i32 0, i32 0
  store ptr %1270, ptr %1271, align 8
  %1272 = load ptr, ptr %7, align 8, !tbaa !5
  %1273 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1272, i32 0, i32 9
  %1274 = load i32, ptr %17, align 4, !tbaa !11
  %1275 = zext i32 %1274 to i64
  %1276 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1273, i64 noundef %1275) #6
  %1277 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %134, ptr noundef nonnull align 1 dereferenceable(1) %1276)
  %1278 = getelementptr inbounds { ptr, ptr }, ptr %133, i32 0, i32 0
  %1279 = extractvalue { ptr, ptr } %1277, 0
  store ptr %1279, ptr %1278, align 8
  %1280 = getelementptr inbounds { ptr, ptr }, ptr %133, i32 0, i32 1
  %1281 = extractvalue { ptr, ptr } %1277, 1
  store ptr %1281, ptr %1280, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.519") align 8 %132, ptr noundef nonnull align 1 dereferenceable(1) %1262, ptr noundef nonnull align 1 dereferenceable(1) %133)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKNS1_IdLin1ELi1ELi0ELin1ELi1EEEKNS_7ProductINS_9TransposeIS2_EENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEEKNSB_IS2_T_Li0EEERKNS0_ISI_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.582") align 8 %131, ptr noundef nonnull align 1 dereferenceable(1) %1255, ptr noundef nonnull align 1 dereferenceable(1) %132)
  call void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_7ProductINS0_IdLin1ELin1ELi0ELin1ELin1EEENS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS3_INS_9TransposeIS4_EENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %130, ptr noundef nonnull align 1 dereferenceable(1) %131)
  call void @llvm.lifetime.end.p0(i64 8, ptr %134) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %133) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %132) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %131) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %135) #6
  store i32 0, ptr %135, align 4, !tbaa !11
  br label %1282

1282:                                             ; preds = %1300, %1233
  %1283 = load i32, ptr %135, align 4, !tbaa !11
  %1284 = load i32, ptr %129, align 4, !tbaa !11
  %1285 = icmp ult i32 %1283, %1284
  br i1 %1285, label %1287, label %1286

1286:                                             ; preds = %1282
  call void @llvm.lifetime.end.p0(i64 4, ptr %135) #6
  br label %1307

1287:                                             ; preds = %1282
  %1288 = load i32, ptr %135, align 4, !tbaa !11
  %1289 = sext i32 %1288 to i64
  %1290 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %130, i64 noundef %1289)
          to label %1291 unwind label %1303

1291:                                             ; preds = %1287
  %1292 = load double, ptr %1290, align 8, !tbaa !9
  %1293 = load ptr, ptr %11, align 8, !tbaa !5
  %1294 = load i32, ptr %114, align 4, !tbaa !11
  %1295 = load i32, ptr %135, align 4, !tbaa !11
  %1296 = add i32 %1294, %1295
  %1297 = zext i32 %1296 to i64
  %1298 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %1293, i64 noundef %1297)
          to label %1299 unwind label %1303

1299:                                             ; preds = %1291
  store double %1292, ptr %1298, align 8, !tbaa !9
  br label %1300

1300:                                             ; preds = %1299
  %1301 = load i32, ptr %135, align 4, !tbaa !11
  %1302 = add nsw i32 %1301, 1
  store i32 %1302, ptr %135, align 4, !tbaa !11
  br label %1282, !llvm.loop !42

1303:                                             ; preds = %1291, %1287
  %1304 = landingpad { ptr, i32 }
          cleanup
  %1305 = extractvalue { ptr, i32 } %1304, 0
  store ptr %1305, ptr %86, align 8
  %1306 = extractvalue { ptr, i32 } %1304, 1
  store i32 %1306, ptr %87, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %135) #6
  br label %1338

1307:                                             ; preds = %1286
  call void @llvm.lifetime.start.p0(i64 32, ptr %136) #6
  %1308 = load ptr, ptr %7, align 8, !tbaa !5
  %1309 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1308, i32 0, i32 9
  %1310 = load i32, ptr %17, align 4, !tbaa !11
  %1311 = zext i32 %1310 to i64
  %1312 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1309, i64 noundef %1311) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %137) #6
  %1313 = load ptr, ptr %7, align 8, !tbaa !5
  %1314 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1313, i32 0, i32 22
  %1315 = load i32, ptr %128, align 4, !tbaa !11
  %1316 = zext i32 %1315 to i64
  %1317 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1314, i64 noundef %1316) #6
  %1318 = load ptr, ptr %1317, align 8, !tbaa !5
  %1319 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %1318, i32 0, i32 3
  %1320 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %1319, ptr noundef nonnull align 1 dereferenceable(1) %130)
          to label %1321 unwind label %1334

1321:                                             ; preds = %1307
  %1322 = getelementptr inbounds { ptr, ptr }, ptr %137, i32 0, i32 0
  %1323 = extractvalue { ptr, ptr } %1320, 0
  store ptr %1323, ptr %1322, align 8
  %1324 = getelementptr inbounds { ptr, ptr }, ptr %137, i32 0, i32 1
  %1325 = extractvalue { ptr, ptr } %1320, 1
  store ptr %1325, ptr %1324, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLin1ELin1ELi0ELin1ELin1EEENS1_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.589") align 8 %136, ptr noundef nonnull align 1 dereferenceable(1) %1312, ptr noundef nonnull align 1 dereferenceable(1) %137)
          to label %1326 unwind label %1334

1326:                                             ; preds = %1321
  %1327 = load ptr, ptr %7, align 8, !tbaa !5
  %1328 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %1327, i32 0, i32 9
  %1329 = load i32, ptr %17, align 4, !tbaa !11
  %1330 = zext i32 %1329 to i64
  %1331 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1328, i64 noundef %1330) #6
  %1332 = invoke noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLin1ELin1ELi0ELin1ELin1EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %1331, ptr noundef nonnull align 1 dereferenceable(1) %136)
          to label %1333 unwind label %1334

1333:                                             ; preds = %1326
  call void @llvm.lifetime.end.p0(i64 16, ptr %137) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %136) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %130) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %130) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %129) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %128) #6
  br label %1339

1334:                                             ; preds = %1326, %1321, %1307
  %1335 = landingpad { ptr, i32 }
          cleanup
  %1336 = extractvalue { ptr, i32 } %1335, 0
  store ptr %1336, ptr %86, align 8
  %1337 = extractvalue { ptr, i32 } %1335, 1
  store i32 %1337, ptr %87, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %137) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %136) #6
  br label %1338

1338:                                             ; preds = %1334, %1303
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %130) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %130) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %129) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %128) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr %116) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %115) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %114) #6
  br label %1346

1339:                                             ; preds = %1333, %1224
  br label %1340

1340:                                             ; preds = %1339, %1155
  br label %1341

1341:                                             ; preds = %1340, %1086
  call void @llvm.lifetime.end.p0(i64 96, ptr %116) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %115) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %114) #6
  br label %1342

1342:                                             ; preds = %1341
  %1343 = load i32, ptr %17, align 4, !tbaa !11
  %1344 = add i32 %1343, 1
  store i32 %1344, ptr %17, align 4, !tbaa !11
  br label %1027, !llvm.loop !43

1345:                                             ; preds = %1027
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %13) #6
  ret void

1346:                                             ; preds = %1338, %1015
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %13) #6
  br label %1347

1347:                                             ; preds = %1346
  %1348 = load ptr, ptr %86, align 8
  %1349 = load i32, ptr %87, align 4
  %1350 = insertvalue { ptr, i32 } poison, ptr %1348, 0
  %1351 = insertvalue { ptr, i32 } %1350, i32 %1349, 1
  resume { ptr, i32 } %1351
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math23SpatialRigidBodyInertia16setSpatialMatrixER15SpatialMatrix_t(ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 16 dereferenceable(288)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen7ProductINS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS1_IdLi6ELi1ELi0ELi6ELi1EEENS_9TransposeIKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKS6_KNS_14CwiseNullaryOpINS9_18scalar_constant_opIdEESC_EEEEEELi0EEEEEKNS8_INS9_20scalar_difference_opIdNS9_6traitsIT_E6ScalarEEEKS2_KSO_EERKNS0_ISO_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.395") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlINS_9TransposeIKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKS2_KNS_14CwiseNullaryOpINS7_18scalar_constant_opIdEESA_EEEEEEEEKNS_7ProductIS2_T_Li0EEERKNS0_ISK_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.401") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEdvIdEEKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.414") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEE9transposeEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Transpose.408") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS6_IdLi6ELi1ELi0ELi6ELi1EEENS1_9TransposeIKNS2_INS3_18scalar_quotient_opIddEEKSA_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEESE_EEEEEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS9_6traitsIT_E6ScalarEEEKS2_KSC_EERKNS0_ISC_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.428") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_7ProductINS5_IdLi6ELi6ELi0ELi6ELi6EEES6_Li0EEEEEEplINS1_INS2_18scalar_quotient_opIddEEKNS1_INS2_17scalar_product_opIddEES7_KNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEESN_EEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKSC_KSS_EERKNS0_ISS_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.422") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEdvIdEEKNS1_INS2_18scalar_quotient_opIdNS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdSI_NSG_IdSI_EEEEEE5valueEE4typeEEEKSD_KNS2_19plain_constant_typeISD_SN_E4typeEEERKSI_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.435") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi6ELi0ELi6ELi6EEES7_Li0EEEEEKNS2_INS3_18scalar_quotient_opIddEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEESN_EEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEES3_Li0EEEEmlIS3_EEKNS1_IS4_T_Li0EEERKNS0_IS7_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.443") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind noalias writable sret(%class.SpatialMatrix_t) align 16, ptr noundef nonnull align 8 dereferenceable(96)) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS_10MatrixBaseEEpLINS_7ProductINS6_IS2_S2_Li0EEES2_Li0EEEEERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEENS_10MatrixBaseEEpLIS2_EERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEES4_Li0EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_7InverseINS_7ProductINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEES5_Li0EEEEEE4evalEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.104") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(72) ptr @_ZN9Matrix3_taSIN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 1 dereferenceable(1)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIiiEEKNS3_18ConstFixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.462") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2IN5Eigen5BlockIKNS1_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.471") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_7ProductINS1_9TransposeINS6_IdLi6ELi3ELi0ELi6ELi3EEEEENS6_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS5_INS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS_9TransposeIS6_EELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSD_6traitsIT_E6ScalarEEEKS2_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.478") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS2_IdLi3ELi3ELi0ELi3ELi3EEELi0EEEEmlINS_9TransposeIS3_EEEEKNS1_IS5_T_Li0EEERKNS0_ISA_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.484") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS1_9TransposeISA_EELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_7ProductINS5_IdLi6ELi6ELi0ELi6ELi6EEES6_Li0EEEEEEplINS8_INS8_INS5_IdLi6ELi3ELi0ELi6ELi3EEENS5_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS5_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKSC_KSL_EERKNS0_ISL_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.499") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS2_IdLi3ELi3ELi0ELi3ELi3EEELi0EEEEmlINS2_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS1_IS5_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.505") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi6ELi0ELi6ELi6EEES7_Li0EEEEEKNS9_INS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEES4_Li0EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_7InverseINS_7ProductINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEES5_Li0EEEEEE4evalEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.153") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEEKNS3_18ConstFixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.462") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_5BlockIKS1_Lin1ELin1ELb0EEEEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(56)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.519") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS_7ProductINS_9TransposeINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS5_INS1_IdLin1ELin1ELi0ELin1ELin1EEES6_Li0EEENS_9TransposeIS6_EELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.526") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEES3_Li0EEEEmlINS_9TransposeIS3_EEEEKNS1_IS4_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.532") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESA_Li0EEENS1_9TransposeISA_EELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_7ProductINS5_IdLi6ELi6ELi0ELi6ELi6EEES6_Li0EEEEEEplINS8_INS8_INS5_IdLin1ELin1ELi0ELin1ELin1EEESF_Li0EEENS5_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKSC_KSK_EERKNS0_ISK_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.547") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEES3_Li0EEEEmlINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS1_IS4_T_Li0EEERKNS0_IS8_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.553") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi6ELi0ELi6ELi6EEES7_Li0EEEEEKNS9_INS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESF_Li0EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal17scalar_product_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2ERKS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEES9_EEEEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEES9_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.561") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEmlINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKNS1_IdLi3ELi1ELi0ELi3ELi1EEEKNS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEEKNSB_IS2_T_Li0EEERKNS0_ISJ_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.568") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2IN5Eigen7ProductINS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEENS1_13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS3_IdLi3ELi1ELi0ELi3ELi1EEEKNS2_INS1_9TransposeINS3_IdLi6ELi3ELi0ELi6ELi3EEEEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.575") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKNS1_IdLin1ELi1ELi0ELin1ELi1EEEKNS_7ProductINS_9TransposeIS2_EENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEEKNSB_IS2_T_Li0EEERKNS0_ISI_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.582") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_7ProductINS0_IdLin1ELin1ELi0ELin1ELin1EEENS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS3_INS_9TransposeIS4_EENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLin1ELin1ELi0ELin1ELin1EEENS1_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.589") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLin1ELin1ELi0ELin1ELin1EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #4 align 2

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"double", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}
!15 = !{!16, !12, i64 16}
!16 = !{!"_ZTSN17RigidBodyDynamics5JointE", !6, i64 0, !17, i64 8, !12, i64 12, !12, i64 16, !12, i64 20}
!17 = !{!"_ZTSN17RigidBodyDynamics9JointTypeE", !7, i64 0}
!18 = !{!16, !12, i64 12}
!19 = !{!16, !17, i64 8}
!20 = !{!16, !12, i64 20}
!21 = !{!22, !12, i64 8}
!22 = !{!"_ZTSN17RigidBodyDynamics11CustomJointE", !12, i64 8, !23, i64 16, !34, i64 112, !34, i64 136, !34, i64 160, !38, i64 184, !38, i64 200}
!23 = !{!"_ZTSN17RigidBodyDynamics4Math16SpatialTransformE", !24, i64 0, !29, i64 72}
!24 = !{!"_ZTS9Matrix3_t", !25, i64 0}
!25 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !26, i64 0}
!26 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !27, i64 0}
!27 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !28, i64 0}
!28 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !7, i64 0}
!29 = !{!"_ZTS9Vector3_t", !30, i64 0}
!30 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !31, i64 0}
!31 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !32, i64 0}
!32 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !33, i64 0}
!33 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!34 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !35, i64 0}
!35 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !36, i64 0}
!36 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !6, i64 0, !37, i64 8, !37, i64 16}
!37 = !{!"long", !7, i64 0}
!38 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !39, i64 0}
!39 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !40, i64 0}
!40 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !37, i64 8}
!41 = distinct !{!41, !14}
!42 = distinct !{!42, !14}
!43 = distinct !{!43, !14}


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

%class.SpatialVector_t = type { %"class.Eigen::Matrix.90" }
%"class.Eigen::Matrix.90" = type { %"class.Eigen::PlainObjectBase.91" }
%"class.Eigen::PlainObjectBase.91" = type { %"class.Eigen::DenseStorage.98" }
%"class.Eigen::DenseStorage.98" = type { %"struct.Eigen::internal::plain_array.99" }
%"struct.Eigen::internal::plain_array.99" = type { [6 x double] }
%"class.Eigen::CwiseBinaryOp" = type <{ ptr, ptr, [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.120" = type <{ ptr, %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%class.Matrix3_t = type { %"class.Eigen::Matrix.104" }
%"class.Eigen::Matrix.104" = type { %"class.Eigen::PlainObjectBase.105" }
%"class.Eigen::PlainObjectBase.105" = type { %"class.Eigen::DenseStorage.112" }
%"class.Eigen::DenseStorage.112" = type { %"struct.Eigen::internal::plain_array.113" }
%"struct.Eigen::internal::plain_array.113" = type { [9 x double] }
%class.Vector3_t = type { %"class.Eigen::Matrix" }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%class.SpatialMatrix_t = type { %"class.Eigen::Matrix.183" }
%"class.Eigen::Matrix.183" = type { %"class.Eigen::PlainObjectBase.184" }
%"class.Eigen::PlainObjectBase.184" = type { %"class.Eigen::DenseStorage.191" }
%"class.Eigen::DenseStorage.191" = type { %"struct.Eigen::internal::plain_array.192" }
%"struct.Eigen::internal::plain_array.192" = type { [36 x double] }
%"class.Eigen::CwiseNullaryOp.240" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::Product.176" = type { ptr, ptr }
%"class.Eigen::CwiseBinaryOp.395" = type <{ ptr, %"class.Eigen::Product.401", [8 x i8] }>
%"class.Eigen::Product.401" = type { ptr, %"class.Eigen::Transpose.408" }
%"class.Eigen::Transpose.408" = type { %"class.Eigen::CwiseBinaryOp.414" }
%"class.Eigen::CwiseBinaryOp.414" = type <{ ptr, %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.422" = type { [8 x i8], %"class.Eigen::CwiseBinaryOp.428", %"class.Eigen::CwiseBinaryOp.435", [8 x i8] }
%"class.Eigen::CwiseBinaryOp.428" = type <{ ptr, %"class.Eigen::Product.176", [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.435" = type <{ [8 x i8], %"class.Eigen::CwiseBinaryOp.120", %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::Product.443" = type { %"class.Eigen::Product.450", ptr }
%"class.Eigen::Product.450" = type { ptr, ptr }
%"class.Eigen::NoAlias" = type { ptr }
%"class.Eigen::NoAlias.457" = type { ptr }
%"class.Eigen::Product.332" = type { ptr, ptr }
%"class.Eigen::Inverse" = type { %"class.Eigen::Product.339" }
%"class.Eigen::Product.339" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::Block.462" = type { %"class.Eigen::BlockImpl.463" }
%"class.Eigen::BlockImpl.463" = type { %"class.Eigen::internal::BlockImpl_dense.464" }
%"class.Eigen::internal::BlockImpl_dense.464" = type { %"class.Eigen::MapBase.465", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.465" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"class.Eigen::CwiseBinaryOp.471" = type <{ ptr, %"class.Eigen::Product.193", [8 x i8] }>
%"class.Eigen::Product.193" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::CwiseBinaryOp.478" = type <{ ptr, %"class.Eigen::Product.484", [8 x i8] }>
%"class.Eigen::Product.484" = type { %"class.Eigen::Product.491", %"class.Eigen::Transpose" }
%"class.Eigen::Product.491" = type { ptr, ptr }
%"class.Eigen::CwiseBinaryOp.499" = type <{ [8 x i8], %"class.Eigen::CwiseBinaryOp.428", %"class.Eigen::Product.505", [8 x i8] }>
%"class.Eigen::Product.505" = type { %"class.Eigen::Product.491", ptr }
%"class.Eigen::Product.374" = type { ptr, ptr }
%"class.Eigen::Matrix.153" = type { %"class.Eigen::PlainObjectBase.154" }
%"class.Eigen::PlainObjectBase.154" = type { %"class.Eigen::DenseStorage.161" }
%"class.Eigen::DenseStorage.161" = type { ptr, i64, i64 }
%"class.Eigen::Inverse.513" = type { %"class.Eigen::Product.381" }
%"class.Eigen::Product.381" = type { %"class.Eigen::Transpose.221", ptr }
%"class.Eigen::Transpose.221" = type { ptr }
%"class.Eigen::Matrix.57" = type { %"class.Eigen::PlainObjectBase.58" }
%"class.Eigen::PlainObjectBase.58" = type { %"class.Eigen::DenseStorage.65" }
%"class.Eigen::DenseStorage.65" = type { ptr, i64 }
%"class.Eigen::CwiseBinaryOp.519" = type <{ ptr, %"class.Eigen::Product.214", [8 x i8] }>
%"class.Eigen::Product.214" = type { %"class.Eigen::Transpose.221", ptr }
%"class.Eigen::CwiseBinaryOp.526" = type <{ ptr, %"class.Eigen::Product.532", [8 x i8] }>
%"class.Eigen::Product.532" = type { %"class.Eigen::Product.539", %"class.Eigen::Transpose.221" }
%"class.Eigen::Product.539" = type { ptr, ptr }
%"class.Eigen::CwiseBinaryOp.547" = type <{ [8 x i8], %"class.Eigen::CwiseBinaryOp.428", %"class.Eigen::Product.553", [8 x i8] }>
%"class.Eigen::Product.553" = type { %"class.Eigen::Product.539", ptr }
%"class.Eigen::CwiseBinaryOp.561" = type <{ ptr, %"class.Eigen::CwiseBinaryOp.120", [8 x i8] }>
%"class.Eigen::Product.568" = type { ptr, %"class.Eigen::CwiseBinaryOp.471" }
%"class.Eigen::CwiseBinaryOp.575" = type <{ ptr, %"class.Eigen::Product", [8 x i8] }>
%"class.Eigen::Product" = type { ptr, ptr }
%"class.Eigen::Product.582" = type { ptr, %"class.Eigen::CwiseBinaryOp.519" }
%"class.Eigen::CwiseBinaryOp.589" = type <{ ptr, %"class.Eigen::Product.168", [8 x i8] }>
%"class.Eigen::Product.168" = type { ptr, ptr }

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

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

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

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

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

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

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

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

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

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

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

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #1 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: 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 #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #5 align 2

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

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

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransformmlERKS1_(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #5 align 2

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

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

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

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

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

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

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

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

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

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

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi3ELi0ELi6ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransform17toMatrixTransposeEv(ptr dead_on_unwind noalias writable sret(%class.SpatialMatrix_t) align 16, ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(144) ptr @_ZN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEaSINS_7ProductINS0_IdLi6ELi6ELi0ELi6ELi6EEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(144), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLin1ELin1ELi0ELin1ELin1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_7ProductINS0_IdLi6ELi6ELi0ELi6ELi6EEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics15ForwardDynamicsERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RS4_PSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef %5) local_unnamed_addr #4 personality ptr @__gxx_personality_v0 {
  %7 = alloca %class.SpatialVector_t, align 16
  %8 = alloca double, align 8
  %9 = alloca double, align 8
  %10 = alloca double, align 8
  %11 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %12 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %13 = alloca %class.SpatialVector_t, align 16
  %14 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %15 = alloca %class.SpatialVector_t, align 16
  %16 = alloca %class.SpatialVector_t, align 16
  %17 = alloca %class.SpatialVector_t, align 16
  %18 = alloca %"class.Eigen::CwiseNullaryOp.240", align 8
  %19 = alloca %"class.Eigen::Product.176", align 8
  %20 = alloca %class.SpatialMatrix_t, align 16
  %21 = alloca %"class.Eigen::Product.176", align 8
  %22 = alloca %class.SpatialMatrix_t, align 16
  %23 = alloca %"class.Eigen::CwiseBinaryOp.395", align 8
  %24 = alloca %"class.Eigen::Product.401", align 8
  %25 = alloca %"class.Eigen::Transpose.408", align 8
  %26 = alloca %"class.Eigen::CwiseBinaryOp.414", align 8
  %27 = alloca %class.SpatialVector_t, align 16
  %28 = alloca %"class.Eigen::CwiseBinaryOp.422", align 8
  %29 = alloca %"class.Eigen::CwiseBinaryOp.428", align 8
  %30 = alloca %"class.Eigen::Product.176", align 8
  %31 = alloca %"class.Eigen::CwiseBinaryOp.435", align 8
  %32 = alloca %"class.Eigen::CwiseBinaryOp.120", align 8
  %33 = alloca %"class.Eigen::Product.443", align 8
  %34 = alloca %"class.Eigen::Product.450", align 8
  %35 = alloca %class.SpatialMatrix_t, align 16
  %36 = alloca %class.SpatialMatrix_t, align 16
  %37 = alloca %"class.Eigen::NoAlias", align 8
  %38 = alloca %class.SpatialVector_t, align 16
  %39 = alloca %"class.Eigen::NoAlias.457", align 8
  %40 = alloca %"class.Eigen::Product.332", align 8
  %41 = alloca %"class.Eigen::Matrix.104", align 8
  %42 = alloca %"class.Eigen::Inverse", align 8
  %43 = alloca %"class.Eigen::Product.339", align 8
  %44 = alloca %"class.Eigen::Transpose", align 8
  %45 = alloca %class.Vector3_t, align 8
  %46 = alloca %"class.Eigen::Block.462", align 8
  %47 = alloca %"class.Eigen::CwiseBinaryOp.471", align 8
  %48 = alloca %"class.Eigen::Product.193", align 8
  %49 = alloca %"class.Eigen::Transpose", align 8
  %50 = alloca %class.SpatialMatrix_t, align 16
  %51 = alloca %"class.Eigen::CwiseBinaryOp.478", align 8
  %52 = alloca %"class.Eigen::Product.484", align 8
  %53 = alloca %"class.Eigen::Product.491", align 8
  %54 = alloca %"class.Eigen::Transpose", align 8
  %55 = alloca %class.SpatialVector_t, align 16
  %56 = alloca %"class.Eigen::CwiseBinaryOp.499", align 8
  %57 = alloca %"class.Eigen::CwiseBinaryOp.428", align 8
  %58 = alloca %"class.Eigen::Product.176", align 8
  %59 = alloca %"class.Eigen::Product.505", align 8
  %60 = alloca %"class.Eigen::Product.491", align 8
  %61 = alloca %"class.Eigen::Product.443", align 8
  %62 = alloca %"class.Eigen::Product.450", align 8
  %63 = alloca %class.SpatialMatrix_t, align 16
  %64 = alloca %class.SpatialMatrix_t, align 16
  %65 = alloca %"class.Eigen::NoAlias", align 8
  %66 = alloca %class.SpatialVector_t, align 16
  %67 = alloca %"class.Eigen::NoAlias.457", align 8
  %68 = alloca %"class.Eigen::Product.374", align 8
  %69 = alloca %"class.Eigen::Matrix.153", align 8
  %70 = alloca %"class.Eigen::Inverse.513", align 8
  %71 = alloca %"class.Eigen::Product.381", align 8
  %72 = alloca %"class.Eigen::Transpose.221", align 8
  %73 = alloca %"class.Eigen::Matrix.57", align 8
  %74 = alloca %"class.Eigen::Block.462", align 8
  %75 = alloca %"class.Eigen::CwiseBinaryOp.519", align 8
  %76 = alloca %"class.Eigen::Product.214", align 8
  %77 = alloca %"class.Eigen::Transpose.221", align 8
  %78 = alloca %class.SpatialMatrix_t, align 16
  %79 = alloca %"class.Eigen::CwiseBinaryOp.526", align 8
  %80 = alloca %"class.Eigen::Product.532", align 8
  %81 = alloca %"class.Eigen::Product.539", align 8
  %82 = alloca %"class.Eigen::Transpose.221", align 8
  %83 = alloca %class.SpatialVector_t, align 16
  %84 = alloca %"class.Eigen::CwiseBinaryOp.547", align 8
  %85 = alloca %"class.Eigen::CwiseBinaryOp.428", align 8
  %86 = alloca %"class.Eigen::Product.176", align 8
  %87 = alloca %"class.Eigen::Product.553", align 8
  %88 = alloca %"class.Eigen::Product.539", align 8
  %89 = alloca %"class.Eigen::Product.443", align 8
  %90 = alloca %"class.Eigen::Product.450", align 8
  %91 = alloca %class.SpatialMatrix_t, align 16
  %92 = alloca %class.SpatialMatrix_t, align 16
  %93 = alloca %"class.Eigen::NoAlias", align 8
  %94 = alloca %class.SpatialVector_t, align 16
  %95 = alloca %"class.Eigen::NoAlias.457", align 8
  %96 = alloca %"class.Eigen::CwiseBinaryOp.120", align 8
  %97 = alloca double, align 8
  %98 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %99 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %100 = alloca %class.SpatialVector_t, align 16
  %101 = alloca %"class.Eigen::CwiseBinaryOp.561", align 8
  %102 = alloca %"class.Eigen::CwiseBinaryOp.120", align 8
  %103 = alloca %class.Vector3_t, align 8
  %104 = alloca %"class.Eigen::Product.568", align 8
  %105 = alloca %"class.Eigen::CwiseBinaryOp.471", align 8
  %106 = alloca %"class.Eigen::Product.193", align 8
  %107 = alloca %"class.Eigen::Transpose", align 8
  %108 = alloca %"class.Eigen::CwiseBinaryOp.575", align 8
  %109 = alloca %"class.Eigen::Product", align 8
  %110 = alloca %"class.Eigen::Matrix.57", align 8
  %111 = alloca %"class.Eigen::Product.582", align 8
  %112 = alloca %"class.Eigen::CwiseBinaryOp.519", align 8
  %113 = alloca %"class.Eigen::Product.214", align 8
  %114 = alloca %"class.Eigen::Transpose.221", align 8
  %115 = alloca %"class.Eigen::CwiseBinaryOp.589", align 8
  %116 = alloca %"class.Eigen::Product.168", align 8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %7) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #6
  store double 0.000000e+00, ptr %8, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #6
  store double 0.000000e+00, ptr %9, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #6
  store double 0.000000e+00, ptr %10, align 8, !tbaa !5
  %117 = getelementptr inbounds i8, ptr %0, i64 88
  %118 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %117, i64 noundef 0)
  %119 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %117, i64 noundef 1)
  %120 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %117, i64 noundef 2)
  call void @_ZN15SpatialVector_tC2ERKdS1_S1_S1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(48) %7, ptr noundef nonnull align 8 dereferenceable(8) %8, ptr noundef nonnull align 8 dereferenceable(8) %9, ptr noundef nonnull align 8 dereferenceable(8) %10, ptr noundef nonnull align 8 dereferenceable(8) %118, ptr noundef nonnull align 8 dereferenceable(8) %119, ptr noundef nonnull align 8 dereferenceable(8) %120)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #6
  %121 = getelementptr inbounds i8, ptr %0, i64 112
  %122 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %121, i64 noundef 0) #6
  %123 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %122)
  %124 = getelementptr inbounds i8, ptr %0, i64 800
  %125 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %124) #6
  %126 = icmp ugt i64 %125, 1
  br i1 %126, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %6
  %127 = getelementptr inbounds i8, ptr %0, i64 720
  %128 = getelementptr inbounds i8, ptr %0, i64 744
  %129 = getelementptr inbounds i8, ptr %0, i64 208
  %130 = getelementptr inbounds i8, ptr %0, i64 232
  %131 = getelementptr inbounds i8, ptr %0, i64 472
  %132 = getelementptr inbounds i8, ptr %0, i64 624
  %133 = getelementptr inbounds i8, ptr %0, i64 496
  %134 = getelementptr inbounds i8, ptr %0, i64 520
  %.not369 = icmp eq ptr %5, null
  %135 = getelementptr inbounds i8, ptr %19, i64 8
  br label %136

136:                                              ; preds = %.lr.ph, %179
  %137 = phi i64 [ 1, %.lr.ph ], [ %181, %179 ]
  %.0324370 = phi i32 [ 1, %.lr.ph ], [ %180, %179 ]
  %138 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %137) #6
  %139 = load i32, ptr %138, align 4, !tbaa !9
  call void @_ZN17RigidBodyDynamics5jcalcERNS_5ModelEjRKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_(ptr noundef nonnull align 8 dereferenceable(872) %0, i32 noundef %.0324370, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2)
  %.not368 = icmp eq i32 %139, 0
  br i1 %.not368, label %146, label %140

140:                                              ; preds = %136
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %11) #6
  %141 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %127, i64 noundef %137) #6
  %142 = zext i32 %139 to i64
  %143 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %128, i64 noundef %142) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransformmlERKS1_(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %11, ptr noundef nonnull align 8 dereferenceable(96) %141, ptr noundef nonnull align 8 dereferenceable(96) %143)
  %144 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %128, i64 noundef %137) #6
  %145 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96) %144, ptr noundef nonnull align 8 dereferenceable(96) %11) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %11) #6
  br label %150

146:                                              ; preds = %136
  %147 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %127, i64 noundef %137) #6
  %148 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %128, i64 noundef %137) #6
  %149 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96) %148, ptr noundef nonnull align 8 dereferenceable(96) %147)
  br label %150

150:                                              ; preds = %146, %140
  %.pre-phi = phi i64 [ 0, %146 ], [ %142, %140 ]
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %12) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %13) #6
  %151 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %127, i64 noundef %137) #6
  %152 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %121, i64 noundef %.pre-phi) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %13, ptr noundef nonnull align 8 dereferenceable(96) %151, ptr noundef nonnull align 16 dereferenceable(48) %152)
  %153 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %129, i64 noundef %137) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %12, ptr noundef nonnull align 1 dereferenceable(1) %13, ptr noundef nonnull align 1 dereferenceable(1) %153)
  %154 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %121, i64 noundef %137) #6
  %155 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %154, ptr noundef nonnull align 1 dereferenceable(1) %12)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %13) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %12) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %14) #6
  %156 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %130, i64 noundef %137) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %15) #6
  %157 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %121, i64 noundef %137) #6
  %158 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %129, i64 noundef %137) #6
  call void @_ZN17RigidBodyDynamics4Math6crossmERK15SpatialVector_tS3_(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %15, ptr noundef nonnull align 16 dereferenceable(48) %157, ptr noundef nonnull align 16 dereferenceable(48) %158)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) %156, ptr noundef nonnull align 1 dereferenceable(1) %15)
  %159 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %131, i64 noundef %137) #6
  %160 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %159, ptr noundef nonnull align 1 dereferenceable(1) %14)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %15) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %14) #6
  %161 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %132, i64 noundef %137) #6
  %162 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %133, i64 noundef %137) #6
  call void @_ZNK17RigidBodyDynamics4Math23SpatialRigidBodyInertia16setSpatialMatrixER15SpatialMatrix_t(ptr noundef nonnull align 8 dereferenceable(80) %161, ptr noundef nonnull align 16 dereferenceable(288) %162)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %16) #6
  %163 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %121, i64 noundef %137) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %17) #6
  %164 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %132, i64 noundef %137) #6
  %165 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %121, i64 noundef %137) #6
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %17, ptr noundef nonnull align 8 dereferenceable(80) %164, ptr noundef nonnull align 16 dereferenceable(48) %165)
  call void @_ZN17RigidBodyDynamics4Math6crossfERK15SpatialVector_tS3_(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %16, ptr noundef nonnull align 16 dereferenceable(48) %163, ptr noundef nonnull align 16 dereferenceable(48) %17)
  %166 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %134, i64 noundef %137) #6
  %167 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48) %166, ptr noundef nonnull align 16 dereferenceable(48) %16) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %17) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %16) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %18) #6
  br i1 %.not369, label %.critedge, label %168

168:                                              ; preds = %150
  %169 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %137) #6
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.240") align 8 %18)
  %170 = call noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEneINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES2_EEEEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %169, ptr noundef nonnull align 1 dereferenceable(1) %18)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #6
  br i1 %170, label %171, label %179

171:                                              ; preds = %168
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %19) #6
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %20) #6
  %172 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %128, i64 noundef %137) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform15toMatrixAdjointEv(ptr dead_on_unwind nonnull writable sret(%class.SpatialMatrix_t) align 16 %20, ptr noundef nonnull align 8 dereferenceable(96) %172)
  %173 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %137) #6
  %174 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %20, ptr noundef nonnull align 1 dereferenceable(1) %173)
  %175 = extractvalue { ptr, ptr } %174, 0
  store ptr %175, ptr %19, align 8
  %176 = extractvalue { ptr, ptr } %174, 1
  store ptr %176, ptr %135, align 8
  %177 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %134, i64 noundef %137) #6
  %178 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmIINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEERS2_RKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %177, ptr noundef nonnull align 1 dereferenceable(1) %19)
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %20) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %19) #6
  br label %179

.critedge:                                        ; preds = %150
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #6
  br label %179

179:                                              ; preds = %.critedge, %171, %168
  %180 = add i32 %.0324370, 1
  %181 = zext i32 %180 to i64
  %182 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %124) #6
  %183 = icmp ugt i64 %182, %181
  br i1 %183, label %136, label %._crit_edge, !llvm.loop !11

._crit_edge:                                      ; preds = %179, %6
  %184 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %124) #6
  %185 = trunc i64 %184 to i32
  %.1371 = add i32 %185, -1
  %.not372 = icmp eq i32 %.1371, 0
  br i1 %.not372, label %._crit_edge376, label %.lr.ph375

.lr.ph375:                                        ; preds = %._crit_edge
  %186 = getelementptr inbounds i8, ptr %0, i64 160
  %187 = getelementptr inbounds i8, ptr %0, i64 496
  %188 = getelementptr inbounds i8, ptr %0, i64 184
  %189 = getelementptr inbounds i8, ptr %21, i64 8
  %190 = getelementptr inbounds i8, ptr %0, i64 544
  %191 = getelementptr inbounds i8, ptr %0, i64 568
  %192 = getelementptr inbounds i8, ptr %0, i64 520
  %193 = getelementptr inbounds i8, ptr %0, i64 584
  %194 = getelementptr inbounds i8, ptr %0, i64 472
  %195 = getelementptr inbounds i8, ptr %30, i64 8
  %196 = getelementptr inbounds i8, ptr %0, i64 720
  %197 = getelementptr inbounds i8, ptr %34, i64 8
  %198 = getelementptr inbounds i8, ptr %0, i64 328
  %199 = getelementptr inbounds i8, ptr %40, i64 8
  %200 = getelementptr inbounds i8, ptr %0, i64 352
  %201 = getelementptr inbounds i8, ptr %43, i64 8
  %202 = getelementptr inbounds i8, ptr %42, i64 8
  %203 = getelementptr inbounds i8, ptr %0, i64 376
  %204 = getelementptr inbounds i8, ptr %48, i64 8
  %205 = getelementptr inbounds i8, ptr %0, i64 400
  %206 = getelementptr inbounds i8, ptr %53, i64 8
  %207 = getelementptr inbounds i8, ptr %58, i64 8
  %208 = getelementptr inbounds i8, ptr %60, i64 8
  %209 = getelementptr inbounds i8, ptr %62, i64 8
  %210 = getelementptr inbounds i8, ptr %0, i64 448
  %211 = getelementptr inbounds i8, ptr %68, i64 8
  %212 = getelementptr inbounds i8, ptr %71, i64 8
  %213 = getelementptr inbounds i8, ptr %70, i64 8
  %214 = getelementptr inbounds i8, ptr %76, i64 8
  %215 = getelementptr inbounds i8, ptr %81, i64 8
  %216 = getelementptr inbounds i8, ptr %86, i64 8
  %217 = getelementptr inbounds i8, ptr %88, i64 8
  %218 = getelementptr inbounds i8, ptr %90, i64 8
  %219 = zext i32 %.1371 to i64
  br label %220

220:                                              ; preds = %.lr.ph375, %511
  %indvars.iv = phi i64 [ %219, %.lr.ph375 ], [ %indvars.iv.next, %511 ]
  %221 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %186, i64 noundef %indvars.iv) #6
  %222 = getelementptr inbounds i8, ptr %221, i64 16
  %223 = load i32, ptr %222, align 8, !tbaa !13
  %224 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %186, i64 noundef %indvars.iv) #6
  %225 = getelementptr inbounds i8, ptr %224, i64 12
  %226 = load i32, ptr %225, align 4, !tbaa !17
  %227 = icmp eq i32 %226, 1
  br i1 %227, label %228, label %280

228:                                              ; preds = %220
  %229 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %186, i64 noundef %indvars.iv) #6
  %230 = getelementptr inbounds i8, ptr %229, i64 8
  %231 = load i32, ptr %230, align 8, !tbaa !18
  %.not349 = icmp eq i32 %231, 21
  br i1 %.not349, label %280, label %232

232:                                              ; preds = %228
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %21) #6
  %233 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %187, i64 noundef %indvars.iv) #6
  %234 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %188, i64 noundef %indvars.iv) #6
  %235 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %233, ptr noundef nonnull align 1 dereferenceable(1) %234)
  %236 = extractvalue { ptr, ptr } %235, 0
  store ptr %236, ptr %21, align 8
  %237 = extractvalue { ptr, ptr } %235, 1
  store ptr %237, ptr %189, align 8
  %238 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %190, i64 noundef %indvars.iv) #6
  %239 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen7ProductINS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %238, ptr noundef nonnull align 1 dereferenceable(1) %21)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #6
  %240 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %188, i64 noundef %indvars.iv) #6
  %241 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %190, i64 noundef %indvars.iv) #6
  %242 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %240, ptr noundef nonnull align 1 dereferenceable(1) %241)
  %243 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %191, i64 noundef %indvars.iv)
  store double %242, ptr %243, align 8, !tbaa !5
  %244 = zext i32 %223 to i64
  %245 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %244)
  %246 = load double, ptr %245, align 8, !tbaa !5
  %247 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %188, i64 noundef %indvars.iv) #6
  %248 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %192, i64 noundef %indvars.iv) #6
  %249 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %247, ptr noundef nonnull align 1 dereferenceable(1) %248)
  %250 = fsub double %246, %249
  %251 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %193, i64 noundef %indvars.iv)
  store double %250, ptr %251, align 8, !tbaa !5
  %252 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv) #6
  %253 = load i32, ptr %252, align 4, !tbaa !9
  %.not367 = icmp eq i32 %253, 0
  br i1 %.not367, label %511, label %254

254:                                              ; preds = %232
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %22) #6
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %23) #6
  %255 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %187, i64 noundef %indvars.iv) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %24) #6
  %256 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %190, i64 noundef %indvars.iv) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %25) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %26) #6
  %257 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %190, i64 noundef %indvars.iv) #6
  %258 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %191, i64 noundef %indvars.iv)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEdvIdEEKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.414") align 8 %26, ptr noundef nonnull align 1 dereferenceable(1) %257, ptr noundef nonnull align 8 dereferenceable(8) %258)
  call void @_ZNK5Eigen9DenseBaseINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEE9transposeEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Transpose.408") align 8 %25, ptr noundef nonnull align 1 dereferenceable(1) %26)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlINS_9TransposeIKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKS2_KNS_14CwiseNullaryOpINS7_18scalar_constant_opIdEESA_EEEEEEEEKNS_7ProductIS2_T_Li0EEERKNS0_ISK_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.401") align 8 %24, ptr noundef nonnull align 1 dereferenceable(1) %256, ptr noundef nonnull align 1 dereferenceable(1) %25)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS1_IdLi6ELi1ELi0ELi6ELi1EEENS_9TransposeIKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKS6_KNS_14CwiseNullaryOpINS9_18scalar_constant_opIdEESC_EEEEEELi0EEEEEKNS8_INS9_20scalar_difference_opIdNS9_6traitsIT_E6ScalarEEEKS2_KSO_EERKNS0_ISO_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.395") align 8 %23, ptr noundef nonnull align 1 dereferenceable(1) %255, ptr noundef nonnull align 1 dereferenceable(1) %24)
  call void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS6_IdLi6ELi1ELi0ELi6ELi1EEENS1_9TransposeIKNS2_INS3_18scalar_quotient_opIddEEKSA_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEESE_EEEEEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288) %22, ptr noundef nonnull align 1 dereferenceable(1) %23)
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %26) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %25) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %24) #6
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %23) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %27) #6
  call void @llvm.lifetime.start.p0(i64 112, ptr nonnull %28) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %29) #6
  %259 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %192, i64 noundef %indvars.iv) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %30) #6
  %260 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %194, i64 noundef %indvars.iv) #6
  %261 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %22, ptr noundef nonnull align 1 dereferenceable(1) %260)
  %262 = extractvalue { ptr, ptr } %261, 0
  store ptr %262, ptr %30, align 8
  %263 = extractvalue { ptr, ptr } %261, 1
  store ptr %263, ptr %195, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS9_6traitsIT_E6ScalarEEEKS2_KSC_EERKNS0_ISC_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.428") align 8 %29, ptr noundef nonnull align 1 dereferenceable(1) %259, ptr noundef nonnull align 1 dereferenceable(1) %30)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %31) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %32) #6
  %264 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %190, i64 noundef %indvars.iv) #6
  %265 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %193, i64 noundef %indvars.iv)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8 %32, ptr noundef nonnull align 1 dereferenceable(1) %264, ptr noundef nonnull align 8 dereferenceable(8) %265)
  %266 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %191, i64 noundef %indvars.iv)
  call void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEdvIdEEKNS1_INS2_18scalar_quotient_opIdNS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdSI_NSG_IdSI_EEEEEE5valueEE4typeEEEKSD_KNS2_19plain_constant_typeISD_SN_E4typeEEERKSI_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.435") align 8 %31, ptr noundef nonnull align 1 dereferenceable(1) %32, ptr noundef nonnull align 8 dereferenceable(8) %266)
  call void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_7ProductINS5_IdLi6ELi6ELi0ELi6ELi6EEES6_Li0EEEEEEplINS1_INS2_18scalar_quotient_opIddEEKNS1_INS2_17scalar_product_opIddEES7_KNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEESN_EEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKSC_KSS_EERKNS0_ISS_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.422") align 8 %28, ptr noundef nonnull align 1 dereferenceable(1) %29, ptr noundef nonnull align 1 dereferenceable(1) %31)
  call void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi6ELi0ELi6ELi6EEES7_Li0EEEEEKNS2_INS3_18scalar_quotient_opIddEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEESN_EEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %27, ptr noundef nonnull align 1 dereferenceable(1) %28)
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %32) #6
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %31) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %30) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %29) #6
  call void @llvm.lifetime.end.p0(i64 112, ptr nonnull %28) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %33) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %34) #6
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %35) #6
  %267 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %196, i64 noundef %indvars.iv) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform17toMatrixTransposeEv(ptr dead_on_unwind nonnull writable sret(%class.SpatialMatrix_t) align 16 %35, ptr noundef nonnull align 8 dereferenceable(96) %267)
  %268 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %35, ptr noundef nonnull align 1 dereferenceable(1) %22)
  %269 = extractvalue { ptr, ptr } %268, 0
  store ptr %269, ptr %34, align 8
  %270 = extractvalue { ptr, ptr } %268, 1
  store ptr %270, ptr %197, align 8
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %36) #6
  %271 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %196, i64 noundef %indvars.iv) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind nonnull writable sret(%class.SpatialMatrix_t) align 16 %36, ptr noundef nonnull align 8 dereferenceable(96) %271)
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEES3_Li0EEEEmlIS3_EEKNS1_IS4_T_Li0EEERKNS0_IS7_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.443") align 8 %33, ptr noundef nonnull align 1 dereferenceable(1) %34, ptr noundef nonnull align 1 dereferenceable(1) %36)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %37) #6
  %272 = zext i32 %253 to i64
  %273 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %187, i64 noundef %272) #6
  %274 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %273)
  store ptr %274, ptr %37, align 8
  %275 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS_10MatrixBaseEEpLINS_7ProductINS6_IS2_S2_Li0EEES2_Li0EEEEERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %37, ptr noundef nonnull align 1 dereferenceable(1) %33)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %37) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %36) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %35) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %34) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %33) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %38) #6
  %276 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %196, i64 noundef %indvars.iv) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %38, ptr noundef nonnull align 8 dereferenceable(96) %276, ptr noundef nonnull align 16 dereferenceable(48) %27)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %39) #6
  %277 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %192, i64 noundef %272) #6
  %278 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %277)
  store ptr %278, ptr %39, align 8
  %279 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEENS_10MatrixBaseEEpLIS2_EERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %39, ptr noundef nonnull align 1 dereferenceable(1) %38)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %39) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %38) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %27) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %22) #6
  br label %511

280:                                              ; preds = %228, %220
  %281 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %186, i64 noundef %indvars.iv) #6
  %282 = getelementptr inbounds i8, ptr %281, i64 12
  %283 = load i32, ptr %282, align 4, !tbaa !17
  %284 = icmp eq i32 %283, 3
  br i1 %284, label %285, label %353

285:                                              ; preds = %280
  %286 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %186, i64 noundef %indvars.iv) #6
  %287 = getelementptr inbounds i8, ptr %286, i64 8
  %288 = load i32, ptr %287, align 8, !tbaa !18
  %.not350 = icmp eq i32 %288, 21
  br i1 %.not350, label %353, label %289

289:                                              ; preds = %285
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %40) #6
  %290 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %187, i64 noundef %indvars.iv) #6
  %291 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %198, i64 noundef %indvars.iv) #6
  %292 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi3ELi0ELi6ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %290, ptr noundef nonnull align 1 dereferenceable(1) %291)
  %293 = extractvalue { ptr, ptr } %292, 0
  store ptr %293, ptr %40, align 8
  %294 = extractvalue { ptr, ptr } %292, 1
  store ptr %294, ptr %199, align 8
  %295 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %200, i64 noundef %indvars.iv) #6
  %296 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEaSINS_7ProductINS0_IdLi6ELi6ELi0ELi6ELi6EEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(144) %295, ptr noundef nonnull align 1 dereferenceable(1) %40)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %40) #6
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %41) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %42) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %43) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %44) #6
  %297 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %198, i64 noundef %indvars.iv) #6
  %298 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %297)
  store ptr %298, ptr %44, align 8
  %299 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %200, i64 noundef %indvars.iv) #6
  %300 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %44, ptr noundef nonnull align 1 dereferenceable(1) %299)
  %301 = extractvalue { ptr, ptr } %300, 0
  store ptr %301, ptr %43, align 8
  %302 = extractvalue { ptr, ptr } %300, 1
  store ptr %302, ptr %201, align 8
  %303 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEES4_Li0EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1) %43)
  %304 = extractvalue { ptr, ptr } %303, 0
  store ptr %304, ptr %42, align 8
  %305 = extractvalue { ptr, ptr } %303, 1
  store ptr %305, ptr %202, align 8
  call void @_ZNK5Eigen9DenseBaseINS_7InverseINS_7ProductINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEES5_Li0EEEEEE4evalEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix.104") align 8 %41, ptr noundef nonnull align 1 dereferenceable(1) %42)
  %306 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %203, i64 noundef %indvars.iv) #6
  %307 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZN9Matrix3_taSIN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72) %306, ptr noundef nonnull align 1 dereferenceable(1) %41)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %44) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %43) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %42) #6
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %41) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %45) #6
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %46) #6
  %308 = zext i32 %223 to i64
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIiiEEKNS3_18ConstFixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.462") align 8 %46, ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %308, i64 noundef 0, i32 noundef 3, i32 noundef 1)
  call void @_ZN9Vector3_tC2IN5Eigen5BlockIKNS1_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %45, ptr noundef nonnull align 1 dereferenceable(1) %46)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %46) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %47) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %48) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %49) #6
  %309 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %198, i64 noundef %indvars.iv) #6
  %310 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %309)
  store ptr %310, ptr %49, align 8
  %311 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %192, i64 noundef %indvars.iv) #6
  %312 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %49, ptr noundef nonnull align 1 dereferenceable(1) %311)
  %313 = extractvalue { ptr, ptr } %312, 0
  store ptr %313, ptr %48, align 8
  %314 = extractvalue { ptr, ptr } %312, 1
  store ptr %314, ptr %204, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.471") align 8 %47, ptr noundef nonnull align 1 dereferenceable(1) %45, ptr noundef nonnull align 1 dereferenceable(1) %48)
  %315 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %205, i64 noundef %indvars.iv) #6
  %316 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_7ProductINS1_9TransposeINS6_IdLi6ELi3ELi0ELi6ELi3EEEEENS6_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %315, ptr noundef nonnull align 1 dereferenceable(1) %47)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %49) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %48) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %47) #6
  %317 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv) #6
  %318 = load i32, ptr %317, align 4, !tbaa !9
  %.not366 = icmp eq i32 %318, 0
  br i1 %.not366, label %352, label %319

319:                                              ; preds = %289
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %50) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %51) #6
  %320 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %187, i64 noundef %indvars.iv) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %52) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %53) #6
  %321 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %200, i64 noundef %indvars.iv) #6
  %322 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %203, i64 noundef %indvars.iv) #6
  %323 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %321, ptr noundef nonnull align 1 dereferenceable(1) %322)
  %324 = extractvalue { ptr, ptr } %323, 0
  store ptr %324, ptr %53, align 8
  %325 = extractvalue { ptr, ptr } %323, 1
  store ptr %325, ptr %206, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %54) #6
  %326 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %200, i64 noundef %indvars.iv) #6
  %327 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %326)
  store ptr %327, ptr %54, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS2_IdLi3ELi3ELi0ELi3ELi3EEELi0EEEEmlINS_9TransposeIS3_EEEEKNS1_IS5_T_Li0EEERKNS0_ISA_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.484") align 8 %52, ptr noundef nonnull align 1 dereferenceable(1) %53, ptr noundef nonnull align 1 dereferenceable(1) %54)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS5_INS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS_9TransposeIS6_EELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSD_6traitsIT_E6ScalarEEEKS2_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.478") align 8 %51, ptr noundef nonnull align 1 dereferenceable(1) %320, ptr noundef nonnull align 1 dereferenceable(1) %52)
  call void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS1_9TransposeISA_EELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288) %50, ptr noundef nonnull align 1 dereferenceable(1) %51)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %54) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %53) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %52) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %51) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %55) #6
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %56) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %57) #6
  %328 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %192, i64 noundef %indvars.iv) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %58) #6
  %329 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %194, i64 noundef %indvars.iv) #6
  %330 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %50, ptr noundef nonnull align 1 dereferenceable(1) %329)
  %331 = extractvalue { ptr, ptr } %330, 0
  store ptr %331, ptr %58, align 8
  %332 = extractvalue { ptr, ptr } %330, 1
  store ptr %332, ptr %207, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS9_6traitsIT_E6ScalarEEEKS2_KSC_EERKNS0_ISC_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.428") align 8 %57, ptr noundef nonnull align 1 dereferenceable(1) %328, ptr noundef nonnull align 1 dereferenceable(1) %58)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %59) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %60) #6
  %333 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %200, i64 noundef %indvars.iv) #6
  %334 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %203, i64 noundef %indvars.iv) #6
  %335 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %333, ptr noundef nonnull align 1 dereferenceable(1) %334)
  %336 = extractvalue { ptr, ptr } %335, 0
  store ptr %336, ptr %60, align 8
  %337 = extractvalue { ptr, ptr } %335, 1
  store ptr %337, ptr %208, align 8
  %338 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %205, i64 noundef %indvars.iv) #6
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS2_IdLi3ELi3ELi0ELi3ELi3EEELi0EEEEmlINS2_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS1_IS5_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.505") align 8 %59, ptr noundef nonnull align 1 dereferenceable(1) %60, ptr noundef nonnull align 1 dereferenceable(1) %338)
  call void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_7ProductINS5_IdLi6ELi6ELi0ELi6ELi6EEES6_Li0EEEEEEplINS8_INS8_INS5_IdLi6ELi3ELi0ELi6ELi3EEENS5_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS5_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKSC_KSL_EERKNS0_ISL_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.499") align 8 %56, ptr noundef nonnull align 1 dereferenceable(1) %57, ptr noundef nonnull align 1 dereferenceable(1) %59)
  call void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi6ELi0ELi6ELi6EEES7_Li0EEEEEKNS9_INS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %55, ptr noundef nonnull align 1 dereferenceable(1) %56)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %60) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %59) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %58) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %57) #6
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %56) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %61) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %62) #6
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %63) #6
  %339 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %196, i64 noundef %indvars.iv) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform17toMatrixTransposeEv(ptr dead_on_unwind nonnull writable sret(%class.SpatialMatrix_t) align 16 %63, ptr noundef nonnull align 8 dereferenceable(96) %339)
  %340 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %63, ptr noundef nonnull align 1 dereferenceable(1) %50)
  %341 = extractvalue { ptr, ptr } %340, 0
  store ptr %341, ptr %62, align 8
  %342 = extractvalue { ptr, ptr } %340, 1
  store ptr %342, ptr %209, align 8
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %64) #6
  %343 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %196, i64 noundef %indvars.iv) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind nonnull writable sret(%class.SpatialMatrix_t) align 16 %64, ptr noundef nonnull align 8 dereferenceable(96) %343)
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEES3_Li0EEEEmlIS3_EEKNS1_IS4_T_Li0EEERKNS0_IS7_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.443") align 8 %61, ptr noundef nonnull align 1 dereferenceable(1) %62, ptr noundef nonnull align 1 dereferenceable(1) %64)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %65) #6
  %344 = zext i32 %318 to i64
  %345 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %187, i64 noundef %344) #6
  %346 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %345)
  store ptr %346, ptr %65, align 8
  %347 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS_10MatrixBaseEEpLINS_7ProductINS6_IS2_S2_Li0EEES2_Li0EEEEERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %65, ptr noundef nonnull align 1 dereferenceable(1) %61)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %65) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %64) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %63) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %62) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %61) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %66) #6
  %348 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %196, i64 noundef %indvars.iv) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %66, ptr noundef nonnull align 8 dereferenceable(96) %348, ptr noundef nonnull align 16 dereferenceable(48) %55)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %67) #6
  %349 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %192, i64 noundef %344) #6
  %350 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %349)
  store ptr %350, ptr %67, align 8
  %351 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEENS_10MatrixBaseEEpLIS2_EERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %67, ptr noundef nonnull align 1 dereferenceable(1) %66)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %67) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %66) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %55) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %50) #6
  br label %352

352:                                              ; preds = %319, %289
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %45) #6
  br label %511

353:                                              ; preds = %285, %280
  %354 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %186, i64 noundef %indvars.iv) #6
  %355 = getelementptr inbounds i8, ptr %354, i64 8
  %356 = load i32, ptr %355, align 8, !tbaa !18
  %357 = icmp eq i32 %356, 21
  br i1 %357, label %358, label %511

358:                                              ; preds = %353
  %359 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %186, i64 noundef %indvars.iv) #6
  %360 = getelementptr inbounds i8, ptr %359, i64 20
  %361 = load i32, ptr %360, align 4, !tbaa !19
  %362 = zext i32 %361 to i64
  %363 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %210, i64 noundef %362) #6
  %364 = load ptr, ptr %363, align 8, !tbaa !20
  %365 = getelementptr inbounds i8, ptr %364, i64 8
  %366 = load i32, ptr %365, align 8, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %68) #6
  %367 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %187, i64 noundef %indvars.iv) #6
  %368 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %210, i64 noundef %362) #6
  %369 = load ptr, ptr %368, align 8, !tbaa !20
  %370 = getelementptr inbounds i8, ptr %369, i64 112
  %371 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLin1ELin1ELi0ELin1ELin1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %367, ptr noundef nonnull align 1 dereferenceable(1) %370)
  %372 = extractvalue { ptr, ptr } %371, 0
  store ptr %372, ptr %68, align 8
  %373 = extractvalue { ptr, ptr } %371, 1
  store ptr %373, ptr %211, align 8
  %374 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %210, i64 noundef %362) #6
  %375 = load ptr, ptr %374, align 8, !tbaa !20
  %376 = getelementptr inbounds i8, ptr %375, i64 136
  %377 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_7ProductINS0_IdLi6ELi6ELi0ELi6ELi6EEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %376, ptr noundef nonnull align 1 dereferenceable(1) %68)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %68) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %69) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %70) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %71) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %72) #6
  %378 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %210, i64 noundef %362) #6
  %379 = load ptr, ptr %378, align 8, !tbaa !20
  %380 = getelementptr inbounds i8, ptr %379, i64 112
  %381 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %380)
  store ptr %381, ptr %72, align 8
  %382 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %210, i64 noundef %362) #6
  %383 = load ptr, ptr %382, align 8, !tbaa !20
  %384 = getelementptr inbounds i8, ptr %383, i64 136
  %385 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %72, ptr noundef nonnull align 1 dereferenceable(1) %384)
  %386 = extractvalue { ptr, ptr } %385, 0
  store ptr %386, ptr %71, align 8
  %387 = extractvalue { ptr, ptr } %385, 1
  store ptr %387, ptr %212, align 8
  %388 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEES4_Li0EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1) %71)
  %389 = extractvalue { ptr, ptr } %388, 0
  store ptr %389, ptr %70, align 8
  %390 = extractvalue { ptr, ptr } %388, 1
  store ptr %390, ptr %213, align 8
  call void @_ZNK5Eigen9DenseBaseINS_7InverseINS_7ProductINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEES5_Li0EEEEEE4evalEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix.153") align 8 %69, ptr noundef nonnull align 1 dereferenceable(1) %70)
  %391 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %210, i64 noundef %362) #6
  %392 = load ptr, ptr %391, align 8, !tbaa !20
  %393 = getelementptr inbounds i8, ptr %392, i64 160
  %394 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %393, ptr noundef nonnull align 8 dereferenceable(24) %69)
          to label %395 unwind label %480

395:                                              ; preds = %358
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %69) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %72) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %71) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %70) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %69) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %73) #6
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %74) #6
  %396 = zext i32 %223 to i64
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEEKNS3_18ConstFixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.462") align 8 %74, ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %396, i64 noundef 0, i32 noundef %366, i32 noundef 1)
  call void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_5BlockIKS1_Lin1ELin1ELb0EEEEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %73, ptr noundef nonnull align 8 dereferenceable(56) %74)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %74) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %75) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %76) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %77) #6
  %397 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %210, i64 noundef %362) #6
  %398 = load ptr, ptr %397, align 8, !tbaa !20
  %399 = getelementptr inbounds i8, ptr %398, i64 112
  %400 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %399)
          to label %401 unwind label %482

401:                                              ; preds = %395
  store ptr %400, ptr %77, align 8
  %402 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %192, i64 noundef %indvars.iv) #6
  %403 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %77, ptr noundef nonnull align 1 dereferenceable(1) %402)
          to label %404 unwind label %482

404:                                              ; preds = %401
  %405 = extractvalue { ptr, ptr } %403, 0
  store ptr %405, ptr %76, align 8
  %406 = extractvalue { ptr, ptr } %403, 1
  store ptr %406, ptr %214, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.519") align 8 %75, ptr noundef nonnull align 1 dereferenceable(1) %73, ptr noundef nonnull align 1 dereferenceable(1) %76)
          to label %407 unwind label %482

407:                                              ; preds = %404
  %408 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %210, i64 noundef %362) #6
  %409 = load ptr, ptr %408, align 8, !tbaa !20
  %410 = getelementptr inbounds i8, ptr %409, i64 184
  %411 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS_7ProductINS_9TransposeINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %410, ptr noundef nonnull align 1 dereferenceable(1) %75)
          to label %412 unwind label %482

412:                                              ; preds = %407
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %77) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %76) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %75) #6
  %413 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv) #6
  %414 = load i32, ptr %413, align 4, !tbaa !9
  %.not351 = icmp eq i32 %414, 0
  br i1 %.not351, label %509, label %415

415:                                              ; preds = %412
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %78) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %79) #6
  %416 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %187, i64 noundef %indvars.iv) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %80) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %81) #6
  %417 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %210, i64 noundef %362) #6
  %418 = load ptr, ptr %417, align 8, !tbaa !20
  %419 = getelementptr inbounds i8, ptr %418, i64 136
  %420 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %210, i64 noundef %362) #6
  %421 = load ptr, ptr %420, align 8, !tbaa !20
  %422 = getelementptr inbounds i8, ptr %421, i64 160
  %423 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %419, ptr noundef nonnull align 1 dereferenceable(1) %422)
          to label %424 unwind label %484

424:                                              ; preds = %415
  %425 = extractvalue { ptr, ptr } %423, 0
  store ptr %425, ptr %81, align 8
  %426 = extractvalue { ptr, ptr } %423, 1
  store ptr %426, ptr %215, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %82) #6
  %427 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %210, i64 noundef %362) #6
  %428 = load ptr, ptr %427, align 8, !tbaa !20
  %429 = getelementptr inbounds i8, ptr %428, i64 136
  %430 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %429)
          to label %431 unwind label %486

431:                                              ; preds = %424
  store ptr %430, ptr %82, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEES3_Li0EEEEmlINS_9TransposeIS3_EEEEKNS1_IS4_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.532") align 8 %80, ptr noundef nonnull align 1 dereferenceable(1) %81, ptr noundef nonnull align 1 dereferenceable(1) %82)
          to label %432 unwind label %486

432:                                              ; preds = %431
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS5_INS1_IdLin1ELin1ELi0ELin1ELin1EEES6_Li0EEENS_9TransposeIS6_EELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.526") align 8 %79, ptr noundef nonnull align 1 dereferenceable(1) %416, ptr noundef nonnull align 1 dereferenceable(1) %80)
          to label %433 unwind label %486

433:                                              ; preds = %432
  invoke void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESA_Li0EEENS1_9TransposeISA_EELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288) %78, ptr noundef nonnull align 1 dereferenceable(1) %79)
          to label %434 unwind label %486

434:                                              ; preds = %433
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %82) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %81) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %80) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %79) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %83) #6
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %84) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %85) #6
  %435 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %192, i64 noundef %indvars.iv) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %86) #6
  %436 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %194, i64 noundef %indvars.iv) #6
  %437 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %78, ptr noundef nonnull align 1 dereferenceable(1) %436)
          to label %438 unwind label %489

438:                                              ; preds = %434
  %439 = extractvalue { ptr, ptr } %437, 0
  store ptr %439, ptr %86, align 8
  %440 = extractvalue { ptr, ptr } %437, 1
  store ptr %440, ptr %216, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS9_6traitsIT_E6ScalarEEEKS2_KSC_EERKNS0_ISC_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.428") align 8 %85, ptr noundef nonnull align 1 dereferenceable(1) %435, ptr noundef nonnull align 1 dereferenceable(1) %86)
          to label %441 unwind label %489

441:                                              ; preds = %438
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %87) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %88) #6
  %442 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %210, i64 noundef %362) #6
  %443 = load ptr, ptr %442, align 8, !tbaa !20
  %444 = getelementptr inbounds i8, ptr %443, i64 136
  %445 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %210, i64 noundef %362) #6
  %446 = load ptr, ptr %445, align 8, !tbaa !20
  %447 = getelementptr inbounds i8, ptr %446, i64 160
  %448 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %444, ptr noundef nonnull align 1 dereferenceable(1) %447)
          to label %449 unwind label %491

449:                                              ; preds = %441
  %450 = extractvalue { ptr, ptr } %448, 0
  store ptr %450, ptr %88, align 8
  %451 = extractvalue { ptr, ptr } %448, 1
  store ptr %451, ptr %217, align 8
  %452 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %210, i64 noundef %362) #6
  %453 = load ptr, ptr %452, align 8, !tbaa !20
  %454 = getelementptr inbounds i8, ptr %453, i64 184
  invoke void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEES3_Li0EEEEmlINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS1_IS4_T_Li0EEERKNS0_IS8_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.553") align 8 %87, ptr noundef nonnull align 1 dereferenceable(1) %88, ptr noundef nonnull align 1 dereferenceable(1) %454)
          to label %455 unwind label %491

455:                                              ; preds = %449
  invoke void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_7ProductINS5_IdLi6ELi6ELi0ELi6ELi6EEES6_Li0EEEEEEplINS8_INS8_INS5_IdLin1ELin1ELi0ELin1ELin1EEESF_Li0EEENS5_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKSC_KSK_EERKNS0_ISK_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.547") align 8 %84, ptr noundef nonnull align 1 dereferenceable(1) %85, ptr noundef nonnull align 1 dereferenceable(1) %87)
          to label %456 unwind label %491

456:                                              ; preds = %455
  invoke void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi6ELi0ELi6ELi6EEES7_Li0EEEEEKNS9_INS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESF_Li0EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %83, ptr noundef nonnull align 1 dereferenceable(1) %84)
          to label %457 unwind label %491

457:                                              ; preds = %456
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %88) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %87) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %86) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %85) #6
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %84) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %89) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %90) #6
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %91) #6
  %458 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %196, i64 noundef %indvars.iv) #6
  invoke void @_ZNK17RigidBodyDynamics4Math16SpatialTransform17toMatrixTransposeEv(ptr dead_on_unwind nonnull writable sret(%class.SpatialMatrix_t) align 16 %91, ptr noundef nonnull align 8 dereferenceable(96) %458)
          to label %459 unwind label %494

459:                                              ; preds = %457
  %460 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %91, ptr noundef nonnull align 1 dereferenceable(1) %78)
          to label %461 unwind label %494

461:                                              ; preds = %459
  %462 = extractvalue { ptr, ptr } %460, 0
  store ptr %462, ptr %90, align 8
  %463 = extractvalue { ptr, ptr } %460, 1
  store ptr %463, ptr %218, align 8
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %92) #6
  %464 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %196, i64 noundef %indvars.iv) #6
  invoke void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind nonnull writable sret(%class.SpatialMatrix_t) align 16 %92, ptr noundef nonnull align 8 dereferenceable(96) %464)
          to label %465 unwind label %496

465:                                              ; preds = %461
  invoke void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEES3_Li0EEEEmlIS3_EEKNS1_IS4_T_Li0EEERKNS0_IS7_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.443") align 8 %89, ptr noundef nonnull align 1 dereferenceable(1) %90, ptr noundef nonnull align 1 dereferenceable(1) %92)
          to label %466 unwind label %496

466:                                              ; preds = %465
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %93) #6
  %467 = zext i32 %414 to i64
  %468 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %187, i64 noundef %467) #6
  %469 = invoke ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %468)
          to label %470 unwind label %498

470:                                              ; preds = %466
  store ptr %469, ptr %93, align 8
  %471 = invoke noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS_10MatrixBaseEEpLINS_7ProductINS6_IS2_S2_Li0EEES2_Li0EEEEERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %93, ptr noundef nonnull align 1 dereferenceable(1) %89)
          to label %472 unwind label %498

472:                                              ; preds = %470
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %93) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %92) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %91) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %90) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %89) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %94) #6
  %473 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %196, i64 noundef %indvars.iv) #6
  invoke void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %94, ptr noundef nonnull align 8 dereferenceable(96) %473, ptr noundef nonnull align 16 dereferenceable(48) %83)
          to label %474 unwind label %502

474:                                              ; preds = %472
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %95) #6
  %475 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %192, i64 noundef %467) #6
  %476 = invoke ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1) %475)
          to label %477 unwind label %504

477:                                              ; preds = %474
  store ptr %476, ptr %95, align 8
  %478 = invoke noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEENS_10MatrixBaseEEpLIS2_EERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8) %95, ptr noundef nonnull align 1 dereferenceable(1) %94)
          to label %479 unwind label %504

479:                                              ; preds = %477
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %95) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %94) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %83) #6
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %78) #6
  br label %509

480:                                              ; preds = %358
  %481 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %69) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %72) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %71) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %70) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %69) #6
  br label %670

482:                                              ; preds = %407, %404, %401, %395
  %483 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %77) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %76) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %75) #6
  br label %510

484:                                              ; preds = %415
  %485 = landingpad { ptr, i32 }
          cleanup
  br label %488

486:                                              ; preds = %433, %432, %431, %424
  %487 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %82) #6
  br label %488

488:                                              ; preds = %486, %484
  %.pn352 = phi { ptr, i32 } [ %487, %486 ], [ %485, %484 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %81) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %80) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %79) #6
  br label %508

489:                                              ; preds = %438, %434
  %490 = landingpad { ptr, i32 }
          cleanup
  br label %493

491:                                              ; preds = %456, %455, %449, %441
  %492 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %88) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %87) #6
  br label %493

493:                                              ; preds = %491, %489
  %.pn354 = phi { ptr, i32 } [ %492, %491 ], [ %490, %489 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %86) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %85) #6
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %84) #6
  br label %507

494:                                              ; preds = %459, %457
  %495 = landingpad { ptr, i32 }
          cleanup
  br label %501

496:                                              ; preds = %465, %461
  %497 = landingpad { ptr, i32 }
          cleanup
  br label %500

498:                                              ; preds = %470, %466
  %499 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %93) #6
  br label %500

500:                                              ; preds = %498, %496
  %.pn356 = phi { ptr, i32 } [ %499, %498 ], [ %497, %496 ]
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %92) #6
  br label %501

501:                                              ; preds = %500, %494
  %.pn356.pn = phi { ptr, i32 } [ %.pn356, %500 ], [ %495, %494 ]
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %91) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %90) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %89) #6
  br label %507

502:                                              ; preds = %472
  %503 = landingpad { ptr, i32 }
          cleanup
  br label %506

504:                                              ; preds = %477, %474
  %505 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %95) #6
  br label %506

506:                                              ; preds = %504, %502
  %.pn359 = phi { ptr, i32 } [ %505, %504 ], [ %503, %502 ]
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %94) #6
  br label %507

507:                                              ; preds = %506, %501, %493
  %.pn359.pn = phi { ptr, i32 } [ %.pn359, %506 ], [ %.pn356.pn, %501 ], [ %.pn354, %493 ]
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %83) #6
  br label %508

508:                                              ; preds = %507, %488
  %.pn359.pn.pn = phi { ptr, i32 } [ %.pn359.pn, %507 ], [ %.pn352, %488 ]
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %78) #6
  br label %510

509:                                              ; preds = %479, %412
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %73) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %73) #6
  br label %511

510:                                              ; preds = %508, %482
  %.pn359.pn.pn.pn = phi { ptr, i32 } [ %.pn359.pn.pn, %508 ], [ %483, %482 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %73) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %73) #6
  br label %670

511:                                              ; preds = %232, %254, %352, %509, %353
  %indvars.iv.next = add nsw i64 %indvars.iv, -1
  %512 = and i64 %indvars.iv.next, 4294967295
  %.not = icmp eq i64 %512, 0
  br i1 %.not, label %._crit_edge376, label %220, !llvm.loop !41

._crit_edge376:                                   ; preds = %511, %._crit_edge
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %96) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %97) #6
  store double -1.000000e+00, ptr %97, align 8, !tbaa !5
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8 %96, ptr noundef nonnull align 1 dereferenceable(1) %7, ptr noundef nonnull align 8 dereferenceable(8) %97)
  %513 = getelementptr inbounds i8, ptr %0, i64 136
  %514 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %513, i64 noundef 0) #6
  %515 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal17scalar_product_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %514, ptr noundef nonnull align 1 dereferenceable(1) %96)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %97) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %96) #6
  %516 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %124) #6
  %517 = icmp ugt i64 %516, 1
  br i1 %517, label %.lr.ph383, label %._crit_edge384

.lr.ph383:                                        ; preds = %._crit_edge376
  %518 = getelementptr inbounds i8, ptr %0, i64 160
  %519 = getelementptr inbounds i8, ptr %0, i64 720
  %520 = getelementptr inbounds i8, ptr %0, i64 472
  %521 = getelementptr inbounds i8, ptr %0, i64 568
  %522 = getelementptr inbounds i8, ptr %0, i64 584
  %523 = getelementptr inbounds i8, ptr %0, i64 544
  %524 = getelementptr inbounds i8, ptr %0, i64 184
  %525 = getelementptr inbounds i8, ptr %0, i64 376
  %526 = getelementptr inbounds i8, ptr %0, i64 400
  %527 = getelementptr inbounds i8, ptr %0, i64 352
  %528 = getelementptr inbounds i8, ptr %106, i64 8
  %529 = getelementptr inbounds i8, ptr %0, i64 328
  %530 = getelementptr inbounds i8, ptr %109, i64 8
  %531 = getelementptr inbounds i8, ptr %0, i64 448
  %532 = getelementptr inbounds i8, ptr %113, i64 8
  %533 = getelementptr inbounds i8, ptr %116, i64 8
  br label %534

534:                                              ; preds = %.lr.ph383, %665
  %535 = phi i64 [ 1, %.lr.ph383 ], [ %667, %665 ]
  %.2381 = phi i32 [ 1, %.lr.ph383 ], [ %666, %665 ]
  %536 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %518, i64 noundef %535) #6
  %537 = getelementptr inbounds i8, ptr %536, i64 16
  %538 = load i32, ptr %537, align 8, !tbaa !13
  %539 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %535) #6
  %540 = load i32, ptr %539, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %98) #6
  %541 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %519, i64 noundef %535) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2ERKS1_(ptr noundef nonnull align 8 dereferenceable(96) %98, ptr noundef nonnull align 8 dereferenceable(96) %541)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %99) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %100) #6
  %542 = zext i32 %540 to i64
  %543 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %513, i64 noundef %542) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %100, ptr noundef nonnull align 8 dereferenceable(96) %98, ptr noundef nonnull align 16 dereferenceable(48) %543)
  %544 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %520, i64 noundef %535) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %99, ptr noundef nonnull align 1 dereferenceable(1) %100, ptr noundef nonnull align 1 dereferenceable(1) %544)
  %545 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %513, i64 noundef %535) #6
  %546 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %545, ptr noundef nonnull align 1 dereferenceable(1) %99)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %100) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %99) #6
  %547 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %518, i64 noundef %535) #6
  %548 = getelementptr inbounds i8, ptr %547, i64 12
  %549 = load i32, ptr %548, align 4, !tbaa !17
  %550 = icmp eq i32 %549, 1
  br i1 %550, label %551, label %573

551:                                              ; preds = %534
  %552 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %518, i64 noundef %535) #6
  %553 = getelementptr inbounds i8, ptr %552, i64 8
  %554 = load i32, ptr %553, align 8, !tbaa !18
  %.not346 = icmp eq i32 %554, 21
  br i1 %.not346, label %573, label %555

555:                                              ; preds = %551
  %556 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %521, i64 noundef %535)
  %557 = load double, ptr %556, align 8, !tbaa !5
  %558 = fdiv double 1.000000e+00, %557
  %559 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %522, i64 noundef %535)
  %560 = load double, ptr %559, align 8, !tbaa !5
  %561 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %523, i64 noundef %535) #6
  %562 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %513, i64 noundef %535) #6
  %563 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %561, ptr noundef nonnull align 1 dereferenceable(1) %562)
  %564 = fsub double %560, %563
  %565 = fmul double %558, %564
  %566 = zext i32 %538 to i64
  %567 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %566)
  store double %565, ptr %567, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %101) #6
  %568 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %513, i64 noundef %535) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %102) #6
  %569 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %524, i64 noundef %535) #6
  %570 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %566)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8 %102, ptr noundef nonnull align 1 dereferenceable(1) %569, ptr noundef nonnull align 8 dereferenceable(8) %570)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEES9_EEEEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEES9_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.561") align 8 %101, ptr noundef nonnull align 1 dereferenceable(1) %568, ptr noundef nonnull align 1 dereferenceable(1) %102)
  %571 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %513, i64 noundef %535) #6
  %572 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %571, ptr noundef nonnull align 1 dereferenceable(1) %101)
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %102) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %101) #6
  br label %665

573:                                              ; preds = %551, %534
  %574 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %518, i64 noundef %535) #6
  %575 = getelementptr inbounds i8, ptr %574, i64 12
  %576 = load i32, ptr %575, align 4, !tbaa !17
  %577 = icmp eq i32 %576, 3
  br i1 %577, label %578, label %612

578:                                              ; preds = %573
  %579 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %518, i64 noundef %535) #6
  %580 = getelementptr inbounds i8, ptr %579, i64 8
  %581 = load i32, ptr %580, align 8, !tbaa !18
  %.not347 = icmp eq i32 %581, 21
  br i1 %.not347, label %612, label %582

582:                                              ; preds = %578
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %103) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %104) #6
  %583 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %525, i64 noundef %535) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %105) #6
  %584 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %526, i64 noundef %535) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %106) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %107) #6
  %585 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %527, i64 noundef %535) #6
  %586 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %585)
  store ptr %586, ptr %107, align 8
  %587 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %513, i64 noundef %535) #6
  %588 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %107, ptr noundef nonnull align 1 dereferenceable(1) %587)
  %589 = extractvalue { ptr, ptr } %588, 0
  store ptr %589, ptr %106, align 8
  %590 = extractvalue { ptr, ptr } %588, 1
  store ptr %590, ptr %528, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.471") align 8 %105, ptr noundef nonnull align 1 dereferenceable(1) %584, ptr noundef nonnull align 1 dereferenceable(1) %106)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEmlINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKNS1_IdLi3ELi1ELi0ELi3ELi1EEEKNS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEEKNSB_IS2_T_Li0EEERKNS0_ISJ_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.568") align 8 %104, ptr noundef nonnull align 1 dereferenceable(1) %583, ptr noundef nonnull align 1 dereferenceable(1) %105)
  call void @_ZN9Vector3_tC2IN5Eigen7ProductINS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEENS1_13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS3_IdLi3ELi1ELi0ELi3ELi1EEEKNS2_INS1_9TransposeINS3_IdLi6ELi3ELi0ELi6ELi3EEEEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %103, ptr noundef nonnull align 1 dereferenceable(1) %104)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %107) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %106) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %105) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %104) #6
  %591 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %103, i64 noundef 0)
  %592 = load double, ptr %591, align 8, !tbaa !5
  %593 = zext i32 %538 to i64
  %594 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %593)
  store double %592, ptr %594, align 8, !tbaa !5
  %595 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %103, i64 noundef 1)
  %596 = load double, ptr %595, align 8, !tbaa !5
  %597 = add i32 %538, 1
  %598 = zext i32 %597 to i64
  %599 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %598)
  store double %596, ptr %599, align 8, !tbaa !5
  %600 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %103, i64 noundef 2)
  %601 = load double, ptr %600, align 8, !tbaa !5
  %602 = add i32 %538, 2
  %603 = zext i32 %602 to i64
  %604 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %603)
  store double %601, ptr %604, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %108) #6
  %605 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %513, i64 noundef %535) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %109) #6
  %606 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %529, i64 noundef %535) #6
  %607 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %606, ptr noundef nonnull align 1 dereferenceable(1) %103)
  %608 = extractvalue { ptr, ptr } %607, 0
  store ptr %608, ptr %109, align 8
  %609 = extractvalue { ptr, ptr } %607, 1
  store ptr %609, ptr %530, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.575") align 8 %108, ptr noundef nonnull align 1 dereferenceable(1) %605, ptr noundef nonnull align 1 dereferenceable(1) %109)
  %610 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %513, i64 noundef %535) #6
  %611 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %610, ptr noundef nonnull align 1 dereferenceable(1) %108)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %109) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %108) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %103) #6
  br label %665

612:                                              ; preds = %578, %573
  %613 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %518, i64 noundef %535) #6
  %614 = getelementptr inbounds i8, ptr %613, i64 8
  %615 = load i32, ptr %614, align 8, !tbaa !18
  %616 = icmp eq i32 %615, 21
  br i1 %616, label %617, label %665

617:                                              ; preds = %612
  %618 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %518, i64 noundef %535) #6
  %619 = getelementptr inbounds i8, ptr %618, i64 20
  %620 = load i32, ptr %619, align 4, !tbaa !19
  %621 = zext i32 %620 to i64
  %622 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %531, i64 noundef %621) #6
  %623 = load ptr, ptr %622, align 8, !tbaa !20
  %624 = getelementptr inbounds i8, ptr %623, i64 8
  %625 = load i32, ptr %624, align 8, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %110) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %111) #6
  %626 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %531, i64 noundef %621) #6
  %627 = load ptr, ptr %626, align 8, !tbaa !20
  %628 = getelementptr inbounds i8, ptr %627, i64 160
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %112) #6
  %629 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %531, i64 noundef %621) #6
  %630 = load ptr, ptr %629, align 8, !tbaa !20
  %631 = getelementptr inbounds i8, ptr %630, i64 184
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %113) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %114) #6
  %632 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %531, i64 noundef %621) #6
  %633 = load ptr, ptr %632, align 8, !tbaa !20
  %634 = getelementptr inbounds i8, ptr %633, i64 136
  %635 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %634)
  store ptr %635, ptr %114, align 8
  %636 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %513, i64 noundef %535) #6
  %637 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %114, ptr noundef nonnull align 1 dereferenceable(1) %636)
  %638 = extractvalue { ptr, ptr } %637, 0
  store ptr %638, ptr %113, align 8
  %639 = extractvalue { ptr, ptr } %637, 1
  store ptr %639, ptr %532, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.519") align 8 %112, ptr noundef nonnull align 1 dereferenceable(1) %631, ptr noundef nonnull align 1 dereferenceable(1) %113)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKNS1_IdLin1ELi1ELi0ELin1ELi1EEEKNS_7ProductINS_9TransposeIS2_EENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEEKNSB_IS2_T_Li0EEERKNS0_ISI_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.582") align 8 %111, ptr noundef nonnull align 1 dereferenceable(1) %628, ptr noundef nonnull align 1 dereferenceable(1) %112)
  call void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_7ProductINS0_IdLin1ELin1ELi0ELin1ELin1EEENS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS3_INS_9TransposeIS4_EENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %110, ptr noundef nonnull align 1 dereferenceable(1) %111)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %114) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %113) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %112) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %111) #6
  %.not385 = icmp eq i32 %625, 0
  br i1 %.not385, label %._crit_edge380, label %.lr.ph379.preheader

.lr.ph379.preheader:                              ; preds = %617
  %wide.trip.count = zext i32 %625 to i64
  br label %.lr.ph379

._crit_edge380:                                   ; preds = %652, %617
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %115) #6
  %640 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %513, i64 noundef %535) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %116) #6
  %641 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %531, i64 noundef %621) #6
  %642 = load ptr, ptr %641, align 8, !tbaa !20
  %643 = getelementptr inbounds i8, ptr %642, i64 112
  %644 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %643, ptr noundef nonnull align 1 dereferenceable(1) %110)
          to label %655 unwind label %662

.lr.ph379:                                        ; preds = %.lr.ph379.preheader, %652
  %indvars.iv387 = phi i64 [ 0, %.lr.ph379.preheader ], [ %indvars.iv.next388, %652 ]
  %645 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %110, i64 noundef %indvars.iv387)
          to label %646 unwind label %653

646:                                              ; preds = %.lr.ph379
  %647 = load double, ptr %645, align 8, !tbaa !5
  %648 = trunc nuw nsw i64 %indvars.iv387 to i32
  %649 = add i32 %538, %648
  %650 = zext i32 %649 to i64
  %651 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %650)
          to label %652 unwind label %653

652:                                              ; preds = %646
  store double %647, ptr %651, align 8, !tbaa !5
  %indvars.iv.next388 = add nuw nsw i64 %indvars.iv387, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next388, %wide.trip.count
  br i1 %exitcond.not, label %._crit_edge380, label %.lr.ph379, !llvm.loop !42

653:                                              ; preds = %646, %.lr.ph379
  %654 = landingpad { ptr, i32 }
          cleanup
  br label %664

655:                                              ; preds = %._crit_edge380
  %656 = extractvalue { ptr, ptr } %644, 0
  store ptr %656, ptr %116, align 8
  %657 = extractvalue { ptr, ptr } %644, 1
  store ptr %657, ptr %533, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLin1ELin1ELi0ELin1ELin1EEENS1_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.589") align 8 %115, ptr noundef nonnull align 1 dereferenceable(1) %640, ptr noundef nonnull align 1 dereferenceable(1) %116)
          to label %658 unwind label %662

658:                                              ; preds = %655
  %659 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %513, i64 noundef %535) #6
  %660 = invoke noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLin1ELin1ELi0ELin1ELin1EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %659, ptr noundef nonnull align 1 dereferenceable(1) %115)
          to label %661 unwind label %662

661:                                              ; preds = %658
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %116) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %115) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %110) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %110) #6
  br label %665

662:                                              ; preds = %658, %655, %._crit_edge380
  %663 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %116) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %115) #6
  br label %664

664:                                              ; preds = %662, %653
  %.pn = phi { ptr, i32 } [ %654, %653 ], [ %663, %662 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %110) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %110) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %98) #6
  br label %670

665:                                              ; preds = %582, %661, %612, %555
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %98) #6
  %666 = add i32 %.2381, 1
  %667 = zext i32 %666 to i64
  %668 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %124) #6
  %669 = icmp ugt i64 %668, %667
  br i1 %669, label %534, label %._crit_edge384, !llvm.loop !43

._crit_edge384:                                   ; preds = %665, %._crit_edge376
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %7) #6
  ret void

670:                                              ; preds = %480, %510, %664
  %.pn359.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn, %664 ], [ %.pn359.pn.pn.pn, %510 ], [ %481, %480 ]
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %7) #6
  resume { ptr, i32 } %.pn359.pn.pn.pn.pn.pn
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math23SpatialRigidBodyInertia16setSpatialMatrixER15SpatialMatrix_t(ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 16 dereferenceable(288)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen7ProductINS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS1_IdLi6ELi1ELi0ELi6ELi1EEENS_9TransposeIKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKS6_KNS_14CwiseNullaryOpINS9_18scalar_constant_opIdEESC_EEEEEELi0EEEEEKNS8_INS9_20scalar_difference_opIdNS9_6traitsIT_E6ScalarEEEKS2_KSO_EERKNS0_ISO_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.395") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlINS_9TransposeIKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKS2_KNS_14CwiseNullaryOpINS7_18scalar_constant_opIdEESA_EEEEEEEEKNS_7ProductIS2_T_Li0EEERKNS0_ISK_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.401") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEdvIdEEKNS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.414") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEE9transposeEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Transpose.408") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS6_IdLi6ELi1ELi0ELi6ELi1EEENS1_9TransposeIKNS2_INS3_18scalar_quotient_opIddEEKSA_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEESE_EEEEEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS9_6traitsIT_E6ScalarEEEKS2_KSC_EERKNS0_ISC_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.428") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_7ProductINS5_IdLi6ELi6ELi0ELi6ELi6EEES6_Li0EEEEEEplINS1_INS2_18scalar_quotient_opIddEEKNS1_INS2_17scalar_product_opIddEES7_KNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEESN_EEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKSC_KSS_EERKNS0_ISS_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.422") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEdvIdEEKNS1_INS2_18scalar_quotient_opIdNS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdSI_NSG_IdSI_EEEEEE5valueEE4typeEEEKSD_KNS2_19plain_constant_typeISD_SN_E4typeEEERKSI_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.435") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi6ELi0ELi6ELi6EEES7_Li0EEEEEKNS2_INS3_18scalar_quotient_opIddEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEESN_EEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEES3_Li0EEEEmlIS3_EEKNS1_IS4_T_Li0EEERKNS0_IS7_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.443") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind noalias writable sret(%class.SpatialMatrix_t) align 16, ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEENS_10MatrixBaseEEpLINS_7ProductINS6_IS2_S2_Li0EEES2_Li0EEEEERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7noaliasEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen7NoAliasINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEENS_10MatrixBaseEEpLIS2_EERS2_RKNS3_IT_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEES4_Li0EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_7InverseINS_7ProductINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEES5_Li0EEEEEE4evalEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.104") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(72) ptr @_ZN9Matrix3_taSIN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIiiEEKNS3_18ConstFixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.462") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2IN5Eigen5BlockIKNS1_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.471") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEKNS1_7ProductINS1_9TransposeINS6_IdLi6ELi3ELi0ELi6ELi3EEEEENS6_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS5_INS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS_9TransposeIS6_EELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSD_6traitsIT_E6ScalarEEEKS2_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.478") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS2_IdLi3ELi3ELi0ELi3ELi3EEELi0EEEEmlINS_9TransposeIS3_EEEEKNS1_IS5_T_Li0EEERKNS0_ISA_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.484") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS1_9TransposeISA_EELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_7ProductINS5_IdLi6ELi6ELi0ELi6ELi6EEES6_Li0EEEEEEplINS8_INS8_INS5_IdLi6ELi3ELi0ELi6ELi3EEENS5_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS5_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKSC_KSL_EERKNS0_ISL_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.499") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS2_IdLi3ELi3ELi0ELi3ELi3EEELi0EEEEmlINS2_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS1_IS5_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.505") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi6ELi0ELi6ELi6EEES7_Li0EEEEEKNS9_INS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEES4_Li0EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_7InverseINS_7ProductINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEES5_Li0EEEEEE4evalEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.153") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEEKNS3_18ConstFixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.462") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_5BlockIKS1_Lin1ELin1ELb0EEEEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(56)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.519") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS_7ProductINS_9TransposeINS0_IdLin1ELin1ELi0ELin1ELin1EEEEENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmiINS_7ProductINS5_INS1_IdLin1ELin1ELi0ELin1ELin1EEES6_Li0EEENS_9TransposeIS6_EELi0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.526") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEES3_Li0EEEEmlINS_9TransposeIS3_EEEEKNS1_IS4_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.532") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialMatrix_tC2IN5Eigen13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEKNS1_7ProductINS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESA_Li0EEENS1_9TransposeISA_EELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS_7ProductINS5_IdLi6ELi6ELi0ELi6ELi6EEES6_Li0EEEEEEplINS8_INS8_INS5_IdLin1ELin1ELi0ELin1ELin1EEESF_Li0EEENS5_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKSC_KSK_EERKNS0_ISK_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.547") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEES3_Li0EEEEmlINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS1_IS4_T_Li0EEERKNS0_IS8_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.553") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi6ELi0ELi6ELi6EEES7_Li0EEEEEKNS9_INS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESF_Li0EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal17scalar_product_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2ERKS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEES9_EEEEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEES9_KSI_EERKNS0_ISI_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.561") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEmlINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKNS1_IdLi3ELi1ELi0ELi3ELi1EEEKNS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEEKNSB_IS2_T_Li0EEERKNS0_ISJ_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.568") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2IN5Eigen7ProductINS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEENS1_13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS3_IdLi3ELi1ELi0ELi3ELi1EEEKNS2_INS1_9TransposeINS3_IdLi6ELi3ELi0ELi6ELi3EEEEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.575") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKNS1_IdLin1ELi1ELi0ELin1ELi1EEEKNS_7ProductINS_9TransposeIS2_EENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEEEEKNSB_IS2_T_Li0EEERKNS0_ISI_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.582") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_7ProductINS0_IdLin1ELin1ELi0ELin1ELin1EEENS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS3_INS_9TransposeIS4_EENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS1_IdLin1ELin1ELi0ELin1ELin1EEENS1_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSA_6traitsIT_E6ScalarEEEKS2_KSD_EERKNS0_ISD_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.589") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS6_IdLin1ELin1ELi0ELin1ELin1EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 align 2

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = distinct !{!11, !12}
!12 = !{!"llvm.loop.mustprogress"}
!13 = !{!14, !10, i64 16}
!14 = !{!"_ZTSN17RigidBodyDynamics5JointE", !15, i64 0, !16, i64 8, !10, i64 12, !10, i64 16, !10, i64 20}
!15 = !{!"any pointer", !7, i64 0}
!16 = !{!"_ZTSN17RigidBodyDynamics9JointTypeE", !7, i64 0}
!17 = !{!14, !10, i64 12}
!18 = !{!14, !16, i64 8}
!19 = !{!14, !10, i64 20}
!20 = !{!15, !15, i64 0}
!21 = !{!22, !10, i64 8}
!22 = !{!"_ZTSN17RigidBodyDynamics11CustomJointE", !10, i64 8, !23, i64 16, !34, i64 112, !34, i64 136, !34, i64 160, !38, i64 184, !38, i64 200}
!23 = !{!"_ZTSN17RigidBodyDynamics4Math16SpatialTransformE", !24, i64 0, !29, i64 72}
!24 = !{!"_ZTS9Matrix3_t", !25, i64 0}
!25 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !26, i64 0}
!26 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !27, i64 0}
!27 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !28, i64 0}
!28 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !7, i64 0}
!29 = !{!"_ZTS9Vector3_t", !30, i64 0}
!30 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !31, i64 0}
!31 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !32, i64 0}
!32 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !33, i64 0}
!33 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!34 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !35, i64 0}
!35 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !36, i64 0}
!36 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !15, i64 0, !37, i64 8, !37, i64 16}
!37 = !{!"long", !7, i64 0}
!38 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !39, i64 0}
!39 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !40, i64 0}
!40 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !15, i64 0, !37, i64 8}
!41 = distinct !{!41, !12}
!42 = distinct !{!42, !12}
!43 = distinct !{!43, !12}


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