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

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

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

@.str = external hidden unnamed_addr constant [5 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [39 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [1 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [5 x i8], align 1
@_ZTIN4urdf10ParseErrorE = external dso_local constant { ptr, ptr, ptr }, align 8
@.str.7 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.8 = external hidden unnamed_addr constant [36 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [20 x i8], align 1
@.str.10 = external hidden unnamed_addr constant [22 x i8], align 1

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf13parseMaterialERNS_8MaterialEP12TiXmlElementb(ptr noundef nonnull align 8 dereferenceable(80) %0, ptr noundef %1, i1 noundef zeroext %2) #0 personality ptr @__gxx_personality_v0 {
  %4 = alloca i1, align 1
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca i8, align 1
  %8 = alloca i8, align 1
  %9 = alloca i8, align 1
  %10 = alloca i32, align 4
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca %"class.std::__cxx11::basic_string", align 8
  %14 = alloca ptr, align 8
  %15 = alloca i32, align 4
  %16 = alloca %"class.std::allocator", align 1
  %17 = alloca ptr, align 8
  %18 = alloca %"class.std::__cxx11::basic_string", align 8
  %19 = alloca %"class.std::__cxx11::basic_string", align 8
  %20 = alloca %"class.std::__cxx11::basic_string", align 8
  %21 = alloca %"class.std::__cxx11::basic_string", align 8
  %22 = alloca %"class.std::__cxx11::basic_string", align 8
  %23 = alloca %"class.std::__cxx11::basic_string", align 8
  %24 = alloca %"class.std::__cxx11::basic_string", align 8
  store ptr %0, ptr %5, align 8, !tbaa !5
  store ptr %1, ptr %6, align 8, !tbaa !5
  %25 = zext i1 %2 to i8
  store i8 %25, ptr %7, align 1, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 1, ptr %8) #7
  store i8 0, ptr %8, align 1, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 1, ptr %9) #7
  store i8 0, ptr %9, align 1, !tbaa !9
  %26 = load ptr, ptr %5, align 8, !tbaa !5
  call void @_ZN4urdf8Material5clearEv(ptr noundef nonnull align 8 dereferenceable(80) %26)
  %27 = load ptr, ptr %6, align 8, !tbaa !5
  %28 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %27, ptr noundef @.str)
  %29 = icmp ne ptr %28, null
  br i1 %29, label %31, label %30

30:                                               ; preds = %3
  call void @_Z8logErrorPKcS0_S0_S0_(ptr noundef @.str.1, ptr noundef @.str.2, ptr noundef @.str.2, ptr noundef @.str.2)
  store i1 false, ptr %4, align 1
  store i32 1, ptr %10, align 4
  br label %183

31:                                               ; preds = %3
  %32 = load ptr, ptr %6, align 8, !tbaa !5
  %33 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %32, ptr noundef @.str)
  %34 = load ptr, ptr %5, align 8, !tbaa !5
  %35 = getelementptr inbounds %"class.urdf::Material", ptr %34, i32 0, i32 0
  %36 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEPKc(ptr noundef nonnull align 8 dereferenceable(32) %35, ptr noundef %33)
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #7
  %37 = load ptr, ptr %6, align 8, !tbaa !5
  %38 = call noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(80) %37, ptr noundef @.str.3)
  store ptr %38, ptr %11, align 8, !tbaa !5
  %39 = load ptr, ptr %11, align 8, !tbaa !5
  %40 = icmp ne ptr %39, null
  br i1 %40, label %41, label %52

41:                                               ; preds = %31
  %42 = load ptr, ptr %11, align 8, !tbaa !5
  %43 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %42, ptr noundef @.str.4)
  %44 = icmp ne ptr %43, null
  br i1 %44, label %45, label %51

45:                                               ; preds = %41
  %46 = load ptr, ptr %11, align 8, !tbaa !5
  %47 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %46, ptr noundef @.str.4)
  %48 = load ptr, ptr %5, align 8, !tbaa !5
  %49 = getelementptr inbounds %"class.urdf::Material", ptr %48, i32 0, i32 1
  %50 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEPKc(ptr noundef nonnull align 8 dereferenceable(32) %49, ptr noundef %47)
  store i8 1, ptr %9, align 1, !tbaa !9
  br label %51

51:                                               ; preds = %45, %41
  br label %52

52:                                               ; preds = %51, %31
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #7
  %53 = load ptr, ptr %6, align 8, !tbaa !5
  %54 = call noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(80) %53, ptr noundef @.str.5)
  store ptr %54, ptr %12, align 8, !tbaa !5
  %55 = load ptr, ptr %12, align 8, !tbaa !5
  %56 = icmp ne ptr %55, null
  br i1 %56, label %57, label %133

57:                                               ; preds = %52
  %58 = load ptr, ptr %12, align 8, !tbaa !5
  %59 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %58, ptr noundef @.str.6)
  %60 = icmp ne ptr %59, null
  br i1 %60, label %61, label %132

61:                                               ; preds = %57
  %62 = load ptr, ptr %5, align 8, !tbaa !5
  %63 = getelementptr inbounds %"class.urdf::Material", ptr %62, i32 0, i32 2
  call void @llvm.lifetime.start.p0(i64 32, ptr %13) #7
  %64 = load ptr, ptr %12, align 8, !tbaa !5
  %65 = invoke noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %64, ptr noundef @.str.6)
          to label %66 unwind label %70

66:                                               ; preds = %61
  call void @llvm.lifetime.start.p0(i64 1, ptr %16) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %16) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %13, ptr noundef %65, ptr noundef nonnull align 1 dereferenceable(1) %16)
          to label %67 unwind label %74

67:                                               ; preds = %66
  %68 = invoke noundef zeroext i1 @_ZN4urdf5Color4initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 4 dereferenceable(16) %63, ptr noundef nonnull align 8 dereferenceable(32) %13)
          to label %69 unwind label %78

69:                                               ; preds = %67
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %16) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %16) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %13) #7
  store i8 1, ptr %8, align 1, !tbaa !9
  br label %106

70:                                               ; preds = %61
  %71 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %72 = extractvalue { ptr, i32 } %71, 0
  store ptr %72, ptr %14, align 8
  %73 = extractvalue { ptr, i32 } %71, 1
  store i32 %73, ptr %15, align 4
  br label %83

74:                                               ; preds = %66
  %75 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %76 = extractvalue { ptr, i32 } %75, 0
  store ptr %76, ptr %14, align 8
  %77 = extractvalue { ptr, i32 } %75, 1
  store i32 %77, ptr %15, align 4
  br label %82

78:                                               ; preds = %67
  %79 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %80 = extractvalue { ptr, i32 } %79, 0
  store ptr %80, ptr %14, align 8
  %81 = extractvalue { ptr, i32 } %79, 1
  store i32 %81, ptr %15, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #7
  br label %82

82:                                               ; preds = %78, %74
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %16) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %16) #7
  br label %83

83:                                               ; preds = %82, %70
  call void @llvm.lifetime.end.p0(i64 32, ptr %13) #7
  br label %84

84:                                               ; preds = %83
  %85 = load i32, ptr %15, align 4
  %86 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN4urdf10ParseErrorE) #7
  %87 = icmp eq i32 %85, %86
  br i1 %87, label %88, label %182

88:                                               ; preds = %84
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #7
  %89 = load ptr, ptr %14, align 8
  %90 = call ptr @__cxa_begin_catch(ptr %89) #7
  store ptr %90, ptr %17, align 8
  %91 = load ptr, ptr %5, align 8, !tbaa !5
  %92 = getelementptr inbounds %"class.urdf::Material", ptr %91, i32 0, i32 2
  invoke void @_ZN4urdf5Color5clearEv(ptr noundef nonnull align 4 dereferenceable(16) %92)
          to label %93 unwind label %107

93:                                               ; preds = %88
  call void @llvm.lifetime.start.p0(i64 32, ptr %18) #7
  call void @llvm.lifetime.start.p0(i64 32, ptr %19) #7
  call void @llvm.lifetime.start.p0(i64 32, ptr %20) #7
  %94 = load ptr, ptr %5, align 8, !tbaa !5
  %95 = getelementptr inbounds %"class.urdf::Material", ptr %94, i32 0, i32 0
  invoke void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_RKS8_(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %20, ptr noundef @.str.7, ptr noundef nonnull align 8 dereferenceable(32) %95)
          to label %96 unwind label %111

96:                                               ; preds = %93
  invoke void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEOS8_PKS5_(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %19, ptr noundef nonnull align 8 dereferenceable(32) %20, ptr noundef @.str.8)
          to label %97 unwind label %115

97:                                               ; preds = %96
  %98 = load ptr, ptr %17, align 8, !tbaa !5
  %99 = load ptr, ptr %98, align 8, !tbaa !11
  %100 = getelementptr inbounds ptr, ptr %99, i64 2
  %101 = load ptr, ptr %100, align 8
  %102 = call noundef ptr %101(ptr noundef nonnull align 8 dereferenceable(16) %98) #7
  invoke void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEOS8_PKS5_(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %18, ptr noundef nonnull align 8 dereferenceable(32) %19, ptr noundef %102)
          to label %103 unwind label %119

103:                                              ; preds = %97
  %104 = call noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32) %18) #7
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef %104, ptr noundef @.str.2, ptr noundef @.str.2, ptr noundef @.str.2)
          to label %105 unwind label %123

105:                                              ; preds = %103
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %18) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %20) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %19) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %18) #7
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #7
  br label %106

106:                                              ; preds = %105, %69
  br label %132

107:                                              ; preds = %88
  %108 = landingpad { ptr, i32 }
          cleanup
  %109 = extractvalue { ptr, i32 } %108, 0
  store ptr %109, ptr %14, align 8
  %110 = extractvalue { ptr, i32 } %108, 1
  store i32 %110, ptr %15, align 4
  br label %130

111:                                              ; preds = %93
  %112 = landingpad { ptr, i32 }
          cleanup
  %113 = extractvalue { ptr, i32 } %112, 0
  store ptr %113, ptr %14, align 8
  %114 = extractvalue { ptr, i32 } %112, 1
  store i32 %114, ptr %15, align 4
  br label %129

115:                                              ; preds = %96
  %116 = landingpad { ptr, i32 }
          cleanup
  %117 = extractvalue { ptr, i32 } %116, 0
  store ptr %117, ptr %14, align 8
  %118 = extractvalue { ptr, i32 } %116, 1
  store i32 %118, ptr %15, align 4
  br label %128

119:                                              ; preds = %97
  %120 = landingpad { ptr, i32 }
          cleanup
  %121 = extractvalue { ptr, i32 } %120, 0
  store ptr %121, ptr %14, align 8
  %122 = extractvalue { ptr, i32 } %120, 1
  store i32 %122, ptr %15, align 4
  br label %127

123:                                              ; preds = %103
  %124 = landingpad { ptr, i32 }
          cleanup
  %125 = extractvalue { ptr, i32 } %124, 0
  store ptr %125, ptr %14, align 8
  %126 = extractvalue { ptr, i32 } %124, 1
  store i32 %126, ptr %15, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %18) #7
  br label %127

127:                                              ; preds = %123, %119
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #7
  br label %128

128:                                              ; preds = %127, %115
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20) #7
  br label %129

129:                                              ; preds = %128, %111
  call void @llvm.lifetime.end.p0(i64 32, ptr %20) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %19) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %18) #7
  br label %130

130:                                              ; preds = %129, %107
  invoke void @__cxa_end_catch()
          to label %131 unwind label %190

131:                                              ; preds = %130
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #7
  br label %182

132:                                              ; preds = %106, %57
  br label %133

133:                                              ; preds = %132, %52
  %134 = load i8, ptr %8, align 1, !tbaa !9, !range !13, !noundef !14
  %135 = trunc i8 %134 to i1
  br i1 %135, label %180, label %136

136:                                              ; preds = %133
  %137 = load i8, ptr %9, align 1, !tbaa !9, !range !13, !noundef !14
  %138 = trunc i8 %137 to i1
  br i1 %138, label %180, label %139

139:                                              ; preds = %136
  %140 = load i8, ptr %7, align 1, !tbaa !9, !range !13, !noundef !14
  %141 = trunc i8 %140 to i1
  br i1 %141, label %179, label %142

142:                                              ; preds = %139
  %143 = load i8, ptr %8, align 1, !tbaa !9, !range !13, !noundef !14
  %144 = trunc i8 %143 to i1
  br i1 %144, label %160, label %145

145:                                              ; preds = %142
  call void @llvm.lifetime.start.p0(i64 32, ptr %21) #7
  call void @llvm.lifetime.start.p0(i64 32, ptr %22) #7
  %146 = load ptr, ptr %5, align 8, !tbaa !5
  %147 = getelementptr inbounds %"class.urdf::Material", ptr %146, i32 0, i32 0
  call void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_RKS8_(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %22, ptr noundef @.str.7, ptr noundef nonnull align 8 dereferenceable(32) %147)
  invoke void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEOS8_PKS5_(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %21, ptr noundef nonnull align 8 dereferenceable(32) %22, ptr noundef @.str.9)
          to label %148 unwind label %151

148:                                              ; preds = %145
  %149 = call noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32) %21) #7
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef %149, ptr noundef @.str.2, ptr noundef @.str.2, ptr noundef @.str.2)
          to label %150 unwind label %155

150:                                              ; preds = %148
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %22) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %22) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %21) #7
  br label %160

151:                                              ; preds = %145
  %152 = landingpad { ptr, i32 }
          cleanup
  %153 = extractvalue { ptr, i32 } %152, 0
  store ptr %153, ptr %14, align 8
  %154 = extractvalue { ptr, i32 } %152, 1
  store i32 %154, ptr %15, align 4
  br label %159

155:                                              ; preds = %148
  %156 = landingpad { ptr, i32 }
          cleanup
  %157 = extractvalue { ptr, i32 } %156, 0
  store ptr %157, ptr %14, align 8
  %158 = extractvalue { ptr, i32 } %156, 1
  store i32 %158, ptr %15, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #7
  br label %159

159:                                              ; preds = %155, %151
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %22) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %22) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %21) #7
  br label %182

160:                                              ; preds = %150, %142
  %161 = load i8, ptr %9, align 1, !tbaa !9, !range !13, !noundef !14
  %162 = trunc i8 %161 to i1
  br i1 %162, label %178, label %163

163:                                              ; preds = %160
  call void @llvm.lifetime.start.p0(i64 32, ptr %23) #7
  call void @llvm.lifetime.start.p0(i64 32, ptr %24) #7
  %164 = load ptr, ptr %5, align 8, !tbaa !5
  %165 = getelementptr inbounds %"class.urdf::Material", ptr %164, i32 0, i32 0
  call void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_RKS8_(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %24, ptr noundef @.str.7, ptr noundef nonnull align 8 dereferenceable(32) %165)
  invoke void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEOS8_PKS5_(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %23, ptr noundef nonnull align 8 dereferenceable(32) %24, ptr noundef @.str.10)
          to label %166 unwind label %169

166:                                              ; preds = %163
  %167 = call noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32) %23) #7
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef %167, ptr noundef @.str.2, ptr noundef @.str.2, ptr noundef @.str.2)
          to label %168 unwind label %173

168:                                              ; preds = %166
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %23) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %24) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %24) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %23) #7
  br label %178

169:                                              ; preds = %163
  %170 = landingpad { ptr, i32 }
          cleanup
  %171 = extractvalue { ptr, i32 } %170, 0
  store ptr %171, ptr %14, align 8
  %172 = extractvalue { ptr, i32 } %170, 1
  store i32 %172, ptr %15, align 4
  br label %177

173:                                              ; preds = %166
  %174 = landingpad { ptr, i32 }
          cleanup
  %175 = extractvalue { ptr, i32 } %174, 0
  store ptr %175, ptr %14, align 8
  %176 = extractvalue { ptr, i32 } %174, 1
  store i32 %176, ptr %15, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %23) #7
  br label %177

177:                                              ; preds = %173, %169
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %24) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %24) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %23) #7
  br label %182

178:                                              ; preds = %168, %160
  br label %179

179:                                              ; preds = %178, %139
  store i1 false, ptr %4, align 1
  store i32 1, ptr %10, align 4
  br label %181

180:                                              ; preds = %136, %133
  store i1 true, ptr %4, align 1
  store i32 1, ptr %10, align 4
  br label %181

181:                                              ; preds = %180, %179
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #7
  br label %183

182:                                              ; preds = %177, %159, %131, %84
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %9) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %8) #7
  br label %185

183:                                              ; preds = %181, %30
  call void @llvm.lifetime.end.p0(i64 1, ptr %9) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %8) #7
  %184 = load i1, ptr %4, align 1
  ret i1 %184

185:                                              ; preds = %182
  %186 = load ptr, ptr %14, align 8
  %187 = load i32, ptr %15, align 4
  %188 = insertvalue { ptr, i32 } poison, ptr %186, 0
  %189 = insertvalue { ptr, i32 } %188, i32 %187, 1
  resume { ptr, i32 } %189

190:                                              ; preds = %130
  %191 = landingpad { ptr, i32 }
          catch ptr null
  %192 = extractvalue { ptr, i32 } %191, 0
  call void @__clang_call_terminate(ptr %192) #8
  unreachable
}

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf8Material5clearEv(ptr noundef nonnull align 8 dereferenceable(80)) #0 align 2

declare noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144), ptr noundef) #2

declare void @_Z8logErrorPKcS0_S0_S0_(ptr noundef, ptr noundef, ptr noundef, ptr noundef) #2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEPKc(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(80), ptr noundef) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf5Color4initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 4 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(32)) #0 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #3 align 2

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

; Function Attrs: nounwind memory(none)
declare i32 @llvm.eh.typeid.for.p0(ptr) #4

declare ptr @__cxa_begin_catch(ptr)

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf5Color5clearEv(ptr noundef nonnull align 4 dereferenceable(16)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEOS8_PKS5_(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_RKS8_(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef, ptr noundef nonnull align 8 dereferenceable(32)) #0

; Function Attrs: mustprogress nounwind uwtable
declare noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32)) #3 align 2

declare void @__cxa_end_catch()

; Function Attrs: noinline noreturn nounwind uwtable
declare hidden void @__clang_call_terminate(ptr noundef) #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

attributes #0 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { nounwind memory(none) }
attributes #5 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { noinline noreturn nounwind uwtable "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nounwind }
attributes #8 = { noreturn nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"bool", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"vtable pointer", !8, i64 0}
!13 = !{i8 0, i8 2}
!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.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator" = type { i8 }

@.str = external hidden unnamed_addr constant [5 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [39 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [1 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [5 x i8], align 1
@_ZTIN4urdf10ParseErrorE = external dso_local constant { ptr, ptr, ptr }, align 8
@.str.7 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.8 = external hidden unnamed_addr constant [36 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [20 x i8], align 1
@.str.10 = external hidden unnamed_addr constant [22 x i8], align 1

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf13parseMaterialERNS_8MaterialEP12TiXmlElementb(ptr noundef nonnull align 8 dereferenceable(80) %0, ptr noundef %1, i1 noundef zeroext %2) local_unnamed_addr #0 personality ptr @__gxx_personality_v0 {
  %4 = alloca %"class.std::__cxx11::basic_string", align 8
  %5 = alloca %"class.std::allocator", align 1
  %6 = alloca %"class.std::__cxx11::basic_string", align 8
  %7 = alloca %"class.std::__cxx11::basic_string", align 8
  %8 = alloca %"class.std::__cxx11::basic_string", align 8
  %9 = alloca %"class.std::__cxx11::basic_string", align 8
  %10 = alloca %"class.std::__cxx11::basic_string", align 8
  %11 = alloca %"class.std::__cxx11::basic_string", align 8
  %12 = alloca %"class.std::__cxx11::basic_string", align 8
  tail call void @_ZN4urdf8Material5clearEv(ptr noundef nonnull align 8 dereferenceable(80) %0)
  %13 = tail call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %1, ptr noundef nonnull @.str)
  %.not = icmp eq ptr %13, null
  br i1 %.not, label %14, label %15

14:                                               ; preds = %3
  tail call void @_Z8logErrorPKcS0_S0_S0_(ptr noundef nonnull @.str.1, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2)
  br label %86

15:                                               ; preds = %3
  %16 = tail call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %1, ptr noundef nonnull @.str)
  %17 = tail call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEPKc(ptr noundef nonnull align 8 dereferenceable(32) %0, ptr noundef %16)
  %18 = tail call noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(80) %1, ptr noundef nonnull @.str.3)
  %.not42 = icmp eq ptr %18, null
  br i1 %.not42, label %25, label %19

19:                                               ; preds = %15
  %20 = tail call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %18, ptr noundef nonnull @.str.4)
  %.not43 = icmp eq ptr %20, null
  br i1 %.not43, label %25, label %21

21:                                               ; preds = %19
  %22 = tail call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %18, ptr noundef nonnull @.str.4)
  %23 = getelementptr inbounds i8, ptr %0, i64 32
  %24 = tail call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEPKc(ptr noundef nonnull align 8 dereferenceable(32) %23, ptr noundef %22)
  br label %25

25:                                               ; preds = %19, %21, %15
  %.039 = phi i1 [ true, %21 ], [ false, %19 ], [ false, %15 ]
  %26 = tail call noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(80) %1, ptr noundef nonnull @.str.5)
  %.not44 = icmp eq ptr %26, null
  br i1 %.not44, label %67, label %27

27:                                               ; preds = %25
  %28 = tail call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %26, ptr noundef nonnull @.str.6)
  %.not45 = icmp eq ptr %28, null
  br i1 %.not45, label %67, label %29

29:                                               ; preds = %27
  %30 = getelementptr inbounds i8, ptr %0, i64 64
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %4) #7
  %31 = invoke noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %26, ptr noundef nonnull @.str.6)
          to label %32 unwind label %35

32:                                               ; preds = %29
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %5) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %4, ptr noundef %31, ptr noundef nonnull align 1 dereferenceable(1) %5)
          to label %33 unwind label %37

33:                                               ; preds = %32
  %34 = invoke noundef zeroext i1 @_ZN4urdf5Color4initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 4 dereferenceable(16) %30, ptr noundef nonnull align 8 dereferenceable(32) %4)
          to label %.critedge unwind label %39

.critedge:                                        ; preds = %33
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %5) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #7
  br label %86

35:                                               ; preds = %29
  %36 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  br label %42

37:                                               ; preds = %32
  %38 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  br label %41

39:                                               ; preds = %33
  %40 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #7
  br label %41

41:                                               ; preds = %39, %37
  %.pn = phi { ptr, i32 } [ %40, %39 ], [ %38, %37 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %5) #7
  br label %42

42:                                               ; preds = %41, %35
  %.pn.pn = phi { ptr, i32 } [ %.pn, %41 ], [ %36, %35 ]
  %.129 = extractvalue { ptr, i32 } %.pn.pn, 1
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #7
  %43 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN4urdf10ParseErrorE) #7
  %44 = icmp eq i32 %.129, %43
  br i1 %44, label %45, label %85

45:                                               ; preds = %42
  %.131 = extractvalue { ptr, i32 } %.pn.pn, 0
  %46 = call ptr @__cxa_begin_catch(ptr %.131) #7
  call void @_ZN4urdf5Color5clearEv(ptr noundef nonnull align 4 dereferenceable(16) %30)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %6) #7
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %7) #7
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %8) #7
  invoke void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_RKS8_(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %8, ptr noundef nonnull @.str.7, ptr noundef nonnull align 8 dereferenceable(32) %0)
          to label %47 unwind label %56

47:                                               ; preds = %45
  invoke void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEOS8_PKS5_(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %7, ptr noundef nonnull align 8 dereferenceable(32) %8, ptr noundef nonnull @.str.8)
          to label %48 unwind label %58

48:                                               ; preds = %47
  %49 = load ptr, ptr %46, align 8, !tbaa !5
  %50 = getelementptr inbounds i8, ptr %49, i64 16
  %51 = load ptr, ptr %50, align 8
  %52 = call noundef ptr %51(ptr noundef nonnull align 8 dereferenceable(16) %46) #7
  invoke void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEOS8_PKS5_(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %6, ptr noundef nonnull align 8 dereferenceable(32) %7, ptr noundef %52)
          to label %53 unwind label %60

53:                                               ; preds = %48
  %54 = call noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32) %6) #7
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef %54, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2)
          to label %55 unwind label %62

55:                                               ; preds = %53
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %7) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #7
  call void @__cxa_end_catch()
  br label %67

56:                                               ; preds = %45
  %57 = landingpad { ptr, i32 }
          cleanup
  br label %66

58:                                               ; preds = %47
  %59 = landingpad { ptr, i32 }
          cleanup
  br label %65

60:                                               ; preds = %48
  %61 = landingpad { ptr, i32 }
          cleanup
  br label %64

62:                                               ; preds = %53
  %63 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #7
  br label %64

64:                                               ; preds = %62, %60
  %.pn48 = phi { ptr, i32 } [ %63, %62 ], [ %61, %60 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #7
  br label %65

65:                                               ; preds = %64, %58
  %.pn48.pn = phi { ptr, i32 } [ %.pn48, %64 ], [ %59, %58 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #7
  br label %66

66:                                               ; preds = %65, %56
  %.pn48.pn.pn = phi { ptr, i32 } [ %.pn48.pn, %65 ], [ %57, %56 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %7) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #7
  invoke void @__cxa_end_catch()
          to label %85 unwind label %87

67:                                               ; preds = %25, %55, %27
  %brmerge = or i1 %.039, %2
  br i1 %brmerge, label %86, label %68

68:                                               ; preds = %67
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %9) #7
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %10) #7
  call void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_RKS8_(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %10, ptr noundef nonnull @.str.7, ptr noundef nonnull align 8 dereferenceable(32) %0)
  invoke void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEOS8_PKS5_(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %9, ptr noundef nonnull align 8 dereferenceable(32) %10, ptr noundef nonnull @.str.9)
          to label %69 unwind label %72

69:                                               ; preds = %68
  %70 = call noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32) %9) #7
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef %70, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2)
          to label %71 unwind label %74

71:                                               ; preds = %69
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %10) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %9) #7
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %11) #7
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %12) #7
  call void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_RKS8_(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %12, ptr noundef nonnull @.str.7, ptr noundef nonnull align 8 dereferenceable(32) %0)
  invoke void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEOS8_PKS5_(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %11, ptr noundef nonnull align 8 dereferenceable(32) %12, ptr noundef nonnull @.str.10)
          to label %77 unwind label %80

72:                                               ; preds = %68
  %73 = landingpad { ptr, i32 }
          cleanup
  br label %76

74:                                               ; preds = %69
  %75 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #7
  br label %76

76:                                               ; preds = %74, %72
  %.pn52 = phi { ptr, i32 } [ %75, %74 ], [ %73, %72 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %10) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %9) #7
  br label %85

77:                                               ; preds = %71
  %78 = call noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32) %11) #7
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef %78, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2)
          to label %79 unwind label %82

79:                                               ; preds = %77
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %12) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %11) #7
  br label %86

80:                                               ; preds = %71
  %81 = landingpad { ptr, i32 }
          cleanup
  br label %84

82:                                               ; preds = %77
  %83 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #7
  br label %84

84:                                               ; preds = %82, %80
  %.pn54 = phi { ptr, i32 } [ %83, %82 ], [ %81, %80 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %12) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %11) #7
  br label %85

85:                                               ; preds = %66, %84, %76, %42
  %.merged = phi { ptr, i32 } [ %.pn54, %84 ], [ %.pn52, %76 ], [ %.pn.pn, %42 ], [ %.pn48.pn.pn, %66 ]
  resume { ptr, i32 } %.merged

86:                                               ; preds = %67, %79, %.critedge, %14
  %.1 = phi i1 [ false, %14 ], [ false, %79 ], [ true, %.critedge ], [ %.039, %67 ]
  ret i1 %.1

87:                                               ; preds = %66
  %88 = landingpad { ptr, i32 }
          catch ptr null
  %89 = extractvalue { ptr, i32 } %88, 0
  call void @__clang_call_terminate(ptr %89) #8
  unreachable
}

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf8Material5clearEv(ptr noundef nonnull align 8 dereferenceable(80)) local_unnamed_addr #0 align 2

declare noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144), ptr noundef) local_unnamed_addr #2

declare void @_Z8logErrorPKcS0_S0_S0_(ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEPKc(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN9TiXmlNode17FirstChildElementEPKc(ptr noundef nonnull align 8 dereferenceable(80), ptr noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN4urdf5Color4initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 4 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #0 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #3 align 2

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

; Function Attrs: nofree nosync nounwind memory(none)
declare i32 @llvm.eh.typeid.for.p0(ptr) #4

declare ptr @__cxa_begin_catch(ptr) local_unnamed_addr

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf5Color5clearEv(ptr noundef nonnull align 4 dereferenceable(16)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEOS8_PKS5_(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EEPKS5_RKS8_(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef, ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #0

; Function Attrs: mustprogress nounwind uwtable
declare noundef ptr @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5c_strEv(ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #3 align 2

declare void @__cxa_end_catch() local_unnamed_addr

; Function Attrs: noinline noreturn nounwind uwtable
declare hidden void @__clang_call_terminate(ptr noundef) local_unnamed_addr #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

attributes #0 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { nofree nosync nounwind memory(none) }
attributes #5 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { noinline noreturn nounwind uwtable "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nounwind }
attributes #8 = { noreturn nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"vtable pointer", !7, i64 0}
!7 = !{!"Simple C++ TBAA"}


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