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

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

%"class.Eigen::CwiseNullaryOp.182" = type { %"class.Eigen::internal::variable_if_dynamic", [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::Product.336" = type { %"class.Eigen::Product.303", ptr }
%"class.Eigen::Product.303" = type { ptr, ptr }
%class.SpatialVector_t = type { %"class.Eigen::Matrix.89" }
%"class.Eigen::Matrix.89" = type { %"class.Eigen::PlainObjectBase.90" }
%"class.Eigen::PlainObjectBase.90" = type { %"class.Eigen::DenseStorage.97" }
%"class.Eigen::DenseStorage.97" = type { %"struct.Eigen::internal::plain_array.98" }
%"struct.Eigen::internal::plain_array.98" = type { [6 x double] }
%"class.Eigen::CwiseBinaryOp.524" = type <{ ptr, %"class.Eigen::Product.530", [8 x i8] }>
%"class.Eigen::Product.530" = type { %"class.Eigen::Transpose.537", ptr }
%"class.Eigen::Transpose.537" = type { ptr }
%"class.Eigen::Product.590" = type { %"class.Eigen::Product.569", ptr }
%"class.Eigen::Product.569" = type { ptr, ptr }
%"class.Eigen::CwiseBinaryOp.657" = type <{ ptr, %"class.Eigen::CwiseNullaryOp.638", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.638" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::CwiseBinaryOp.651" = type <{ [8 x i8], %"class.Eigen::CwiseBinaryOp.657", %"class.Eigen::CwiseNullaryOp.638", [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.666" = type <{ ptr, %"class.Eigen::Product.672", [8 x i8] }>
%"class.Eigen::Product.672" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::CwiseBinaryOp.701" = type <{ ptr, ptr, [8 x i8] }>
%"class.Eigen::Product.708" = type { ptr, %"class.Eigen::CwiseBinaryOp.524" }
%"class.Eigen::CwiseBinaryOp.715" = type <{ ptr, %"class.Eigen::Product.721", [8 x i8] }>
%"class.Eigen::Product.721" = type { ptr, ptr }
%"class.Eigen::CwiseBinaryOp.729" = type <{ ptr, %"class.Eigen::CwiseBinaryOp.657", [8 x i8] }>
%"class.Eigen::Product.736" = type { ptr, %"class.Eigen::CwiseBinaryOp.666" }
%"class.Eigen::CwiseBinaryOp.743" = type <{ ptr, %"class.Eigen::Product.350", [8 x i8] }>
%"class.Eigen::Product.350" = type { ptr, ptr }
%"class.Eigen::CwiseUnaryOp.750" = type <{ ptr, [8 x i8] }>
%"class.Eigen::Product.757" = type { %"class.Eigen::CwiseUnaryOp.764", ptr }
%"class.Eigen::CwiseUnaryOp.764" = type <{ %"class.Eigen::Transpose.537", [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.771" = type <{ ptr, %"class.Eigen::Product.590", [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.778" = type <{ ptr, %"class.Eigen::CwiseBinaryOp.651", [8 x i8] }>
%"class.Eigen::Product.785" = type { %"class.Eigen::CwiseUnaryOp.792", ptr }
%"class.Eigen::CwiseUnaryOp.792" = type <{ %"class.Eigen::Transpose", [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.799" = type <{ ptr, %"class.Eigen::Product.336", [8 x i8] }>
%class.Vector3_t = type { %"class.Eigen::Matrix.70" }
%"class.Eigen::Matrix.70" = type { %"class.Eigen::PlainObjectBase.71" }
%"class.Eigen::PlainObjectBase.71" = type { %"class.Eigen::DenseStorage.78" }
%"class.Eigen::DenseStorage.78" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64 }
%"struct.RigidBodyDynamics::ConstraintSet" = type { i32, i8, %"class.std::vector", %"class.std::vector.1", %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.11", %"class.std::vector.6", %"class.std::vector.16", %"class.std::vector.16", %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.27", %"class.std::vector.34", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::HouseholderQR", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.16", %"class.std::vector.27", %"class.std::vector.27", %"class.Eigen::Matrix", %"class.std::vector.60", %"class.std::vector.27", %"class.Eigen::Matrix", %"class.std::vector.16" }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.1" = type { %"struct.std::_Vector_base.2" }
%"struct.std::_Vector_base.2" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.11" = type { %"struct.std::_Vector_base.12" }
%"struct.std::_Vector_base.12" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.6" = type { %"struct.std::_Vector_base.7" }
%"struct.std::_Vector_base.7" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.21" = type { %"class.std::vector.22" }
%"class.std::vector.22" = type { %"struct.std::_Vector_base.23" }
%"struct.std::_Vector_base.23" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.34" = type { %"struct.std::_Vector_base.35" }
%"struct.std::_Vector_base.35" = type { %"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::HouseholderQR" = type <{ %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix.51", i8, [7 x i8] }>
%"class.Eigen::Matrix.51" = type { %"class.Eigen::PlainObjectBase.52" }
%"class.Eigen::PlainObjectBase.52" = type { %"class.Eigen::DenseStorage.59" }
%"class.Eigen::DenseStorage.59" = type { ptr, i64 }
%"class.Eigen::Matrix.41" = type { %"class.Eigen::PlainObjectBase.42" }
%"class.Eigen::PlainObjectBase.42" = type { %"class.Eigen::DenseStorage.49" }
%"class.Eigen::DenseStorage.49" = type { ptr, i64, i64 }
%"class.std::vector.60" = type { %"class.std::vector.61" }
%"class.std::vector.61" = type { %"struct.std::_Vector_base.62" }
%"struct.std::_Vector_base.62" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.27" = type { %"class.std::vector.28" }
%"class.std::vector.28" = type { %"struct.std::_Vector_base.29" }
%"struct.std::_Vector_base.29" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.16" = type { %"struct.std::_Vector_base.17" }
%"struct.std::_Vector_base.17" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"struct.RigidBodyDynamics::Model" = type { %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.118", i32, i32, i32, i32, %class.Vector3_t, %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.123", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.6", %"class.std::vector.21", %"class.std::vector.6", %"class.std::vector.130", %"class.std::vector.130", %"class.std::vector.137", %"class.std::vector.16", %"class.std::vector.6", %"class.std::vector.142", %"class.std::vector.27", %"class.std::vector.60", %"class.std::vector.27", %"class.std::vector.27", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.std::vector.27", %"class.std::vector.147", %"class.std::vector.147", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.154", i32, %"class.std::vector.161", %"class.std::map" }
%"class.std::vector.118" = type { %"struct.std::_Vector_base.119" }
%"struct.std::_Vector_base.119" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.123" = type { %"class.std::vector.124" }
%"class.std::vector.124" = type { %"struct.std::_Vector_base.125" }
%"struct.std::_Vector_base.125" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.130" = type { %"class.std::vector.131" }
%"class.std::vector.131" = type { %"struct.std::_Vector_base.132" }
%"struct.std::_Vector_base.132" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.137" = type { %"struct.std::_Vector_base.138" }
%"struct.std::_Vector_base.138" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.142" = type { %"struct.std::_Vector_base.143" }
%"struct.std::_Vector_base.143" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.147" = type { %"class.std::vector.148" }
%"class.std::vector.148" = type { %"struct.std::_Vector_base.149" }
%"struct.std::_Vector_base.149" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.154" = type { %"class.std::vector.155" }
%"class.std::vector.155" = type { %"struct.std::_Vector_base.156" }
%"struct.std::_Vector_base.156" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.161" = type { %"class.std::vector.162" }
%"class.std::vector.162" = type { %"struct.std::_Vector_base.163" }
%"struct.std::_Vector_base.163" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"struct.std::_Rb_tree_header" = type { %"struct.std::_Rb_tree_node_base", i64 }
%"struct.std::_Rb_tree_node_base" = type { i32, ptr, ptr, ptr }
%"struct.RigidBodyDynamics::CustomJoint" = type { ptr, i32, %"struct.RigidBodyDynamics::Math::SpatialTransform", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix" }
%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%class.Matrix3_t = type { %"class.Eigen::Matrix.79" }
%"class.Eigen::Matrix.79" = type { %"class.Eigen::PlainObjectBase.80" }
%"class.Eigen::PlainObjectBase.80" = type { %"class.Eigen::DenseStorage.87" }
%"class.Eigen::DenseStorage.87" = type { %"struct.Eigen::internal::plain_array.88" }
%"struct.Eigen::internal::plain_array.88" = type { [9 x double] }
%"struct.RigidBodyDynamics::Joint" = type { ptr, i32, i32, i32, i32 }

@.str.4 = external hidden unnamed_addr constant [112 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [39 x i8], align 1
@__PRETTY_FUNCTION__._ZN17RigidBodyDynamics33ForwardDynamicsAccelerationDeltasERNS_5ModelERNS_13ConstraintSetERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRKSt6vectorI15SpatialVector_tSaIS9_EE = external hidden unnamed_addr constant [152 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [38 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [38 x i8], align 1

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #0

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

declare i32 @__gxx_personality_v0(...)

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

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.182") align 8, i64 noundef) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #3 align 2

; 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) #3 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)) #2 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) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #4 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)) #2 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.336") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 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) #3 align 2

; 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) #3 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)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 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) #3 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.524") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 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) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 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)) #2 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)) #2 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) #3 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.590") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 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)) #5 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)) #2 align 2

; 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.657") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #2 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.651") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #2 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) #3 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.666") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 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)) #2 align 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) #2 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.701") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 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)) #5 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.708") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 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 #5 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.715") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 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)) #2 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)) #5 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.729") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 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)) #5 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.736") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_7ProductINS0_IdLin1ELin1ELi0ELin1ELin1EEENS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS3_INS_9TransposeIS4_EENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #2 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.743") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 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)) #5 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics33ForwardDynamicsAccelerationDeltasERNS_5ModelERNS_13ConstraintSetERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRKSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(1160) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, i32 noundef %3, ptr noundef nonnull align 8 dereferenceable(24) %4) #5 personality ptr @__gxx_personality_v0 {
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca i32, align 4
  %10 = alloca ptr, align 8
  %11 = alloca i32, align 4
  %12 = alloca i32, align 4
  %13 = alloca i32, align 4
  %14 = alloca %"class.Eigen::CwiseUnaryOp.750", align 8
  %15 = alloca %class.SpatialVector_t, align 16
  %16 = alloca %"class.Eigen::Product.757", align 8
  %17 = alloca %"class.Eigen::CwiseUnaryOp.764", align 8
  %18 = alloca %"class.Eigen::Transpose.537", align 8
  %19 = alloca i32, align 4
  %20 = alloca %"class.Eigen::CwiseBinaryOp.701", align 8
  %21 = alloca %class.SpatialVector_t, align 16
  %22 = alloca %class.SpatialVector_t, align 16
  %23 = alloca %"class.Eigen::CwiseBinaryOp.771", align 8
  %24 = alloca %"class.Eigen::Product.590", align 8
  %25 = alloca %"class.Eigen::Product.569", align 8
  %26 = alloca i32, align 4
  %27 = alloca %"class.Eigen::CwiseBinaryOp.701", align 8
  %28 = alloca %class.SpatialVector_t, align 16
  %29 = alloca %class.SpatialVector_t, align 16
  %30 = alloca %"class.Eigen::CwiseBinaryOp.778", align 8
  %31 = alloca %"class.Eigen::CwiseBinaryOp.651", align 8
  %32 = alloca %"class.Eigen::CwiseBinaryOp.657", align 8
  %33 = alloca i32, align 4
  %34 = alloca i32, align 4
  %35 = alloca %"class.Eigen::Product.785", align 8
  %36 = alloca %"class.Eigen::CwiseUnaryOp.792", align 8
  %37 = alloca %"class.Eigen::Transpose", align 8
  %38 = alloca i32, align 4
  %39 = alloca %"class.Eigen::CwiseBinaryOp.701", align 8
  %40 = alloca %class.SpatialVector_t, align 16
  %41 = alloca %class.SpatialVector_t, align 16
  %42 = alloca %"class.Eigen::CwiseBinaryOp.799", align 8
  %43 = alloca %"class.Eigen::Product.336", align 8
  %44 = alloca %"class.Eigen::Product.303", align 8
  %45 = alloca i32, align 4
  %46 = alloca i32, align 4
  %47 = alloca i32, align 4
  %48 = alloca i32, align 4
  %49 = alloca i32, align 4
  %50 = alloca i32, align 4
  %51 = alloca i32, align 4
  %52 = alloca %class.SpatialVector_t, align 16
  %53 = alloca %class.Vector3_t, align 8
  %54 = alloca %"class.Eigen::Product.708", align 8
  %55 = alloca %"class.Eigen::CwiseBinaryOp.524", align 8
  %56 = alloca %"class.Eigen::Product.530", align 8
  %57 = alloca %"class.Eigen::Transpose.537", align 8
  %58 = alloca %"class.Eigen::CwiseBinaryOp.715", align 8
  %59 = alloca %"class.Eigen::Product.721", align 8
  %60 = alloca %"class.Eigen::CwiseBinaryOp.715", align 8
  %61 = alloca %"class.Eigen::Product.721", align 8
  %62 = alloca %"class.Eigen::CwiseBinaryOp.729", align 8
  %63 = alloca %"class.Eigen::CwiseBinaryOp.657", align 8
  %64 = alloca i32, align 4
  %65 = alloca i32, align 4
  %66 = alloca %"class.Eigen::Matrix", align 8
  %67 = alloca %"class.Eigen::CwiseNullaryOp.182", align 8
  %68 = alloca %"class.Eigen::Product.736", align 8
  %69 = alloca %"class.Eigen::CwiseBinaryOp.666", align 8
  %70 = alloca %"class.Eigen::Product.672", align 8
  %71 = alloca %"class.Eigen::Transpose", align 8
  %72 = alloca ptr, align 8
  %73 = alloca i32, align 4
  %74 = alloca i32, align 4
  %75 = alloca %"class.Eigen::CwiseBinaryOp.743", align 8
  %76 = alloca %"class.Eigen::Product.350", align 8
  %77 = alloca %"class.Eigen::CwiseBinaryOp.743", align 8
  %78 = alloca %"class.Eigen::Product.350", align 8
  store ptr %0, ptr %6, align 8, !tbaa !5
  store ptr %1, ptr %7, align 8, !tbaa !5
  store ptr %2, ptr %8, align 8, !tbaa !5
  store i32 %3, ptr %9, align 4, !tbaa !9
  store ptr %4, ptr %10, align 8, !tbaa !5
  %79 = load ptr, ptr %7, align 8, !tbaa !5
  %80 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %79, i32 0, i32 47
  %81 = call noundef i64 @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %80) #6
  %82 = load ptr, ptr %6, align 8, !tbaa !5
  %83 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %82, i32 0, i32 38
  %84 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %83) #6
  %85 = icmp eq i64 %81, %84
  br i1 %85, label %86, label %87

86:                                               ; preds = %5
  br label %89

87:                                               ; preds = %5
  call void @__assert_fail(ptr noundef @.str.19, ptr noundef @.str.4, i32 noundef 1305, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics33ForwardDynamicsAccelerationDeltasERNS_5ModelERNS_13ConstraintSetERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRKSt6vectorI15SpatialVector_tSaIS9_EE) #7
  unreachable

88:                                               ; No predecessors!
  br label %89

89:                                               ; preds = %88, %86
  %90 = load ptr, ptr %7, align 8, !tbaa !5
  %91 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %90, i32 0, i32 48
  %92 = call noundef i64 @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %91) #6
  %93 = load ptr, ptr %6, align 8, !tbaa !5
  %94 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %93, i32 0, i32 38
  %95 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %94) #6
  %96 = icmp eq i64 %92, %95
  br i1 %96, label %97, label %98

97:                                               ; preds = %89
  br label %100

98:                                               ; preds = %89
  call void @__assert_fail(ptr noundef @.str.20, ptr noundef @.str.4, i32 noundef 1306, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics33ForwardDynamicsAccelerationDeltasERNS_5ModelERNS_13ConstraintSetERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRKSt6vectorI15SpatialVector_tSaIS9_EE) #7
  unreachable

99:                                               ; No predecessors!
  br label %100

100:                                              ; preds = %99, %97
  %101 = load ptr, ptr %7, align 8, !tbaa !5
  %102 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %101, i32 0, i32 49
  %103 = call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %102)
  %104 = load ptr, ptr %6, align 8, !tbaa !5
  %105 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %104, i32 0, i32 38
  %106 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %105) #6
  %107 = icmp eq i64 %103, %106
  br i1 %107, label %108, label %109

108:                                              ; preds = %100
  br label %111

109:                                              ; preds = %100
  call void @__assert_fail(ptr noundef @.str.21, ptr noundef @.str.4, i32 noundef 1307, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics33ForwardDynamicsAccelerationDeltasERNS_5ModelERNS_13ConstraintSetERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRKSt6vectorI15SpatialVector_tSaIS9_EE) #7
  unreachable

110:                                              ; No predecessors!
  br label %111

111:                                              ; preds = %110, %108
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #6
  store i32 0, ptr %11, align 4, !tbaa !9
  br label %112

112:                                              ; preds = %144, %111
  %113 = load i32, ptr %11, align 4, !tbaa !9
  %114 = zext i32 %113 to i64
  %115 = load ptr, ptr %6, align 8, !tbaa !5
  %116 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %115, i32 0, i32 38
  %117 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %116) #6
  %118 = icmp ult i64 %114, %117
  br i1 %118, label %120, label %119

119:                                              ; preds = %112
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #6
  br label %147

120:                                              ; preds = %112
  %121 = load ptr, ptr %7, align 8, !tbaa !5
  %122 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %121, i32 0, i32 47
  %123 = load i32, ptr %11, align 4, !tbaa !9
  %124 = zext i32 %123 to i64
  %125 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %122, i64 noundef %124) #6
  %126 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %125)
  %127 = load ptr, ptr %7, align 8, !tbaa !5
  %128 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %127, i32 0, i32 48
  %129 = load i32, ptr %11, align 4, !tbaa !9
  %130 = zext i32 %129 to i64
  %131 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %128, i64 noundef %130) #6
  %132 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %131)
  %133 = load ptr, ptr %7, align 8, !tbaa !5
  %134 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %133, i32 0, i32 49
  %135 = load i32, ptr %11, align 4, !tbaa !9
  %136 = zext i32 %135 to i64
  %137 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %134, i64 noundef %136)
  store double 0.000000e+00, ptr %137, align 8, !tbaa !11
  %138 = load ptr, ptr %7, align 8, !tbaa !5
  %139 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %138, i32 0, i32 53
  %140 = load i32, ptr %11, align 4, !tbaa !9
  %141 = zext i32 %140 to i64
  %142 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %139, i64 noundef %141) #6
  %143 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %142)
  br label %144

144:                                              ; preds = %120
  %145 = load i32, ptr %11, align 4, !tbaa !9
  %146 = add i32 %145, 1
  store i32 %146, ptr %11, align 4, !tbaa !9
  br label %112, !llvm.loop !13

147:                                              ; preds = %119
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #6
  store i32 0, ptr %12, align 4, !tbaa !9
  br label %148

148:                                              ; preds = %165, %147
  %149 = load i32, ptr %12, align 4, !tbaa !9
  %150 = zext i32 %149 to i64
  %151 = load ptr, ptr %6, align 8, !tbaa !5
  %152 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %151, i32 0, i32 22
  %153 = call noundef i64 @_ZNKSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %152) #6
  %154 = icmp ult i64 %150, %153
  br i1 %154, label %156, label %155

155:                                              ; preds = %148
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #6
  br label %168

156:                                              ; preds = %148
  %157 = load ptr, ptr %6, align 8, !tbaa !5
  %158 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %157, i32 0, i32 22
  %159 = load i32, ptr %12, align 4, !tbaa !9
  %160 = zext i32 %159 to i64
  %161 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %158, i64 noundef %160) #6
  %162 = load ptr, ptr %161, align 8, !tbaa !5
  %163 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %162, i32 0, i32 7
  %164 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %163)
  br label %165

165:                                              ; preds = %156
  %166 = load i32, ptr %12, align 4, !tbaa !9
  %167 = add i32 %166, 1
  store i32 %167, ptr %12, align 4, !tbaa !9
  br label %148, !llvm.loop !15

168:                                              ; preds = %155
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #6
  %169 = load i32, ptr %9, align 4, !tbaa !9
  store i32 %169, ptr %13, align 4, !tbaa !9
  br label %170

170:                                              ; preds = %471, %168
  %171 = load i32, ptr %13, align 4, !tbaa !9
  %172 = icmp ugt i32 %171, 0
  br i1 %172, label %174, label %173

173:                                              ; preds = %170
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #6
  br label %474

174:                                              ; preds = %170
  %175 = load i32, ptr %13, align 4, !tbaa !9
  %176 = load i32, ptr %9, align 4, !tbaa !9
  %177 = icmp eq i32 %175, %176
  br i1 %177, label %178, label %194

178:                                              ; preds = %174
  call void @llvm.lifetime.start.p0(i64 16, ptr %14) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %15) #6
  %179 = load ptr, ptr %6, align 8, !tbaa !5
  %180 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %179, i32 0, i32 35
  %181 = load i32, ptr %13, align 4, !tbaa !9
  %182 = zext i32 %181 to i64
  %183 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %180, i64 noundef %182) #6
  %184 = load ptr, ptr %10, align 8, !tbaa !5
  %185 = load i32, ptr %13, align 4, !tbaa !9
  %186 = zext i32 %185 to i64
  %187 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %184, i64 noundef %186) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %15, ptr noundef nonnull align 8 dereferenceable(96) %183, ptr noundef nonnull align 16 dereferenceable(48) %187)
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEngEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseUnaryOp.750") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) %15)
  %188 = load ptr, ptr %7, align 8, !tbaa !5
  %189 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %188, i32 0, i32 47
  %190 = load i32, ptr %13, align 4, !tbaa !9
  %191 = zext i32 %190 to i64
  %192 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %189, i64 noundef %191) #6
  %193 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen12CwiseUnaryOpINS1_8internal18scalar_opposite_opIdEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %192, ptr noundef nonnull align 1 dereferenceable(1) %14)
  call void @llvm.lifetime.end.p0(i64 48, ptr %15) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #6
  br label %194

194:                                              ; preds = %178, %174
  %195 = load ptr, ptr %6, align 8, !tbaa !5
  %196 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %195, i32 0, i32 10
  %197 = load i32, ptr %13, align 4, !tbaa !9
  %198 = zext i32 %197 to i64
  %199 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %196, i64 noundef %198) #6
  %200 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %199, i32 0, i32 2
  %201 = load i32, ptr %200, align 4, !tbaa !16
  %202 = icmp eq i32 %201, 3
  br i1 %202, label %203, label %282

203:                                              ; preds = %194
  %204 = load ptr, ptr %6, align 8, !tbaa !5
  %205 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %204, i32 0, i32 10
  %206 = load i32, ptr %13, align 4, !tbaa !9
  %207 = zext i32 %206 to i64
  %208 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %205, i64 noundef %207) #6
  %209 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %208, i32 0, i32 1
  %210 = load i32, ptr %209, align 8, !tbaa !19
  %211 = icmp ne i32 %210, 21
  br i1 %211, label %212, label %282

212:                                              ; preds = %203
  call void @llvm.lifetime.start.p0(i64 24, ptr %16) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %17) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #6
  %213 = load ptr, ptr %6, align 8, !tbaa !5
  %214 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %213, i32 0, i32 17
  %215 = load i32, ptr %13, align 4, !tbaa !9
  %216 = zext i32 %215 to i64
  %217 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %214, i64 noundef %216) #6
  %218 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %217)
  %219 = getelementptr inbounds %"class.Eigen::Transpose.537", ptr %18, i32 0, i32 0
  store ptr %218, ptr %219, align 8
  call void @_ZNK5Eigen9DenseBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEngEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseUnaryOp.764") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %18)
  %220 = load ptr, ptr %7, align 8, !tbaa !5
  %221 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %220, i32 0, i32 47
  %222 = load i32, ptr %13, align 4, !tbaa !9
  %223 = zext i32 %222 to i64
  %224 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %221, i64 noundef %223) #6
  call void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIdEEKNS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEEEmlINS6_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductISA_T_Li0EEERKNS0_ISF_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.757") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %17, ptr noundef nonnull align 1 dereferenceable(1) %224)
  %225 = load ptr, ptr %7, align 8, !tbaa !5
  %226 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %225, i32 0, i32 53
  %227 = load i32, ptr %13, align 4, !tbaa !9
  %228 = zext i32 %227 to i64
  %229 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %226, i64 noundef %228) #6
  %230 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen7ProductINS1_12CwiseUnaryOpINS1_8internal18scalar_opposite_opIdEEKNS1_9TransposeINS1_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEENS8_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %229, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %16) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #6
  %231 = load ptr, ptr %6, align 8, !tbaa !5
  %232 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %231, i32 0, i32 0
  %233 = load i32, ptr %13, align 4, !tbaa !9
  %234 = zext i32 %233 to i64
  %235 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %232, i64 noundef %234) #6
  %236 = load i32, ptr %235, align 4, !tbaa !9
  store i32 %236, ptr %19, align 4, !tbaa !9
  %237 = load i32, ptr %19, align 4, !tbaa !9
  %238 = icmp ne i32 %237, 0
  br i1 %238, label %239, label %281

239:                                              ; preds = %212
  call void @llvm.lifetime.start.p0(i64 24, ptr %20) #6
  %240 = load ptr, ptr %7, align 8, !tbaa !5
  %241 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %240, i32 0, i32 47
  %242 = load i32, ptr %19, align 4, !tbaa !9
  %243 = zext i32 %242 to i64
  %244 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %241, i64 noundef %243) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %21) #6
  %245 = load ptr, ptr %6, align 8, !tbaa !5
  %246 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %245, i32 0, i32 34
  %247 = load i32, ptr %13, align 4, !tbaa !9
  %248 = zext i32 %247 to i64
  %249 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %246, i64 noundef %248) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %22) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %23) #6
  %250 = load ptr, ptr %7, align 8, !tbaa !5
  %251 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %250, i32 0, i32 47
  %252 = load i32, ptr %13, align 4, !tbaa !9
  %253 = zext i32 %252 to i64
  %254 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %251, i64 noundef %253) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %24) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %25) #6
  %255 = load ptr, ptr %6, align 8, !tbaa !5
  %256 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %255, i32 0, i32 18
  %257 = load i32, ptr %13, align 4, !tbaa !9
  %258 = zext i32 %257 to i64
  %259 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %256, i64 noundef %258) #6
  %260 = load ptr, ptr %6, align 8, !tbaa !5
  %261 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %260, i32 0, i32 19
  %262 = load i32, ptr %13, align 4, !tbaa !9
  %263 = zext i32 %262 to i64
  %264 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %261, i64 noundef %263) #6
  %265 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %259, ptr noundef nonnull align 1 dereferenceable(1) %264)
  %266 = getelementptr inbounds { ptr, ptr }, ptr %25, i32 0, i32 0
  %267 = extractvalue { ptr, ptr } %265, 0
  store ptr %267, ptr %266, align 8
  %268 = getelementptr inbounds { ptr, ptr }, ptr %25, i32 0, i32 1
  %269 = extractvalue { ptr, ptr } %265, 1
  store ptr %269, ptr %268, align 8
  %270 = load ptr, ptr %7, align 8, !tbaa !5
  %271 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %270, i32 0, i32 53
  %272 = load i32, ptr %13, align 4, !tbaa !9
  %273 = zext i32 %272 to i64
  %274 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %271, i64 noundef %273) #6
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS2_IdLi3ELi3ELi0ELi3ELi3EEELi0EEEEmlINS2_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS1_IS5_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.590") align 8 %24, ptr noundef nonnull align 1 dereferenceable(1) %25, ptr noundef nonnull align 1 dereferenceable(1) %274)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS5_INS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.771") align 8 %23, ptr noundef nonnull align 1 dereferenceable(1) %254, ptr noundef nonnull align 1 dereferenceable(1) %24)
  call void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %22, ptr noundef nonnull align 1 dereferenceable(1) %23)
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %21, ptr noundef nonnull align 8 dereferenceable(96) %249, ptr noundef nonnull align 16 dereferenceable(48) %22)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.701") align 8 %20, ptr noundef nonnull align 1 dereferenceable(1) %244, ptr noundef nonnull align 1 dereferenceable(1) %21)
  %275 = load ptr, ptr %7, align 8, !tbaa !5
  %276 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %275, i32 0, i32 47
  %277 = load i32, ptr %19, align 4, !tbaa !9
  %278 = zext i32 %277 to i64
  %279 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %276, i64 noundef %278) #6
  %280 = 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) %279, ptr noundef nonnull align 1 dereferenceable(1) %20)
  call void @llvm.lifetime.end.p0(i64 16, ptr %25) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %24) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %23) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %22) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %21) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %20) #6
  br label %281

281:                                              ; preds = %239, %212
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #6
  br label %470

282:                                              ; preds = %203, %194
  %283 = load ptr, ptr %6, align 8, !tbaa !5
  %284 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %283, i32 0, i32 10
  %285 = load i32, ptr %13, align 4, !tbaa !9
  %286 = zext i32 %285 to i64
  %287 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %284, i64 noundef %286) #6
  %288 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %287, i32 0, i32 2
  %289 = load i32, ptr %288, align 4, !tbaa !16
  %290 = icmp eq i32 %289, 1
  br i1 %290, label %291, label %364

291:                                              ; preds = %282
  %292 = load ptr, ptr %6, align 8, !tbaa !5
  %293 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %292, i32 0, i32 10
  %294 = load i32, ptr %13, align 4, !tbaa !9
  %295 = zext i32 %294 to i64
  %296 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %293, i64 noundef %295) #6
  %297 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %296, i32 0, i32 1
  %298 = load i32, ptr %297, align 8, !tbaa !19
  %299 = icmp ne i32 %298, 21
  br i1 %299, label %300, label %364

300:                                              ; preds = %291
  %301 = load ptr, ptr %6, align 8, !tbaa !5
  %302 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %301, i32 0, i32 11
  %303 = load i32, ptr %13, align 4, !tbaa !9
  %304 = zext i32 %303 to i64
  %305 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %302, i64 noundef %304) #6
  %306 = load ptr, ptr %7, align 8, !tbaa !5
  %307 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %306, i32 0, i32 47
  %308 = load i32, ptr %13, align 4, !tbaa !9
  %309 = zext i32 %308 to i64
  %310 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %307, i64 noundef %309) #6
  %311 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %305, ptr noundef nonnull align 1 dereferenceable(1) %310)
  %312 = fneg double %311
  %313 = load ptr, ptr %7, align 8, !tbaa !5
  %314 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %313, i32 0, i32 49
  %315 = load i32, ptr %13, align 4, !tbaa !9
  %316 = zext i32 %315 to i64
  %317 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %314, i64 noundef %316)
  store double %312, ptr %317, align 8, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #6
  %318 = load ptr, ptr %6, align 8, !tbaa !5
  %319 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %318, i32 0, i32 0
  %320 = load i32, ptr %13, align 4, !tbaa !9
  %321 = zext i32 %320 to i64
  %322 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %319, i64 noundef %321) #6
  %323 = load i32, ptr %322, align 4, !tbaa !9
  store i32 %323, ptr %26, align 4, !tbaa !9
  %324 = load i32, ptr %26, align 4, !tbaa !9
  %325 = icmp ne i32 %324, 0
  br i1 %325, label %326, label %363

326:                                              ; preds = %300
  call void @llvm.lifetime.start.p0(i64 24, ptr %27) #6
  %327 = load ptr, ptr %7, align 8, !tbaa !5
  %328 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %327, i32 0, i32 47
  %329 = load i32, ptr %26, align 4, !tbaa !9
  %330 = zext i32 %329 to i64
  %331 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %328, i64 noundef %330) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %28) #6
  %332 = load ptr, ptr %6, align 8, !tbaa !5
  %333 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %332, i32 0, i32 34
  %334 = load i32, ptr %13, align 4, !tbaa !9
  %335 = zext i32 %334 to i64
  %336 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %333, i64 noundef %335) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %29) #6
  call void @llvm.lifetime.start.p0(i64 80, ptr %30) #6
  %337 = load ptr, ptr %7, align 8, !tbaa !5
  %338 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %337, i32 0, i32 47
  %339 = load i32, ptr %13, align 4, !tbaa !9
  %340 = zext i32 %339 to i64
  %341 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %338, i64 noundef %340) #6
  call void @llvm.lifetime.start.p0(i64 64, ptr %31) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %32) #6
  %342 = load ptr, ptr %6, align 8, !tbaa !5
  %343 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %342, i32 0, i32 26
  %344 = load i32, ptr %13, align 4, !tbaa !9
  %345 = zext i32 %344 to i64
  %346 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %343, i64 noundef %345) #6
  %347 = load ptr, ptr %7, align 8, !tbaa !5
  %348 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %347, i32 0, i32 49
  %349 = load i32, ptr %13, align 4, !tbaa !9
  %350 = zext i32 %349 to i64
  %351 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %348, i64 noundef %350)
  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.657") align 8 %32, ptr noundef nonnull align 1 dereferenceable(1) %346, ptr noundef nonnull align 8 dereferenceable(8) %351)
  %352 = load ptr, ptr %6, align 8, !tbaa !5
  %353 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %352, i32 0, i32 27
  %354 = load i32, ptr %13, align 4, !tbaa !9
  %355 = zext i32 %354 to i64
  %356 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %353, i64 noundef %355)
  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.651") align 8 %31, ptr noundef nonnull align 1 dereferenceable(1) %32, ptr noundef nonnull align 8 dereferenceable(8) %356)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS5_INS6_17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEESB_EEEESG_EEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEESB_KSM_EERKNS0_ISM_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.778") align 8 %30, ptr noundef nonnull align 1 dereferenceable(1) %341, ptr noundef nonnull align 1 dereferenceable(1) %31)
  call void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_18scalar_quotient_opIddEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEESH_EEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %29, ptr noundef nonnull align 1 dereferenceable(1) %30)
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %28, ptr noundef nonnull align 8 dereferenceable(96) %336, ptr noundef nonnull align 16 dereferenceable(48) %29)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.701") align 8 %27, ptr noundef nonnull align 1 dereferenceable(1) %331, ptr noundef nonnull align 1 dereferenceable(1) %28)
  %357 = load ptr, ptr %7, align 8, !tbaa !5
  %358 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %357, i32 0, i32 47
  %359 = load i32, ptr %26, align 4, !tbaa !9
  %360 = zext i32 %359 to i64
  %361 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %358, i64 noundef %360) #6
  %362 = 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) %361, ptr noundef nonnull align 1 dereferenceable(1) %27)
  call void @llvm.lifetime.end.p0(i64 32, ptr %32) #6
  call void @llvm.lifetime.end.p0(i64 64, ptr %31) #6
  call void @llvm.lifetime.end.p0(i64 80, ptr %30) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %29) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %28) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %27) #6
  br label %363

363:                                              ; preds = %326, %300
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #6
  br label %469

364:                                              ; preds = %291, %282
  %365 = load ptr, ptr %6, align 8, !tbaa !5
  %366 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %365, i32 0, i32 10
  %367 = load i32, ptr %13, align 4, !tbaa !9
  %368 = zext i32 %367 to i64
  %369 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %366, i64 noundef %368) #6
  %370 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %369, i32 0, i32 1
  %371 = load i32, ptr %370, align 8, !tbaa !19
  %372 = icmp eq i32 %371, 21
  br i1 %372, label %373, label %468

373:                                              ; preds = %364
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #6
  %374 = load ptr, ptr %6, align 8, !tbaa !5
  %375 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %374, i32 0, i32 10
  %376 = load i32, ptr %13, align 4, !tbaa !9
  %377 = zext i32 %376 to i64
  %378 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %375, i64 noundef %377) #6
  %379 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %378, i32 0, i32 4
  %380 = load i32, ptr %379, align 4, !tbaa !20
  store i32 %380, ptr %33, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %34) #6
  %381 = load ptr, ptr %6, align 8, !tbaa !5
  %382 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %381, i32 0, i32 22
  %383 = load i32, ptr %33, align 4, !tbaa !9
  %384 = zext i32 %383 to i64
  %385 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %382, i64 noundef %384) #6
  %386 = load ptr, ptr %385, align 8, !tbaa !5
  %387 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %386, i32 0, i32 1
  %388 = load i32, ptr %387, align 8, !tbaa !21
  store i32 %388, ptr %34, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 24, ptr %35) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %36) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #6
  %389 = load ptr, ptr %6, align 8, !tbaa !5
  %390 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %389, i32 0, i32 22
  %391 = load i32, ptr %33, align 4, !tbaa !9
  %392 = zext i32 %391 to i64
  %393 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %390, i64 noundef %392) #6
  %394 = load ptr, ptr %393, align 8, !tbaa !5
  %395 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %394, i32 0, i32 3
  %396 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %395)
  %397 = getelementptr inbounds %"class.Eigen::Transpose", ptr %37, i32 0, i32 0
  store ptr %396, ptr %397, align 8
  call void @_ZNK5Eigen9DenseBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEngEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseUnaryOp.792") align 8 %36, ptr noundef nonnull align 1 dereferenceable(1) %37)
  %398 = load ptr, ptr %7, align 8, !tbaa !5
  %399 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %398, i32 0, i32 47
  %400 = load i32, ptr %13, align 4, !tbaa !9
  %401 = zext i32 %400 to i64
  %402 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %399, i64 noundef %401) #6
  call void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIdEEKNS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEEEmlINS6_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductISA_T_Li0EEERKNS0_ISF_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.785") align 8 %35, ptr noundef nonnull align 1 dereferenceable(1) %36, ptr noundef nonnull align 1 dereferenceable(1) %402)
  %403 = load ptr, ptr %6, align 8, !tbaa !5
  %404 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %403, i32 0, i32 22
  %405 = load i32, ptr %33, align 4, !tbaa !9
  %406 = zext i32 %405 to i64
  %407 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %404, i64 noundef %406) #6
  %408 = load ptr, ptr %407, align 8, !tbaa !5
  %409 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %408, i32 0, i32 7
  %410 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_7ProductINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIdEEKNS_9TransposeINS0_IdLin1ELin1ELi0ELin1ELin1EEEEEEENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %409, ptr noundef nonnull align 1 dereferenceable(1) %35)
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %36) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %35) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %38) #6
  %411 = load ptr, ptr %6, align 8, !tbaa !5
  %412 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %411, i32 0, i32 0
  %413 = load i32, ptr %13, align 4, !tbaa !9
  %414 = zext i32 %413 to i64
  %415 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %412, i64 noundef %414) #6
  %416 = load i32, ptr %415, align 4, !tbaa !9
  store i32 %416, ptr %38, align 4, !tbaa !9
  %417 = load i32, ptr %38, align 4, !tbaa !9
  %418 = icmp ne i32 %417, 0
  br i1 %418, label %419, label %467

419:                                              ; preds = %373
  call void @llvm.lifetime.start.p0(i64 24, ptr %39) #6
  %420 = load ptr, ptr %7, align 8, !tbaa !5
  %421 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %420, i32 0, i32 47
  %422 = load i32, ptr %38, align 4, !tbaa !9
  %423 = zext i32 %422 to i64
  %424 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %421, i64 noundef %423) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %40) #6
  %425 = load ptr, ptr %6, align 8, !tbaa !5
  %426 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %425, i32 0, i32 34
  %427 = load i32, ptr %13, align 4, !tbaa !9
  %428 = zext i32 %427 to i64
  %429 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %426, i64 noundef %428) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %41) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %42) #6
  %430 = load ptr, ptr %7, align 8, !tbaa !5
  %431 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %430, i32 0, i32 47
  %432 = load i32, ptr %13, align 4, !tbaa !9
  %433 = zext i32 %432 to i64
  %434 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %431, i64 noundef %433) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %43) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %44) #6
  %435 = load ptr, ptr %6, align 8, !tbaa !5
  %436 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %435, i32 0, i32 22
  %437 = load i32, ptr %33, align 4, !tbaa !9
  %438 = zext i32 %437 to i64
  %439 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %436, i64 noundef %438) #6
  %440 = load ptr, ptr %439, align 8, !tbaa !5
  %441 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %440, i32 0, i32 4
  %442 = load ptr, ptr %6, align 8, !tbaa !5
  %443 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %442, i32 0, i32 22
  %444 = load i32, ptr %33, align 4, !tbaa !9
  %445 = zext i32 %444 to i64
  %446 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %443, i64 noundef %445) #6
  %447 = load ptr, ptr %446, align 8, !tbaa !5
  %448 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %447, i32 0, i32 5
  %449 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %441, ptr noundef nonnull align 1 dereferenceable(1) %448)
  %450 = getelementptr inbounds { ptr, ptr }, ptr %44, i32 0, i32 0
  %451 = extractvalue { ptr, ptr } %449, 0
  store ptr %451, ptr %450, align 8
  %452 = getelementptr inbounds { ptr, ptr }, ptr %44, i32 0, i32 1
  %453 = extractvalue { ptr, ptr } %449, 1
  store ptr %453, ptr %452, align 8
  %454 = load ptr, ptr %6, align 8, !tbaa !5
  %455 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %454, i32 0, i32 22
  %456 = load i32, ptr %33, align 4, !tbaa !9
  %457 = zext i32 %456 to i64
  %458 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %455, i64 noundef %457) #6
  %459 = load ptr, ptr %458, align 8, !tbaa !5
  %460 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %459, i32 0, i32 7
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEES3_Li0EEEEmlINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS1_IS4_T_Li0EEERKNS0_IS8_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.336") align 8 %43, ptr noundef nonnull align 1 dereferenceable(1) %44, ptr noundef nonnull align 1 dereferenceable(1) %460)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS5_INS1_IdLin1ELin1ELi0ELin1ELin1EEES6_Li0EEENS1_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSB_6traitsIT_E6ScalarEEEKS2_KSE_EERKNS0_ISE_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.799") align 8 %42, ptr noundef nonnull align 1 dereferenceable(1) %434, ptr noundef nonnull align 1 dereferenceable(1) %43)
  call void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESA_Li0EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %41, ptr noundef nonnull align 1 dereferenceable(1) %42)
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %40, ptr noundef nonnull align 8 dereferenceable(96) %429, ptr noundef nonnull align 16 dereferenceable(48) %41)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.701") align 8 %39, ptr noundef nonnull align 1 dereferenceable(1) %424, ptr noundef nonnull align 1 dereferenceable(1) %40)
  %461 = load ptr, ptr %7, align 8, !tbaa !5
  %462 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %461, i32 0, i32 47
  %463 = load i32, ptr %38, align 4, !tbaa !9
  %464 = zext i32 %463 to i64
  %465 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %462, i64 noundef %464) #6
  %466 = 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) %465, ptr noundef nonnull align 1 dereferenceable(1) %39)
  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.end.p0(i64 40, ptr %42) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %41) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %40) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %39) #6
  br label %467

467:                                              ; preds = %419, %373
  call void @llvm.lifetime.end.p0(i64 4, ptr %38) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %34) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #6
  br label %468

468:                                              ; preds = %467, %364
  br label %469

469:                                              ; preds = %468, %363
  br label %470

470:                                              ; preds = %469, %281
  br label %471

471:                                              ; preds = %470
  %472 = load i32, ptr %13, align 4, !tbaa !9
  %473 = add i32 %472, -1
  store i32 %473, ptr %13, align 4, !tbaa !9
  br label %170, !llvm.loop !41

474:                                              ; preds = %173
  call void @llvm.lifetime.start.p0(i64 4, ptr %45) #6
  store i32 0, ptr %45, align 4, !tbaa !9
  br label %475

475:                                              ; preds = %483, %474
  %476 = load i32, ptr %45, align 4, !tbaa !9
  %477 = zext i32 %476 to i64
  %478 = load ptr, ptr %10, align 8, !tbaa !5
  %479 = call noundef i64 @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %478) #6
  %480 = icmp ult i64 %477, %479
  br i1 %480, label %482, label %481

481:                                              ; preds = %475
  call void @llvm.lifetime.end.p0(i64 4, ptr %45) #6
  br label %486

482:                                              ; preds = %475
  br label %483

483:                                              ; preds = %482
  %484 = load i32, ptr %45, align 4, !tbaa !9
  %485 = add i32 %484, 1
  store i32 %485, ptr %45, align 4, !tbaa !9
  br label %475, !llvm.loop !42

486:                                              ; preds = %481
  call void @llvm.lifetime.start.p0(i64 4, ptr %46) #6
  store i32 0, ptr %46, align 4, !tbaa !9
  br label %487

487:                                              ; preds = %496, %486
  %488 = load i32, ptr %46, align 4, !tbaa !9
  %489 = zext i32 %488 to i64
  %490 = load ptr, ptr %6, align 8, !tbaa !5
  %491 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %490, i32 0, i32 38
  %492 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %491) #6
  %493 = icmp ult i64 %489, %492
  br i1 %493, label %495, label %494

494:                                              ; preds = %487
  call void @llvm.lifetime.end.p0(i64 4, ptr %46) #6
  br label %499

495:                                              ; preds = %487
  br label %496

496:                                              ; preds = %495
  %497 = load i32, ptr %46, align 4, !tbaa !9
  %498 = add i32 %497, 1
  store i32 %498, ptr %46, align 4, !tbaa !9
  br label %487, !llvm.loop !43

499:                                              ; preds = %494
  call void @llvm.lifetime.start.p0(i64 4, ptr %47) #6
  store i32 0, ptr %47, align 4, !tbaa !9
  br label %500

500:                                              ; preds = %509, %499
  %501 = load i32, ptr %47, align 4, !tbaa !9
  %502 = zext i32 %501 to i64
  %503 = load ptr, ptr %6, align 8, !tbaa !5
  %504 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %503, i32 0, i32 38
  %505 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %504) #6
  %506 = icmp ult i64 %502, %505
  br i1 %506, label %508, label %507

507:                                              ; preds = %500
  call void @llvm.lifetime.end.p0(i64 4, ptr %47) #6
  br label %512

508:                                              ; preds = %500
  br label %509

509:                                              ; preds = %508
  %510 = load i32, ptr %47, align 4, !tbaa !9
  %511 = add i32 %510, 1
  store i32 %511, ptr %47, align 4, !tbaa !9
  br label %500, !llvm.loop !44

512:                                              ; preds = %507
  %513 = load ptr, ptr %8, align 8, !tbaa !5
  %514 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %513, i64 noundef 0)
  store double 0.000000e+00, ptr %514, align 8, !tbaa !11
  %515 = load ptr, ptr %6, align 8, !tbaa !5
  %516 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %515, i32 0, i32 9
  %517 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %516, i64 noundef 0) #6
  %518 = load ptr, ptr %7, align 8, !tbaa !5
  %519 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %518, i32 0, i32 48
  %520 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %519, i64 noundef 0) #6
  %521 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSERKS_(ptr noundef nonnull align 16 dereferenceable(48) %520, ptr noundef nonnull align 16 dereferenceable(48) %517)
  call void @llvm.lifetime.start.p0(i64 4, ptr %48) #6
  store i32 1, ptr %48, align 4, !tbaa !9
  br label %522

522:                                              ; preds = %859, %512
  %523 = load i32, ptr %48, align 4, !tbaa !9
  %524 = zext i32 %523 to i64
  %525 = load ptr, ptr %6, align 8, !tbaa !5
  %526 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %525, i32 0, i32 38
  %527 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %526) #6
  %528 = icmp ult i64 %524, %527
  br i1 %528, label %530, label %529

529:                                              ; preds = %522
  store i32 20, ptr %49, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %48) #6
  br label %862

530:                                              ; preds = %522
  call void @llvm.lifetime.start.p0(i64 4, ptr %50) #6
  %531 = load ptr, ptr %6, align 8, !tbaa !5
  %532 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %531, i32 0, i32 10
  %533 = load i32, ptr %48, align 4, !tbaa !9
  %534 = zext i32 %533 to i64
  %535 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %532, i64 noundef %534) #6
  %536 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %535, i32 0, i32 3
  %537 = load i32, ptr %536, align 8, !tbaa !45
  store i32 %537, ptr %50, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %51) #6
  %538 = load ptr, ptr %6, align 8, !tbaa !5
  %539 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %538, i32 0, i32 0
  %540 = load i32, ptr %48, align 4, !tbaa !9
  %541 = zext i32 %540 to i64
  %542 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %539, i64 noundef %541) #6
  %543 = load i32, ptr %542, align 4, !tbaa !9
  store i32 %543, ptr %51, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 48, ptr %52) #6
  %544 = load ptr, ptr %6, align 8, !tbaa !5
  %545 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %544, i32 0, i32 34
  %546 = load i32, ptr %48, align 4, !tbaa !9
  %547 = zext i32 %546 to i64
  %548 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %545, i64 noundef %547) #6
  %549 = load ptr, ptr %7, align 8, !tbaa !5
  %550 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %549, i32 0, i32 48
  %551 = load i32, ptr %51, align 4, !tbaa !9
  %552 = zext i32 %551 to i64
  %553 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %550, i64 noundef %552) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %52, ptr noundef nonnull align 8 dereferenceable(96) %548, ptr noundef nonnull align 16 dereferenceable(48) %553)
  %554 = load ptr, ptr %6, align 8, !tbaa !5
  %555 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %554, i32 0, i32 10
  %556 = load i32, ptr %48, align 4, !tbaa !9
  %557 = zext i32 %556 to i64
  %558 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %555, i64 noundef %557) #6
  %559 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %558, i32 0, i32 2
  %560 = load i32, ptr %559, align 4, !tbaa !16
  %561 = icmp eq i32 %560, 3
  br i1 %561, label %562, label %651

562:                                              ; preds = %530
  %563 = load ptr, ptr %6, align 8, !tbaa !5
  %564 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %563, i32 0, i32 10
  %565 = load i32, ptr %48, align 4, !tbaa !9
  %566 = zext i32 %565 to i64
  %567 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %564, i64 noundef %566) #6
  %568 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %567, i32 0, i32 1
  %569 = load i32, ptr %568, align 8, !tbaa !19
  %570 = icmp ne i32 %569, 21
  br i1 %570, label %571, label %651

571:                                              ; preds = %562
  call void @llvm.lifetime.start.p0(i64 24, ptr %53) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %54) #6
  %572 = load ptr, ptr %6, align 8, !tbaa !5
  %573 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %572, i32 0, i32 19
  %574 = load i32, ptr %48, align 4, !tbaa !9
  %575 = zext i32 %574 to i64
  %576 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %573, i64 noundef %575) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %55) #6
  %577 = load ptr, ptr %7, align 8, !tbaa !5
  %578 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %577, i32 0, i32 53
  %579 = load i32, ptr %48, align 4, !tbaa !9
  %580 = zext i32 %579 to i64
  %581 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %578, i64 noundef %580) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %56) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %57) #6
  %582 = load ptr, ptr %6, align 8, !tbaa !5
  %583 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %582, i32 0, i32 18
  %584 = load i32, ptr %48, align 4, !tbaa !9
  %585 = zext i32 %584 to i64
  %586 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %583, i64 noundef %585) #6
  %587 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %586)
  %588 = getelementptr inbounds %"class.Eigen::Transpose.537", ptr %57, i32 0, i32 0
  store ptr %587, ptr %588, align 8
  %589 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %57, ptr noundef nonnull align 1 dereferenceable(1) %52)
  %590 = getelementptr inbounds { ptr, ptr }, ptr %56, i32 0, i32 0
  %591 = extractvalue { ptr, ptr } %589, 0
  store ptr %591, ptr %590, align 8
  %592 = getelementptr inbounds { ptr, ptr }, ptr %56, i32 0, i32 1
  %593 = extractvalue { ptr, ptr } %589, 1
  store ptr %593, ptr %592, 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.524") align 8 %55, ptr noundef nonnull align 1 dereferenceable(1) %581, ptr noundef nonnull align 1 dereferenceable(1) %56)
  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.708") align 8 %54, ptr noundef nonnull align 1 dereferenceable(1) %576, ptr noundef nonnull align 1 dereferenceable(1) %55)
  call void @_ZN9Vector3_tC2IN5Eigen7ProductINS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEENS1_13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS3_IdLi3ELi1ELi0ELi3ELi1EEEKNS2_INS1_9TransposeINS3_IdLi6ELi3ELi0ELi6ELi3EEEEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %53, ptr noundef nonnull align 1 dereferenceable(1) %54)
  call void @llvm.lifetime.end.p0(i64 8, ptr %57) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %56) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %55) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %54) #6
  %594 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %53, i64 noundef 0)
  %595 = load double, ptr %594, align 8, !tbaa !11
  %596 = load ptr, ptr %8, align 8, !tbaa !5
  %597 = load i32, ptr %50, align 4, !tbaa !9
  %598 = zext i32 %597 to i64
  %599 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %596, i64 noundef %598)
  store double %595, ptr %599, align 8, !tbaa !11
  %600 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %53, i64 noundef 1)
  %601 = load double, ptr %600, align 8, !tbaa !11
  %602 = load ptr, ptr %8, align 8, !tbaa !5
  %603 = load i32, ptr %50, align 4, !tbaa !9
  %604 = add i32 %603, 1
  %605 = zext i32 %604 to i64
  %606 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %602, i64 noundef %605)
  store double %601, ptr %606, align 8, !tbaa !11
  %607 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %53, i64 noundef 2)
  %608 = load double, ptr %607, align 8, !tbaa !11
  %609 = load ptr, ptr %8, align 8, !tbaa !5
  %610 = load i32, ptr %50, align 4, !tbaa !9
  %611 = add i32 %610, 2
  %612 = zext i32 %611 to i64
  %613 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %609, i64 noundef %612)
  store double %608, ptr %613, align 8, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 32, ptr %58) #6
  %614 = load ptr, ptr %6, align 8, !tbaa !5
  %615 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %614, i32 0, i32 9
  %616 = load i32, ptr %48, align 4, !tbaa !9
  %617 = zext i32 %616 to i64
  %618 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %615, i64 noundef %617) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %59) #6
  %619 = load ptr, ptr %6, align 8, !tbaa !5
  %620 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %619, i32 0, i32 17
  %621 = load i32, ptr %48, align 4, !tbaa !9
  %622 = zext i32 %621 to i64
  %623 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %620, i64 noundef %622) #6
  %624 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %623, ptr noundef nonnull align 1 dereferenceable(1) %53)
  %625 = getelementptr inbounds { ptr, ptr }, ptr %59, i32 0, i32 0
  %626 = extractvalue { ptr, ptr } %624, 0
  store ptr %626, ptr %625, align 8
  %627 = getelementptr inbounds { ptr, ptr }, ptr %59, i32 0, i32 1
  %628 = extractvalue { ptr, ptr } %624, 1
  store ptr %628, ptr %627, 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.715") align 8 %58, ptr noundef nonnull align 1 dereferenceable(1) %618, ptr noundef nonnull align 1 dereferenceable(1) %59)
  %629 = load ptr, ptr %6, align 8, !tbaa !5
  %630 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %629, i32 0, i32 9
  %631 = load i32, ptr %48, align 4, !tbaa !9
  %632 = zext i32 %631 to i64
  %633 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %630, i64 noundef %632) #6
  %634 = 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) %633, ptr noundef nonnull align 1 dereferenceable(1) %58)
  call void @llvm.lifetime.end.p0(i64 16, ptr %59) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %58) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %60) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %61) #6
  %635 = load ptr, ptr %6, align 8, !tbaa !5
  %636 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %635, i32 0, i32 17
  %637 = load i32, ptr %48, align 4, !tbaa !9
  %638 = zext i32 %637 to i64
  %639 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %636, i64 noundef %638) #6
  %640 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %639, ptr noundef nonnull align 1 dereferenceable(1) %53)
  %641 = getelementptr inbounds { ptr, ptr }, ptr %61, i32 0, i32 0
  %642 = extractvalue { ptr, ptr } %640, 0
  store ptr %642, ptr %641, align 8
  %643 = getelementptr inbounds { ptr, ptr }, ptr %61, i32 0, i32 1
  %644 = extractvalue { ptr, ptr } %640, 1
  store ptr %644, ptr %643, 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.715") align 8 %60, ptr noundef nonnull align 1 dereferenceable(1) %52, ptr noundef nonnull align 1 dereferenceable(1) %61)
  %645 = load ptr, ptr %7, align 8, !tbaa !5
  %646 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %645, i32 0, i32 48
  %647 = load i32, ptr %48, align 4, !tbaa !9
  %648 = zext i32 %647 to i64
  %649 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %646, i64 noundef %648) #6
  %650 = 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) %649, ptr noundef nonnull align 1 dereferenceable(1) %60)
  call void @llvm.lifetime.end.p0(i64 16, ptr %61) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %60) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %53) #6
  br label %858

651:                                              ; preds = %562, %530
  %652 = load ptr, ptr %6, align 8, !tbaa !5
  %653 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %652, i32 0, i32 10
  %654 = load i32, ptr %48, align 4, !tbaa !9
  %655 = zext i32 %654 to i64
  %656 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %653, i64 noundef %655) #6
  %657 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %656, i32 0, i32 2
  %658 = load i32, ptr %657, align 4, !tbaa !16
  %659 = icmp eq i32 %658, 1
  br i1 %659, label %660, label %709

660:                                              ; preds = %651
  %661 = load ptr, ptr %6, align 8, !tbaa !5
  %662 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %661, i32 0, i32 10
  %663 = load i32, ptr %48, align 4, !tbaa !9
  %664 = zext i32 %663 to i64
  %665 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %662, i64 noundef %664) #6
  %666 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %665, i32 0, i32 1
  %667 = load i32, ptr %666, align 8, !tbaa !19
  %668 = icmp ne i32 %667, 21
  br i1 %668, label %669, label %709

669:                                              ; preds = %660
  %670 = load ptr, ptr %7, align 8, !tbaa !5
  %671 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %670, i32 0, i32 49
  %672 = load i32, ptr %48, align 4, !tbaa !9
  %673 = zext i32 %672 to i64
  %674 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %671, i64 noundef %673)
  %675 = load double, ptr %674, align 8, !tbaa !11
  %676 = load ptr, ptr %6, align 8, !tbaa !5
  %677 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %676, i32 0, i32 26
  %678 = load i32, ptr %48, align 4, !tbaa !9
  %679 = zext i32 %678 to i64
  %680 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %677, i64 noundef %679) #6
  %681 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %680, ptr noundef nonnull align 1 dereferenceable(1) %52)
  %682 = fsub double %675, %681
  %683 = load ptr, ptr %6, align 8, !tbaa !5
  %684 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %683, i32 0, i32 27
  %685 = load i32, ptr %48, align 4, !tbaa !9
  %686 = zext i32 %685 to i64
  %687 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %684, i64 noundef %686)
  %688 = load double, ptr %687, align 8, !tbaa !11
  %689 = fdiv double %682, %688
  %690 = load ptr, ptr %8, align 8, !tbaa !5
  %691 = load i32, ptr %50, align 4, !tbaa !9
  %692 = zext i32 %691 to i64
  %693 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %690, i64 noundef %692)
  store double %689, ptr %693, align 8, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 48, ptr %62) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %63) #6
  %694 = load ptr, ptr %6, align 8, !tbaa !5
  %695 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %694, i32 0, i32 11
  %696 = load i32, ptr %48, align 4, !tbaa !9
  %697 = zext i32 %696 to i64
  %698 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %695, i64 noundef %697) #6
  %699 = load ptr, ptr %8, align 8, !tbaa !5
  %700 = load i32, ptr %50, align 4, !tbaa !9
  %701 = zext i32 %700 to i64
  %702 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %699, i64 noundef %701)
  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.657") align 8 %63, ptr noundef nonnull align 1 dereferenceable(1) %698, ptr noundef nonnull align 8 dereferenceable(8) %702)
  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.729") align 8 %62, ptr noundef nonnull align 1 dereferenceable(1) %52, ptr noundef nonnull align 1 dereferenceable(1) %63)
  %703 = load ptr, ptr %7, align 8, !tbaa !5
  %704 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %703, i32 0, i32 48
  %705 = load i32, ptr %48, align 4, !tbaa !9
  %706 = zext i32 %705 to i64
  %707 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %704, i64 noundef %706) #6
  %708 = 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) %707, ptr noundef nonnull align 1 dereferenceable(1) %62)
  call void @llvm.lifetime.end.p0(i64 32, ptr %63) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %62) #6
  br label %857

709:                                              ; preds = %660, %651
  %710 = load ptr, ptr %6, align 8, !tbaa !5
  %711 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %710, i32 0, i32 10
  %712 = load i32, ptr %48, align 4, !tbaa !9
  %713 = zext i32 %712 to i64
  %714 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %711, i64 noundef %713) #6
  %715 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %714, i32 0, i32 1
  %716 = load i32, ptr %715, align 8, !tbaa !19
  %717 = icmp eq i32 %716, 21
  br i1 %717, label %718, label %856

718:                                              ; preds = %709
  call void @llvm.lifetime.start.p0(i64 4, ptr %64) #6
  %719 = load ptr, ptr %6, align 8, !tbaa !5
  %720 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %719, i32 0, i32 10
  %721 = load i32, ptr %48, align 4, !tbaa !9
  %722 = zext i32 %721 to i64
  %723 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %720, i64 noundef %722) #6
  %724 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %723, i32 0, i32 4
  %725 = load i32, ptr %724, align 4, !tbaa !20
  store i32 %725, ptr %64, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %65) #6
  %726 = load ptr, ptr %6, align 8, !tbaa !5
  %727 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %726, i32 0, i32 22
  %728 = load i32, ptr %64, align 4, !tbaa !9
  %729 = zext i32 %728 to i64
  %730 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %727, i64 noundef %729) #6
  %731 = load ptr, ptr %730, align 8, !tbaa !5
  %732 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %731, i32 0, i32 1
  %733 = load i32, ptr %732, align 8, !tbaa !21
  store i32 %733, ptr %65, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 16, ptr %66) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %67) #6
  %734 = load i32, ptr %65, align 4, !tbaa !9
  %735 = zext i32 %734 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.182") align 8 %67, i64 noundef %735)
  call void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %66, ptr noundef nonnull align 1 dereferenceable(1) %67)
  call void @llvm.lifetime.end.p0(i64 24, ptr %67) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %68) #6
  %736 = load ptr, ptr %6, align 8, !tbaa !5
  %737 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %736, i32 0, i32 22
  %738 = load i32, ptr %64, align 4, !tbaa !9
  %739 = zext i32 %738 to i64
  %740 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %737, i64 noundef %739) #6
  %741 = load ptr, ptr %740, align 8, !tbaa !5
  %742 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %741, i32 0, i32 5
  call void @llvm.lifetime.start.p0(i64 32, ptr %69) #6
  %743 = load ptr, ptr %6, align 8, !tbaa !5
  %744 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %743, i32 0, i32 22
  %745 = load i32, ptr %64, align 4, !tbaa !9
  %746 = zext i32 %745 to i64
  %747 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %744, i64 noundef %746) #6
  %748 = load ptr, ptr %747, align 8, !tbaa !5
  %749 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %748, i32 0, i32 7
  call void @llvm.lifetime.start.p0(i64 16, ptr %70) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %71) #6
  %750 = load ptr, ptr %6, align 8, !tbaa !5
  %751 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %750, i32 0, i32 22
  %752 = load i32, ptr %64, align 4, !tbaa !9
  %753 = zext i32 %752 to i64
  %754 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %751, i64 noundef %753) #6
  %755 = load ptr, ptr %754, align 8, !tbaa !5
  %756 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %755, i32 0, i32 4
  %757 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %756)
          to label %758 unwind label %775

758:                                              ; preds = %718
  %759 = getelementptr inbounds %"class.Eigen::Transpose", ptr %71, i32 0, i32 0
  store ptr %757, ptr %759, align 8
  %760 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %71, ptr noundef nonnull align 1 dereferenceable(1) %52)
          to label %761 unwind label %775

761:                                              ; preds = %758
  %762 = getelementptr inbounds { ptr, ptr }, ptr %70, i32 0, i32 0
  %763 = extractvalue { ptr, ptr } %760, 0
  store ptr %763, ptr %762, align 8
  %764 = getelementptr inbounds { ptr, ptr }, ptr %70, i32 0, i32 1
  %765 = extractvalue { ptr, ptr } %760, 1
  store ptr %765, ptr %764, 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.666") align 8 %69, ptr noundef nonnull align 1 dereferenceable(1) %749, ptr noundef nonnull align 1 dereferenceable(1) %70)
          to label %766 unwind label %775

766:                                              ; preds = %761
  invoke 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.736") align 8 %68, ptr noundef nonnull align 1 dereferenceable(1) %742, ptr noundef nonnull align 1 dereferenceable(1) %69)
          to label %767 unwind label %775

767:                                              ; preds = %766
  %768 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_7ProductINS0_IdLin1ELin1ELi0ELin1ELin1EEENS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS3_INS_9TransposeIS4_EENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %66, ptr noundef nonnull align 1 dereferenceable(1) %68)
          to label %769 unwind label %775

769:                                              ; preds = %767
  call void @llvm.lifetime.end.p0(i64 8, ptr %71) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %70) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %69) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %68) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %74) #6
  store i32 0, ptr %74, align 4, !tbaa !9
  br label %770

770:                                              ; preds = %792, %769
  %771 = load i32, ptr %74, align 4, !tbaa !9
  %772 = load i32, ptr %65, align 4, !tbaa !9
  %773 = icmp ult i32 %771, %772
  br i1 %773, label %779, label %774

774:                                              ; preds = %770
  store i32 23, ptr %49, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %74) #6
  br label %799

775:                                              ; preds = %767, %766, %761, %758, %718
  %776 = landingpad { ptr, i32 }
          cleanup
  %777 = extractvalue { ptr, i32 } %776, 0
  store ptr %777, ptr %72, align 8
  %778 = extractvalue { ptr, i32 } %776, 1
  store i32 %778, ptr %73, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %71) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %70) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %69) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %68) #6
  br label %855

779:                                              ; preds = %770
  %780 = load i32, ptr %74, align 4, !tbaa !9
  %781 = sext i32 %780 to i64
  %782 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %66, i64 noundef %781)
          to label %783 unwind label %795

783:                                              ; preds = %779
  %784 = load double, ptr %782, align 8, !tbaa !11
  %785 = load ptr, ptr %8, align 8, !tbaa !5
  %786 = load i32, ptr %50, align 4, !tbaa !9
  %787 = load i32, ptr %74, align 4, !tbaa !9
  %788 = add i32 %786, %787
  %789 = zext i32 %788 to i64
  %790 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %785, i64 noundef %789)
          to label %791 unwind label %795

791:                                              ; preds = %783
  store double %784, ptr %790, align 8, !tbaa !11
  br label %792

792:                                              ; preds = %791
  %793 = load i32, ptr %74, align 4, !tbaa !9
  %794 = add nsw i32 %793, 1
  store i32 %794, ptr %74, align 4, !tbaa !9
  br label %770, !llvm.loop !46

795:                                              ; preds = %783, %779
  %796 = landingpad { ptr, i32 }
          cleanup
  %797 = extractvalue { ptr, i32 } %796, 0
  store ptr %797, ptr %72, align 8
  %798 = extractvalue { ptr, i32 } %796, 1
  store i32 %798, ptr %73, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %74) #6
  br label %855

799:                                              ; preds = %774
  call void @llvm.lifetime.start.p0(i64 32, ptr %75) #6
  %800 = load ptr, ptr %6, align 8, !tbaa !5
  %801 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %800, i32 0, i32 9
  %802 = load i32, ptr %48, align 4, !tbaa !9
  %803 = zext i32 %802 to i64
  %804 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %801, i64 noundef %803) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %76) #6
  %805 = load ptr, ptr %6, align 8, !tbaa !5
  %806 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %805, i32 0, i32 22
  %807 = load i32, ptr %64, align 4, !tbaa !9
  %808 = zext i32 %807 to i64
  %809 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %806, i64 noundef %808) #6
  %810 = load ptr, ptr %809, align 8, !tbaa !5
  %811 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %810, i32 0, i32 3
  %812 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %811, ptr noundef nonnull align 1 dereferenceable(1) %66)
          to label %813 unwind label %847

813:                                              ; preds = %799
  %814 = getelementptr inbounds { ptr, ptr }, ptr %76, i32 0, i32 0
  %815 = extractvalue { ptr, ptr } %812, 0
  store ptr %815, ptr %814, align 8
  %816 = getelementptr inbounds { ptr, ptr }, ptr %76, i32 0, i32 1
  %817 = extractvalue { ptr, ptr } %812, 1
  store ptr %817, ptr %816, 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.743") align 8 %75, ptr noundef nonnull align 1 dereferenceable(1) %804, ptr noundef nonnull align 1 dereferenceable(1) %76)
          to label %818 unwind label %847

818:                                              ; preds = %813
  %819 = load ptr, ptr %6, align 8, !tbaa !5
  %820 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %819, i32 0, i32 9
  %821 = load i32, ptr %48, align 4, !tbaa !9
  %822 = zext i32 %821 to i64
  %823 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %820, i64 noundef %822) #6
  %824 = 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) %823, ptr noundef nonnull align 1 dereferenceable(1) %75)
          to label %825 unwind label %847

825:                                              ; preds = %818
  call void @llvm.lifetime.end.p0(i64 16, ptr %76) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %75) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %77) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %78) #6
  %826 = load ptr, ptr %6, align 8, !tbaa !5
  %827 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %826, i32 0, i32 22
  %828 = load i32, ptr %64, align 4, !tbaa !9
  %829 = zext i32 %828 to i64
  %830 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %827, i64 noundef %829) #6
  %831 = load ptr, ptr %830, align 8, !tbaa !5
  %832 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %831, i32 0, i32 3
  %833 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %832, ptr noundef nonnull align 1 dereferenceable(1) %66)
          to label %834 unwind label %851

834:                                              ; preds = %825
  %835 = getelementptr inbounds { ptr, ptr }, ptr %78, i32 0, i32 0
  %836 = extractvalue { ptr, ptr } %833, 0
  store ptr %836, ptr %835, align 8
  %837 = getelementptr inbounds { ptr, ptr }, ptr %78, i32 0, i32 1
  %838 = extractvalue { ptr, ptr } %833, 1
  store ptr %838, ptr %837, 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.743") align 8 %77, ptr noundef nonnull align 1 dereferenceable(1) %52, ptr noundef nonnull align 1 dereferenceable(1) %78)
          to label %839 unwind label %851

839:                                              ; preds = %834
  %840 = load ptr, ptr %7, align 8, !tbaa !5
  %841 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %840, i32 0, i32 48
  %842 = load i32, ptr %48, align 4, !tbaa !9
  %843 = zext i32 %842 to i64
  %844 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %841, i64 noundef %843) #6
  %845 = 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) %844, ptr noundef nonnull align 1 dereferenceable(1) %77)
          to label %846 unwind label %851

846:                                              ; preds = %839
  call void @llvm.lifetime.end.p0(i64 16, ptr %78) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %77) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %66) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %66) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %65) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %64) #6
  br label %856

847:                                              ; preds = %818, %813, %799
  %848 = landingpad { ptr, i32 }
          cleanup
  %849 = extractvalue { ptr, i32 } %848, 0
  store ptr %849, ptr %72, align 8
  %850 = extractvalue { ptr, i32 } %848, 1
  store i32 %850, ptr %73, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %76) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %75) #6
  br label %855

851:                                              ; preds = %839, %834, %825
  %852 = landingpad { ptr, i32 }
          cleanup
  %853 = extractvalue { ptr, i32 } %852, 0
  store ptr %853, ptr %72, align 8
  %854 = extractvalue { ptr, i32 } %852, 1
  store i32 %854, ptr %73, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %78) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %77) #6
  br label %855

855:                                              ; preds = %851, %847, %795, %775
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %66) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %66) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %65) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %64) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %52) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %51) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %50) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %48) #6
  br label %863

856:                                              ; preds = %846, %709
  br label %857

857:                                              ; preds = %856, %669
  br label %858

858:                                              ; preds = %857, %571
  call void @llvm.lifetime.end.p0(i64 48, ptr %52) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %51) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %50) #6
  br label %859

859:                                              ; preds = %858
  %860 = load i32, ptr %48, align 4, !tbaa !9
  %861 = add i32 %860, 1
  store i32 %861, ptr %48, align 4, !tbaa !9
  br label %522, !llvm.loop !47

862:                                              ; preds = %529
  ret void

863:                                              ; preds = %855
  %864 = load ptr, ptr %72, align 8
  %865 = load i32, ptr %73, align 4
  %866 = insertvalue { ptr, i32 } poison, ptr %864, 0
  %867 = insertvalue { ptr, i32 } %866, i32 %865, 1
  resume { ptr, i32 } %867
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_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)) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEngEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.750") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen12CwiseUnaryOpINS1_8internal18scalar_opposite_opIdEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEngEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.764") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIdEEKNS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEEEmlINS6_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductISA_T_Li0EEERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.757") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen7ProductINS1_12CwiseUnaryOpINS1_8internal18scalar_opposite_opIdEEKNS1_9TransposeINS1_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEENS8_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS5_INS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.771") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS5_INS6_17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEESB_EEEESG_EEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEESB_KSM_EERKNS0_ISM_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.778") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_18scalar_quotient_opIddEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEESH_EEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEngEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.792") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIdEEKNS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEEEmlINS6_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductISA_T_Li0EEERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.785") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_7ProductINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIdEEKNS_9TransposeINS0_IdLin1ELin1ELi0ELin1ELin1EEEEEEENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS5_INS1_IdLin1ELin1ELi0ELin1ELin1EEES6_Li0EEENS1_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSB_6traitsIT_E6ScalarEEEKS2_KSE_EERKNS0_ISE_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.799") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESA_Li0EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSERKS_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) #2 align 2

attributes #0 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { 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 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 = { nounwind }
attributes #7 = { 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 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"double", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}
!15 = distinct !{!15, !14}
!16 = !{!17, !10, i64 12}
!17 = !{!"_ZTSN17RigidBodyDynamics5JointE", !6, i64 0, !18, i64 8, !10, i64 12, !10, i64 16, !10, i64 20}
!18 = !{!"_ZTSN17RigidBodyDynamics9JointTypeE", !7, i64 0}
!19 = !{!17, !18, i64 8}
!20 = !{!17, !10, i64 20}
!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", !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}
!44 = distinct !{!44, !14}
!45 = !{!17, !10, i64 16}
!46 = distinct !{!46, !14}
!47 = distinct !{!47, !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.Eigen::CwiseNullaryOp.182" = type { %"class.Eigen::internal::variable_if_dynamic", [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::Product.336" = type { %"class.Eigen::Product.303", ptr }
%"class.Eigen::Product.303" = type { ptr, ptr }
%class.SpatialVector_t = type { %"class.Eigen::Matrix.89" }
%"class.Eigen::Matrix.89" = type { %"class.Eigen::PlainObjectBase.90" }
%"class.Eigen::PlainObjectBase.90" = type { %"class.Eigen::DenseStorage.97" }
%"class.Eigen::DenseStorage.97" = type { %"struct.Eigen::internal::plain_array.98" }
%"struct.Eigen::internal::plain_array.98" = type { [6 x double] }
%"class.Eigen::CwiseBinaryOp.524" = type <{ ptr, %"class.Eigen::Product.530", [8 x i8] }>
%"class.Eigen::Product.530" = type { %"class.Eigen::Transpose.537", ptr }
%"class.Eigen::Transpose.537" = type { ptr }
%"class.Eigen::Product.590" = type { %"class.Eigen::Product.569", ptr }
%"class.Eigen::Product.569" = type { ptr, ptr }
%"class.Eigen::CwiseBinaryOp.657" = type <{ ptr, %"class.Eigen::CwiseNullaryOp.638", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.638" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::CwiseBinaryOp.651" = type <{ [8 x i8], %"class.Eigen::CwiseBinaryOp.657", %"class.Eigen::CwiseNullaryOp.638", [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.666" = type <{ ptr, %"class.Eigen::Product.672", [8 x i8] }>
%"class.Eigen::Product.672" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::CwiseBinaryOp.701" = type <{ ptr, ptr, [8 x i8] }>
%"class.Eigen::Product.708" = type { ptr, %"class.Eigen::CwiseBinaryOp.524" }
%"class.Eigen::CwiseBinaryOp.715" = type <{ ptr, %"class.Eigen::Product.721", [8 x i8] }>
%"class.Eigen::Product.721" = type { ptr, ptr }
%"class.Eigen::CwiseBinaryOp.729" = type <{ ptr, %"class.Eigen::CwiseBinaryOp.657", [8 x i8] }>
%"class.Eigen::Product.736" = type { ptr, %"class.Eigen::CwiseBinaryOp.666" }
%"class.Eigen::CwiseBinaryOp.743" = type <{ ptr, %"class.Eigen::Product.350", [8 x i8] }>
%"class.Eigen::Product.350" = type { ptr, ptr }
%"class.Eigen::CwiseUnaryOp.750" = type <{ ptr, [8 x i8] }>
%"class.Eigen::Product.757" = type { %"class.Eigen::CwiseUnaryOp.764", ptr }
%"class.Eigen::CwiseUnaryOp.764" = type <{ %"class.Eigen::Transpose.537", [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.771" = type <{ ptr, %"class.Eigen::Product.590", [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.778" = type <{ ptr, %"class.Eigen::CwiseBinaryOp.651", [8 x i8] }>
%"class.Eigen::Product.785" = type { %"class.Eigen::CwiseUnaryOp.792", ptr }
%"class.Eigen::CwiseUnaryOp.792" = type <{ %"class.Eigen::Transpose", [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.799" = type <{ ptr, %"class.Eigen::Product.336", [8 x i8] }>
%class.Vector3_t = type { %"class.Eigen::Matrix.70" }
%"class.Eigen::Matrix.70" = type { %"class.Eigen::PlainObjectBase.71" }
%"class.Eigen::PlainObjectBase.71" = type { %"class.Eigen::DenseStorage.78" }
%"class.Eigen::DenseStorage.78" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64 }

@.str.4 = external hidden unnamed_addr constant [112 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [39 x i8], align 1
@__PRETTY_FUNCTION__._ZN17RigidBodyDynamics33ForwardDynamicsAccelerationDeltasERNS_5ModelERNS_13ConstraintSetERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRKSt6vectorI15SpatialVector_tSaIS9_EE = external hidden unnamed_addr constant [152 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [38 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [38 x i8], align 1

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #0

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

declare i32 @__gxx_personality_v0(...)

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

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.182") align 8, i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #3 align 2

; 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 #3 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 #2 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 #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #4 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 #2 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.336") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 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 #3 align 2

; 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 #3 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 #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 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 #3 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.524") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 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 #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 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 #2 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 #2 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 #3 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.590") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 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 #5 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 #2 align 2

; 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.657") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 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.651") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 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 #3 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.666") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 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 #2 align 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 #2 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.701") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 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 #5 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.708") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 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 #5 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.715") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 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 #2 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 #5 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.729") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 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 #5 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.736") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_7ProductINS0_IdLin1ELin1ELi0ELin1ELin1EEENS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS3_INS_9TransposeIS4_EENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 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.743") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 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 #5 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics33ForwardDynamicsAccelerationDeltasERNS_5ModelERNS_13ConstraintSetERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRKSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(1160) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, i32 noundef %3, ptr noundef nonnull align 8 dereferenceable(24) %4) local_unnamed_addr #5 personality ptr @__gxx_personality_v0 {
  %6 = alloca %"class.Eigen::CwiseUnaryOp.750", align 8
  %7 = alloca %class.SpatialVector_t, align 16
  %8 = alloca %"class.Eigen::Product.757", align 8
  %9 = alloca %"class.Eigen::CwiseUnaryOp.764", align 8
  %10 = alloca %"class.Eigen::Transpose.537", align 8
  %11 = alloca %"class.Eigen::CwiseBinaryOp.701", align 8
  %12 = alloca %class.SpatialVector_t, align 16
  %13 = alloca %class.SpatialVector_t, align 16
  %14 = alloca %"class.Eigen::CwiseBinaryOp.771", align 8
  %15 = alloca %"class.Eigen::Product.590", align 8
  %16 = alloca %"class.Eigen::Product.569", align 8
  %17 = alloca %"class.Eigen::CwiseBinaryOp.701", align 8
  %18 = alloca %class.SpatialVector_t, align 16
  %19 = alloca %class.SpatialVector_t, align 16
  %20 = alloca %"class.Eigen::CwiseBinaryOp.778", align 8
  %21 = alloca %"class.Eigen::CwiseBinaryOp.651", align 8
  %22 = alloca %"class.Eigen::CwiseBinaryOp.657", align 8
  %23 = alloca %"class.Eigen::Product.785", align 8
  %24 = alloca %"class.Eigen::CwiseUnaryOp.792", align 8
  %25 = alloca %"class.Eigen::Transpose", align 8
  %26 = alloca %"class.Eigen::CwiseBinaryOp.701", align 8
  %27 = alloca %class.SpatialVector_t, align 16
  %28 = alloca %class.SpatialVector_t, align 16
  %29 = alloca %"class.Eigen::CwiseBinaryOp.799", align 8
  %30 = alloca %"class.Eigen::Product.336", align 8
  %31 = alloca %"class.Eigen::Product.303", align 8
  %32 = alloca %class.SpatialVector_t, align 16
  %33 = alloca %class.Vector3_t, align 8
  %34 = alloca %"class.Eigen::Product.708", align 8
  %35 = alloca %"class.Eigen::CwiseBinaryOp.524", align 8
  %36 = alloca %"class.Eigen::Product.530", align 8
  %37 = alloca %"class.Eigen::Transpose.537", align 8
  %38 = alloca %"class.Eigen::CwiseBinaryOp.715", align 8
  %39 = alloca %"class.Eigen::Product.721", align 8
  %40 = alloca %"class.Eigen::CwiseBinaryOp.715", align 8
  %41 = alloca %"class.Eigen::Product.721", align 8
  %42 = alloca %"class.Eigen::CwiseBinaryOp.729", align 8
  %43 = alloca %"class.Eigen::CwiseBinaryOp.657", align 8
  %44 = alloca %"class.Eigen::Matrix", align 8
  %45 = alloca %"class.Eigen::CwiseNullaryOp.182", align 8
  %46 = alloca %"class.Eigen::Product.736", align 8
  %47 = alloca %"class.Eigen::CwiseBinaryOp.666", align 8
  %48 = alloca %"class.Eigen::Product.672", align 8
  %49 = alloca %"class.Eigen::Transpose", align 8
  %50 = alloca %"class.Eigen::CwiseBinaryOp.743", align 8
  %51 = alloca %"class.Eigen::Product.350", align 8
  %52 = alloca %"class.Eigen::CwiseBinaryOp.743", align 8
  %53 = alloca %"class.Eigen::Product.350", align 8
  %54 = getelementptr inbounds i8, ptr %1, i64 1008
  %55 = tail call noundef i64 @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %54) #6
  %56 = getelementptr inbounds i8, ptr %0, i64 800
  %57 = tail call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %56) #6
  %58 = icmp eq i64 %55, %57
  br i1 %58, label %60, label %59

59:                                               ; preds = %5
  tail call void @__assert_fail(ptr noundef nonnull @.str.19, ptr noundef nonnull @.str.4, i32 noundef 1305, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics33ForwardDynamicsAccelerationDeltasERNS_5ModelERNS_13ConstraintSetERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRKSt6vectorI15SpatialVector_tSaIS9_EE) #7
  unreachable

60:                                               ; preds = %5
  %61 = getelementptr inbounds i8, ptr %1, i64 1032
  %62 = tail call noundef i64 @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %61) #6
  %63 = tail call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %56) #6
  %64 = icmp eq i64 %62, %63
  br i1 %64, label %66, label %65

65:                                               ; preds = %60
  tail call void @__assert_fail(ptr noundef nonnull @.str.20, ptr noundef nonnull @.str.4, i32 noundef 1306, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics33ForwardDynamicsAccelerationDeltasERNS_5ModelERNS_13ConstraintSetERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRKSt6vectorI15SpatialVector_tSaIS9_EE) #7
  unreachable

66:                                               ; preds = %60
  %67 = getelementptr inbounds i8, ptr %1, i64 1056
  %68 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %67)
  %69 = tail call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %56) #6
  %70 = icmp eq i64 %68, %69
  br i1 %70, label %.preheader241, label %73

.preheader241:                                    ; preds = %66
  %71 = tail call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %56) #6
  %.not254 = icmp eq i64 %71, 0
  br i1 %.not254, label %.preheader240, label %.lr.ph

.lr.ph:                                           ; preds = %.preheader241
  %72 = getelementptr inbounds i8, ptr %1, i64 1136
  br label %76

73:                                               ; preds = %66
  tail call void @__assert_fail(ptr noundef nonnull @.str.21, ptr noundef nonnull @.str.4, i32 noundef 1307, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics33ForwardDynamicsAccelerationDeltasERNS_5ModelERNS_13ConstraintSetERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRKSt6vectorI15SpatialVector_tSaIS9_EE) #7
  unreachable

.preheader240:                                    ; preds = %76, %.preheader241
  %74 = getelementptr inbounds i8, ptr %0, i64 448
  %75 = tail call noundef i64 @_ZNKSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %74) #6
  %.not255 = icmp eq i64 %75, 0
  br i1 %.not255, label %.preheader239, label %.lr.ph244

76:                                               ; preds = %.lr.ph, %76
  %77 = phi i64 [ 0, %.lr.ph ], [ %86, %76 ]
  %.0216242 = phi i32 [ 0, %.lr.ph ], [ %85, %76 ]
  %78 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %54, i64 noundef %77) #6
  %79 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %78)
  %80 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef %77) #6
  %81 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %80)
  %82 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %67, i64 noundef %77)
  store double 0.000000e+00, ptr %82, align 8, !tbaa !5
  %83 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %72, i64 noundef %77) #6
  %84 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %83)
  %85 = add i32 %.0216242, 1
  %86 = zext i32 %85 to i64
  %87 = tail call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %56) #6
  %88 = icmp ugt i64 %87, %86
  br i1 %88, label %76, label %.preheader240, !llvm.loop !9

.preheader239:                                    ; preds = %.lr.ph244, %.preheader240
  %.not245 = icmp eq i32 %3, 0
  br i1 %.not245, label %.preheader238.preheader, label %.lr.ph247

.lr.ph247:                                        ; preds = %.preheader239
  %89 = getelementptr inbounds i8, ptr %0, i64 744
  %90 = getelementptr inbounds i8, ptr %0, i64 160
  %91 = getelementptr inbounds i8, ptr %0, i64 328
  %92 = getelementptr inbounds i8, ptr %1, i64 1136
  %93 = getelementptr inbounds i8, ptr %0, i64 720
  %94 = getelementptr inbounds i8, ptr %0, i64 352
  %95 = getelementptr inbounds i8, ptr %0, i64 376
  %96 = getelementptr inbounds i8, ptr %16, i64 8
  %97 = getelementptr inbounds i8, ptr %0, i64 184
  %98 = getelementptr inbounds i8, ptr %0, i64 544
  %99 = getelementptr inbounds i8, ptr %0, i64 568
  %100 = getelementptr inbounds i8, ptr %31, i64 8
  %101 = zext i32 %3 to i64
  br label %111

.lr.ph244:                                        ; preds = %.preheader240, %.lr.ph244
  %102 = phi i64 [ %108, %.lr.ph244 ], [ 0, %.preheader240 ]
  %.0217243 = phi i32 [ %107, %.lr.ph244 ], [ 0, %.preheader240 ]
  %103 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %102) #6
  %104 = load ptr, ptr %103, align 8, !tbaa !11
  %105 = getelementptr inbounds i8, ptr %104, i64 200
  %106 = tail call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %105)
  %107 = add i32 %.0217243, 1
  %108 = zext i32 %107 to i64
  %109 = tail call noundef i64 @_ZNKSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %74) #6
  %110 = icmp ugt i64 %109, %108
  br i1 %110, label %.lr.ph244, label %.preheader239, !llvm.loop !13

111:                                              ; preds = %.lr.ph247, %216
  %indvars.iv = phi i64 [ %101, %.lr.ph247 ], [ %indvars.iv.next, %216 ]
  %112 = icmp eq i64 %indvars.iv, %101
  br i1 %112, label %113, label %118

113:                                              ; preds = %111
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %7) #6
  %114 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %89, i64 noundef %101) #6
  %115 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %4, i64 noundef %101) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %7, ptr noundef nonnull align 8 dereferenceable(96) %114, ptr noundef nonnull align 16 dereferenceable(48) %115)
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEngEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseUnaryOp.750") align 8 %6, ptr noundef nonnull align 1 dereferenceable(1) %7)
  %116 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %54, i64 noundef %101) #6
  %117 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen12CwiseUnaryOpINS1_8internal18scalar_opposite_opIdEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %116, ptr noundef nonnull align 1 dereferenceable(1) %6)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %7) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #6
  br label %118

118:                                              ; preds = %113, %111
  %119 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %90, i64 noundef %indvars.iv) #6
  %120 = getelementptr inbounds i8, ptr %119, i64 12
  %121 = load i32, ptr %120, align 4, !tbaa !14
  %122 = icmp eq i32 %121, 3
  br i1 %122, label %123, label %148

123:                                              ; preds = %118
  %124 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %90, i64 noundef %indvars.iv) #6
  %125 = getelementptr inbounds i8, ptr %124, i64 8
  %126 = load i32, ptr %125, align 8, !tbaa !18
  %.not232 = icmp eq i32 %126, 21
  br i1 %.not232, label %148, label %127

127:                                              ; preds = %123
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %8) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #6
  %128 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %91, i64 noundef %indvars.iv) #6
  %129 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %128)
  store ptr %129, ptr %10, align 8
  call void @_ZNK5Eigen9DenseBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEngEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseUnaryOp.764") align 8 %9, ptr noundef nonnull align 1 dereferenceable(1) %10)
  %130 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %54, i64 noundef %indvars.iv) #6
  call void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIdEEKNS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEEEmlINS6_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductISA_T_Li0EEERKNS0_ISF_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.757") align 8 %8, ptr noundef nonnull align 1 dereferenceable(1) %9, ptr noundef nonnull align 1 dereferenceable(1) %130)
  %131 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %92, i64 noundef %indvars.iv) #6
  %132 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen7ProductINS1_12CwiseUnaryOpINS1_8internal18scalar_opposite_opIdEEKNS1_9TransposeINS1_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEENS8_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %131, ptr noundef nonnull align 1 dereferenceable(1) %8)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #6
  %133 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv) #6
  %134 = load i32, ptr %133, align 4, !tbaa !19
  %.not236 = icmp eq i32 %134, 0
  br i1 %.not236, label %216, label %135

135:                                              ; preds = %127
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %11) #6
  %136 = zext i32 %134 to i64
  %137 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %54, i64 noundef %136) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %12) #6
  %138 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %93, i64 noundef %indvars.iv) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %13) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %14) #6
  %139 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %54, i64 noundef %indvars.iv) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %15) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #6
  %140 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %94, i64 noundef %indvars.iv) #6
  %141 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %95, i64 noundef %indvars.iv) #6
  %142 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %140, ptr noundef nonnull align 1 dereferenceable(1) %141)
  %143 = extractvalue { ptr, ptr } %142, 0
  store ptr %143, ptr %16, align 8
  %144 = extractvalue { ptr, ptr } %142, 1
  store ptr %144, ptr %96, align 8
  %145 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %92, 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.590") align 8 %15, ptr noundef nonnull align 1 dereferenceable(1) %16, ptr noundef nonnull align 1 dereferenceable(1) %145)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS5_INS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.771") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) %139, ptr noundef nonnull align 1 dereferenceable(1) %15)
  call void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %13, ptr noundef nonnull align 1 dereferenceable(1) %14)
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %12, ptr noundef nonnull align 8 dereferenceable(96) %138, ptr noundef nonnull align 16 dereferenceable(48) %13)
  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.701") align 8 %11, ptr noundef nonnull align 1 dereferenceable(1) %137, ptr noundef nonnull align 1 dereferenceable(1) %12)
  %146 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %54, i64 noundef %136) #6
  %147 = 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) %146, ptr noundef nonnull align 1 dereferenceable(1) %11)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %15) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %14) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %13) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %12) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #6
  br label %216

148:                                              ; preds = %123, %118
  %149 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %90, i64 noundef %indvars.iv) #6
  %150 = getelementptr inbounds i8, ptr %149, i64 12
  %151 = load i32, ptr %150, align 4, !tbaa !14
  %152 = icmp eq i32 %151, 1
  br i1 %152, label %153, label %175

153:                                              ; preds = %148
  %154 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %90, i64 noundef %indvars.iv) #6
  %155 = getelementptr inbounds i8, ptr %154, i64 8
  %156 = load i32, ptr %155, align 8, !tbaa !18
  %.not233 = icmp eq i32 %156, 21
  br i1 %.not233, label %175, label %157

157:                                              ; preds = %153
  %158 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %97, i64 noundef %indvars.iv) #6
  %159 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %54, i64 noundef %indvars.iv) #6
  %160 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %158, ptr noundef nonnull align 1 dereferenceable(1) %159)
  %161 = fneg double %160
  %162 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %67, i64 noundef %indvars.iv)
  store double %161, ptr %162, align 8, !tbaa !5
  %163 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv) #6
  %164 = load i32, ptr %163, align 4, !tbaa !19
  %.not235 = icmp eq i32 %164, 0
  br i1 %.not235, label %216, label %165

165:                                              ; preds = %157
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %17) #6
  %166 = zext i32 %164 to i64
  %167 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %54, i64 noundef %166) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %18) #6
  %168 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %93, i64 noundef %indvars.iv) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %19) #6
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %20) #6
  %169 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %54, i64 noundef %indvars.iv) #6
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %21) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %22) #6
  %170 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %98, i64 noundef %indvars.iv) #6
  %171 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %67, 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.657") align 8 %22, ptr noundef nonnull align 1 dereferenceable(1) %170, ptr noundef nonnull align 8 dereferenceable(8) %171)
  %172 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %99, 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.651") align 8 %21, ptr noundef nonnull align 1 dereferenceable(1) %22, ptr noundef nonnull align 8 dereferenceable(8) %172)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS5_INS6_17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEESB_EEEESG_EEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEESB_KSM_EERKNS0_ISM_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.778") align 8 %20, ptr noundef nonnull align 1 dereferenceable(1) %169, ptr noundef nonnull align 1 dereferenceable(1) %21)
  call void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_18scalar_quotient_opIddEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEESH_EEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %19, ptr noundef nonnull align 1 dereferenceable(1) %20)
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %18, ptr noundef nonnull align 8 dereferenceable(96) %168, ptr noundef nonnull align 16 dereferenceable(48) %19)
  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.701") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %167, ptr noundef nonnull align 1 dereferenceable(1) %18)
  %173 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %54, i64 noundef %166) #6
  %174 = 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) %173, ptr noundef nonnull align 1 dereferenceable(1) %17)
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %22) #6
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %21) #6
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %20) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %19) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %18) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %17) #6
  br label %216

175:                                              ; preds = %153, %148
  %176 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %90, i64 noundef %indvars.iv) #6
  %177 = getelementptr inbounds i8, ptr %176, i64 8
  %178 = load i32, ptr %177, align 8, !tbaa !18
  %179 = icmp eq i32 %178, 21
  br i1 %179, label %180, label %216

180:                                              ; preds = %175
  %181 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %90, i64 noundef %indvars.iv) #6
  %182 = getelementptr inbounds i8, ptr %181, i64 20
  %183 = load i32, ptr %182, align 4, !tbaa !20
  %184 = zext i32 %183 to i64
  %185 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %184) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %23) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %24) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %25) #6
  %186 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %184) #6
  %187 = load ptr, ptr %186, align 8, !tbaa !11
  %188 = getelementptr inbounds i8, ptr %187, i64 112
  %189 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %188)
  store ptr %189, ptr %25, align 8
  call void @_ZNK5Eigen9DenseBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEngEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseUnaryOp.792") align 8 %24, ptr noundef nonnull align 1 dereferenceable(1) %25)
  %190 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %54, i64 noundef %indvars.iv) #6
  call void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIdEEKNS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEEEmlINS6_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductISA_T_Li0EEERKNS0_ISF_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.785") align 8 %23, ptr noundef nonnull align 1 dereferenceable(1) %24, ptr noundef nonnull align 1 dereferenceable(1) %190)
  %191 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %184) #6
  %192 = load ptr, ptr %191, align 8, !tbaa !11
  %193 = getelementptr inbounds i8, ptr %192, i64 200
  %194 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_7ProductINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIdEEKNS_9TransposeINS0_IdLin1ELin1ELi0ELin1ELin1EEEEEEENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %193, ptr noundef nonnull align 1 dereferenceable(1) %23)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %24) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %23) #6
  %195 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv) #6
  %196 = load i32, ptr %195, align 4, !tbaa !19
  %.not234 = icmp eq i32 %196, 0
  br i1 %.not234, label %216, label %197

197:                                              ; preds = %180
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %26) #6
  %198 = zext i32 %196 to i64
  %199 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %54, i64 noundef %198) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %27) #6
  %200 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %93, i64 noundef %indvars.iv) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %28) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %29) #6
  %201 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %54, i64 noundef %indvars.iv) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %30) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %31) #6
  %202 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %184) #6
  %203 = load ptr, ptr %202, align 8, !tbaa !11
  %204 = getelementptr inbounds i8, ptr %203, i64 136
  %205 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %184) #6
  %206 = load ptr, ptr %205, align 8, !tbaa !11
  %207 = getelementptr inbounds i8, ptr %206, i64 160
  %208 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %204, ptr noundef nonnull align 1 dereferenceable(1) %207)
  %209 = extractvalue { ptr, ptr } %208, 0
  store ptr %209, ptr %31, align 8
  %210 = extractvalue { ptr, ptr } %208, 1
  store ptr %210, ptr %100, align 8
  %211 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %184) #6
  %212 = load ptr, ptr %211, align 8, !tbaa !11
  %213 = getelementptr inbounds i8, ptr %212, i64 200
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEES3_Li0EEEEmlINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS1_IS4_T_Li0EEERKNS0_IS8_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.336") align 8 %30, ptr noundef nonnull align 1 dereferenceable(1) %31, ptr noundef nonnull align 1 dereferenceable(1) %213)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS5_INS1_IdLin1ELin1ELi0ELin1ELin1EEES6_Li0EEENS1_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSB_6traitsIT_E6ScalarEEEKS2_KSE_EERKNS0_ISE_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.799") align 8 %29, ptr noundef nonnull align 1 dereferenceable(1) %201, ptr noundef nonnull align 1 dereferenceable(1) %30)
  call void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESA_Li0EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %28, ptr noundef nonnull align 1 dereferenceable(1) %29)
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %27, ptr noundef nonnull align 8 dereferenceable(96) %200, ptr noundef nonnull align 16 dereferenceable(48) %28)
  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.701") align 8 %26, ptr noundef nonnull align 1 dereferenceable(1) %199, ptr noundef nonnull align 1 dereferenceable(1) %27)
  %214 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %54, i64 noundef %198) #6
  %215 = 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) %214, ptr noundef nonnull align 1 dereferenceable(1) %26)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %31) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %30) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %29) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %28) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %27) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %26) #6
  br label %216

216:                                              ; preds = %180, %197, %157, %165, %127, %135, %175
  %indvars.iv.next = add nsw i64 %indvars.iv, -1
  %217 = and i64 %indvars.iv.next, 4294967295
  %.not = icmp eq i64 %217, 0
  br i1 %.not, label %.preheader238.preheader, label %111, !llvm.loop !21

.preheader238.preheader:                          ; preds = %216, %.preheader239
  br label %.preheader238

.preheader238:                                    ; preds = %.preheader238.preheader, %.preheader238
  %.0219 = phi i32 [ %221, %.preheader238 ], [ 0, %.preheader238.preheader ]
  %218 = zext i32 %.0219 to i64
  %219 = call noundef i64 @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %4) #6
  %220 = icmp ugt i64 %219, %218
  %221 = add i32 %.0219, 1
  br i1 %220, label %.preheader238, label %.preheader237, !llvm.loop !22

.preheader237:                                    ; preds = %.preheader238, %.preheader237
  %.0222 = phi i32 [ %225, %.preheader237 ], [ 0, %.preheader238 ]
  %222 = zext i32 %.0222 to i64
  %223 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %56) #6
  %224 = icmp ugt i64 %223, %222
  %225 = add i32 %.0222, 1
  br i1 %224, label %.preheader237, label %.preheader, !llvm.loop !23

.preheader:                                       ; preds = %.preheader237, %.preheader
  %.0221 = phi i32 [ %229, %.preheader ], [ 0, %.preheader237 ]
  %226 = zext i32 %.0221 to i64
  %227 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %56) #6
  %228 = icmp ugt i64 %227, %226
  %229 = add i32 %.0221, 1
  br i1 %228, label %.preheader, label %230, !llvm.loop !24

230:                                              ; preds = %.preheader
  %231 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef 0)
  store double 0.000000e+00, ptr %231, align 8, !tbaa !5
  %232 = getelementptr inbounds i8, ptr %0, i64 136
  %233 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %232, i64 noundef 0) #6
  %234 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef 0) #6
  %235 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSERKS_(ptr noundef nonnull align 16 dereferenceable(48) %234, ptr noundef nonnull align 16 dereferenceable(48) %233)
  %236 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %56) #6
  %237 = icmp ugt i64 %236, 1
  br i1 %237, label %.lr.ph252, label %._crit_edge253

.lr.ph252:                                        ; preds = %230
  %238 = getelementptr inbounds i8, ptr %0, i64 160
  %239 = getelementptr inbounds i8, ptr %0, i64 720
  %240 = getelementptr inbounds i8, ptr %0, i64 376
  %241 = getelementptr inbounds i8, ptr %1, i64 1136
  %242 = getelementptr inbounds i8, ptr %0, i64 352
  %243 = getelementptr inbounds i8, ptr %36, i64 8
  %244 = getelementptr inbounds i8, ptr %0, i64 328
  %245 = getelementptr inbounds i8, ptr %39, i64 8
  %246 = getelementptr inbounds i8, ptr %41, i64 8
  %247 = getelementptr inbounds i8, ptr %0, i64 544
  %248 = getelementptr inbounds i8, ptr %0, i64 568
  %249 = getelementptr inbounds i8, ptr %0, i64 184
  %250 = getelementptr inbounds i8, ptr %48, i64 8
  %251 = getelementptr inbounds i8, ptr %51, i64 8
  %252 = getelementptr inbounds i8, ptr %53, i64 8
  br label %253

._crit_edge253:                                   ; preds = %404, %230
  ret void

253:                                              ; preds = %.lr.ph252, %404
  %254 = phi i64 [ 1, %.lr.ph252 ], [ %406, %404 ]
  %.0220250 = phi i32 [ 1, %.lr.ph252 ], [ %405, %404 ]
  %255 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %238, i64 noundef %254) #6
  %256 = getelementptr inbounds i8, ptr %255, i64 16
  %257 = load i32, ptr %256, align 8, !tbaa !25
  %258 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %254) #6
  %259 = load i32, ptr %258, align 4, !tbaa !19
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %32) #6
  %260 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %239, i64 noundef %254) #6
  %261 = zext i32 %259 to i64
  %262 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef %261) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %32, ptr noundef nonnull align 8 dereferenceable(96) %260, ptr noundef nonnull align 16 dereferenceable(48) %262)
  %263 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %238, i64 noundef %254) #6
  %264 = getelementptr inbounds i8, ptr %263, i64 12
  %265 = load i32, ptr %264, align 4, !tbaa !14
  %266 = icmp eq i32 %265, 3
  br i1 %266, label %267, label %306

267:                                              ; preds = %253
  %268 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %238, i64 noundef %254) #6
  %269 = getelementptr inbounds i8, ptr %268, i64 8
  %270 = load i32, ptr %269, align 8, !tbaa !18
  %.not229 = icmp eq i32 %270, 21
  br i1 %.not229, label %306, label %271

271:                                              ; preds = %267
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %33) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %34) #6
  %272 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI9Matrix3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %240, i64 noundef %254) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %35) #6
  %273 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %241, i64 noundef %254) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %36) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %37) #6
  %274 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %242, i64 noundef %254) #6
  %275 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %274)
  store ptr %275, ptr %37, align 8
  %276 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %37, ptr noundef nonnull align 1 dereferenceable(1) %32)
  %277 = extractvalue { ptr, ptr } %276, 0
  store ptr %277, ptr %36, align 8
  %278 = extractvalue { ptr, ptr } %276, 1
  store ptr %278, ptr %243, 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.524") align 8 %35, ptr noundef nonnull align 1 dereferenceable(1) %273, ptr noundef nonnull align 1 dereferenceable(1) %36)
  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.708") align 8 %34, ptr noundef nonnull align 1 dereferenceable(1) %272, ptr noundef nonnull align 1 dereferenceable(1) %35)
  call void @_ZN9Vector3_tC2IN5Eigen7ProductINS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEENS1_13CwiseBinaryOpINS1_8internal20scalar_difference_opIddEEKNS3_IdLi3ELi1ELi0ELi3ELi1EEEKNS2_INS1_9TransposeINS3_IdLi6ELi3ELi0ELi6ELi3EEEEENS3_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %33, ptr noundef nonnull align 1 dereferenceable(1) %34)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %37) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %36) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %35) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %34) #6
  %279 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %33, i64 noundef 0)
  %280 = load double, ptr %279, align 8, !tbaa !5
  %281 = zext i32 %257 to i64
  %282 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef %281)
  store double %280, ptr %282, align 8, !tbaa !5
  %283 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %33, i64 noundef 1)
  %284 = load double, ptr %283, align 8, !tbaa !5
  %285 = add i32 %257, 1
  %286 = zext i32 %285 to i64
  %287 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef %286)
  store double %284, ptr %287, align 8, !tbaa !5
  %288 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %33, i64 noundef 2)
  %289 = load double, ptr %288, align 8, !tbaa !5
  %290 = add i32 %257, 2
  %291 = zext i32 %290 to i64
  %292 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef %291)
  store double %289, ptr %292, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %38) #6
  %293 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %232, i64 noundef %254) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %39) #6
  %294 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %244, i64 noundef %254) #6
  %295 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %294, ptr noundef nonnull align 1 dereferenceable(1) %33)
  %296 = extractvalue { ptr, ptr } %295, 0
  store ptr %296, ptr %39, align 8
  %297 = extractvalue { ptr, ptr } %295, 1
  store ptr %297, ptr %245, 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.715") align 8 %38, ptr noundef nonnull align 1 dereferenceable(1) %293, ptr noundef nonnull align 1 dereferenceable(1) %39)
  %298 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %232, i64 noundef %254) #6
  %299 = 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) %298, ptr noundef nonnull align 1 dereferenceable(1) %38)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %39) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %38) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %40) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %41) #6
  %300 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %244, i64 noundef %254) #6
  %301 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %300, ptr noundef nonnull align 1 dereferenceable(1) %33)
  %302 = extractvalue { ptr, ptr } %301, 0
  store ptr %302, ptr %41, align 8
  %303 = extractvalue { ptr, ptr } %301, 1
  store ptr %303, ptr %246, 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.715") align 8 %40, ptr noundef nonnull align 1 dereferenceable(1) %32, ptr noundef nonnull align 1 dereferenceable(1) %41)
  %304 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef %254) #6
  %305 = 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) %304, ptr noundef nonnull align 1 dereferenceable(1) %40)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %41) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %40) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %33) #6
  br label %404

306:                                              ; preds = %267, %253
  %307 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %238, i64 noundef %254) #6
  %308 = getelementptr inbounds i8, ptr %307, i64 12
  %309 = load i32, ptr %308, align 4, !tbaa !14
  %310 = icmp eq i32 %309, 1
  br i1 %310, label %311, label %330

311:                                              ; preds = %306
  %312 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %238, i64 noundef %254) #6
  %313 = getelementptr inbounds i8, ptr %312, i64 8
  %314 = load i32, ptr %313, align 8, !tbaa !18
  %.not230 = icmp eq i32 %314, 21
  br i1 %.not230, label %330, label %315

315:                                              ; preds = %311
  %316 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %67, i64 noundef %254)
  %317 = load double, ptr %316, align 8, !tbaa !5
  %318 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %247, i64 noundef %254) #6
  %319 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %318, ptr noundef nonnull align 1 dereferenceable(1) %32)
  %320 = fsub double %317, %319
  %321 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %248, i64 noundef %254)
  %322 = load double, ptr %321, align 8, !tbaa !5
  %323 = fdiv double %320, %322
  %324 = zext i32 %257 to i64
  %325 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef %324)
  store double %323, ptr %325, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %42) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %43) #6
  %326 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %249, i64 noundef %254) #6
  %327 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef %324)
  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.657") align 8 %43, ptr noundef nonnull align 1 dereferenceable(1) %326, ptr noundef nonnull align 8 dereferenceable(8) %327)
  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.729") align 8 %42, ptr noundef nonnull align 1 dereferenceable(1) %32, ptr noundef nonnull align 1 dereferenceable(1) %43)
  %328 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef %254) #6
  %329 = 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) %328, ptr noundef nonnull align 1 dereferenceable(1) %42)
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %43) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %42) #6
  br label %404

330:                                              ; preds = %311, %306
  %331 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %238, i64 noundef %254) #6
  %332 = getelementptr inbounds i8, ptr %331, i64 8
  %333 = load i32, ptr %332, align 8, !tbaa !18
  %334 = icmp eq i32 %333, 21
  br i1 %334, label %335, label %404

335:                                              ; preds = %330
  %336 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %238, i64 noundef %254) #6
  %337 = getelementptr inbounds i8, ptr %336, i64 20
  %338 = load i32, ptr %337, align 4, !tbaa !20
  %339 = zext i32 %338 to i64
  %340 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %339) #6
  %341 = load ptr, ptr %340, align 8, !tbaa !11
  %342 = getelementptr inbounds i8, ptr %341, i64 8
  %343 = load i32, ptr %342, align 8, !tbaa !26
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %44) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %45) #6
  %344 = zext i32 %343 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.182") align 8 %45, i64 noundef %344)
  call void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %44, ptr noundef nonnull align 1 dereferenceable(1) %45)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %45) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %46) #6
  %345 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %339) #6
  %346 = load ptr, ptr %345, align 8, !tbaa !11
  %347 = getelementptr inbounds i8, ptr %346, i64 160
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %47) #6
  %348 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %339) #6
  %349 = load ptr, ptr %348, align 8, !tbaa !11
  %350 = getelementptr inbounds i8, ptr %349, i64 200
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %48) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %49) #6
  %351 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %339) #6
  %352 = load ptr, ptr %351, align 8, !tbaa !11
  %353 = getelementptr inbounds i8, ptr %352, i64 136
  %354 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %353)
          to label %355 unwind label %369

355:                                              ; preds = %335
  store ptr %354, ptr %49, align 8
  %356 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %49, ptr noundef nonnull align 1 dereferenceable(1) %32)
          to label %357 unwind label %369

357:                                              ; preds = %355
  %358 = extractvalue { ptr, ptr } %356, 0
  store ptr %358, ptr %48, align 8
  %359 = extractvalue { ptr, ptr } %356, 1
  store ptr %359, ptr %250, 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.666") align 8 %47, ptr noundef nonnull align 1 dereferenceable(1) %350, ptr noundef nonnull align 1 dereferenceable(1) %48)
          to label %360 unwind label %369

360:                                              ; preds = %357
  invoke 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.736") align 8 %46, ptr noundef nonnull align 1 dereferenceable(1) %347, ptr noundef nonnull align 1 dereferenceable(1) %47)
          to label %361 unwind label %369

361:                                              ; preds = %360
  %362 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_7ProductINS0_IdLin1ELin1ELi0ELin1ELin1EEENS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS3_INS_9TransposeIS4_EENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEELi0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %44, ptr noundef nonnull align 1 dereferenceable(1) %46)
          to label %363 unwind label %369

363:                                              ; preds = %361
  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
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %46) #6
  %.not256 = icmp eq i32 %343, 0
  br i1 %.not256, label %._crit_edge, label %.lr.ph249

._crit_edge:                                      ; preds = %378, %363
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %50) #6
  %364 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %232, i64 noundef %254) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %51) #6
  %365 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %339) #6
  %366 = load ptr, ptr %365, align 8, !tbaa !11
  %367 = getelementptr inbounds i8, ptr %366, i64 112
  %368 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %367, ptr noundef nonnull align 1 dereferenceable(1) %44)
          to label %381 unwind label %399

369:                                              ; preds = %361, %360, %357, %355, %335
  %370 = landingpad { ptr, i32 }
          cleanup
  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
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %46) #6
  br label %403

.lr.ph249:                                        ; preds = %363, %378
  %indvars.iv258 = phi i64 [ %indvars.iv.next259, %378 ], [ 0, %363 ]
  %371 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %44, i64 noundef %indvars.iv258)
          to label %372 unwind label %379

372:                                              ; preds = %.lr.ph249
  %373 = load double, ptr %371, align 8, !tbaa !5
  %374 = trunc nuw nsw i64 %indvars.iv258 to i32
  %375 = add i32 %257, %374
  %376 = zext i32 %375 to i64
  %377 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef %376)
          to label %378 unwind label %379

378:                                              ; preds = %372
  store double %373, ptr %377, align 8, !tbaa !5
  %indvars.iv.next259 = add nuw nsw i64 %indvars.iv258, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next259, %344
  br i1 %exitcond.not, label %._crit_edge, label %.lr.ph249, !llvm.loop !46

379:                                              ; preds = %372, %.lr.ph249
  %380 = landingpad { ptr, i32 }
          cleanup
  br label %403

381:                                              ; preds = %._crit_edge
  %382 = extractvalue { ptr, ptr } %368, 0
  store ptr %382, ptr %51, align 8
  %383 = extractvalue { ptr, ptr } %368, 1
  store ptr %383, ptr %251, 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.743") align 8 %50, ptr noundef nonnull align 1 dereferenceable(1) %364, ptr noundef nonnull align 1 dereferenceable(1) %51)
          to label %384 unwind label %399

384:                                              ; preds = %381
  %385 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %232, i64 noundef %254) #6
  %386 = 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) %385, ptr noundef nonnull align 1 dereferenceable(1) %50)
          to label %387 unwind label %399

387:                                              ; preds = %384
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %51) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %50) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %52) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %53) #6
  %388 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %339) #6
  %389 = load ptr, ptr %388, align 8, !tbaa !11
  %390 = getelementptr inbounds i8, ptr %389, i64 112
  %391 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %390, ptr noundef nonnull align 1 dereferenceable(1) %44)
          to label %392 unwind label %401

392:                                              ; preds = %387
  %393 = extractvalue { ptr, ptr } %391, 0
  store ptr %393, ptr %53, align 8
  %394 = extractvalue { ptr, ptr } %391, 1
  store ptr %394, ptr %252, 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.743") align 8 %52, ptr noundef nonnull align 1 dereferenceable(1) %32, ptr noundef nonnull align 1 dereferenceable(1) %53)
          to label %395 unwind label %401

395:                                              ; preds = %392
  %396 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef %254) #6
  %397 = 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) %396, ptr noundef nonnull align 1 dereferenceable(1) %52)
          to label %398 unwind label %401

398:                                              ; preds = %395
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %53) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %52) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %44) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %44) #6
  br label %404

399:                                              ; preds = %384, %381, %._crit_edge
  %400 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %51) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %50) #6
  br label %403

401:                                              ; preds = %395, %392, %387
  %402 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %53) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %52) #6
  br label %403

403:                                              ; preds = %401, %399, %379, %369
  %.pn = phi { ptr, i32 } [ %380, %379 ], [ %402, %401 ], [ %400, %399 ], [ %370, %369 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %44) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %44) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %32) #6
  resume { ptr, i32 } %.pn

404:                                              ; preds = %315, %398, %330, %271
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %32) #6
  %405 = add i32 %.0220250, 1
  %406 = zext i32 %405 to i64
  %407 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %56) #6
  %408 = icmp ugt i64 %407, %406
  br i1 %408, label %253, label %._crit_edge253, !llvm.loop !47
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_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 #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEngEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.750") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen12CwiseUnaryOpINS1_8internal18scalar_opposite_opIdEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEngEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.764") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIdEEKNS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEEEmlINS6_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductISA_T_Li0EEERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.757") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSIN5Eigen7ProductINS1_12CwiseUnaryOpINS1_8internal18scalar_opposite_opIdEEKNS1_9TransposeINS1_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEENS8_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS5_INS1_IdLi6ELi3ELi0ELi6ELi3EEENS1_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS1_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.771") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS9_INS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi3ELi0ELi3ELi3EEELi0EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS5_INS6_17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEESB_EEEESG_EEEEKNS5_INS6_13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEESB_KSM_EERKNS0_ISM_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.778") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS2_INS3_18scalar_quotient_opIddEEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEESH_EEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEngEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.792") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIdEEKNS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEEEmlINS6_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductISA_T_Li0EEERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.785") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_7ProductINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIdEEKNS_9TransposeINS0_IdLin1ELin1ELi0ELin1ELin1EEEEEEENS0_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplINS_7ProductINS5_INS1_IdLin1ELin1ELi0ELin1ELin1EEES6_Li0EEENS1_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSB_6traitsIT_E6ScalarEEEKS2_KSE_EERKNS0_ISE_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.799") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEKNS1_7ProductINS9_INS6_IdLin1ELin1ELi0ELin1ELin1EEESA_Li0EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSERKS_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #2 align 2

attributes #0 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { 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 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 = { nounwind }
attributes #7 = { 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 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = distinct !{!9, !10}
!10 = !{!"llvm.loop.mustprogress"}
!11 = !{!12, !12, i64 0}
!12 = !{!"any pointer", !7, i64 0}
!13 = distinct !{!13, !10}
!14 = !{!15, !17, i64 12}
!15 = !{!"_ZTSN17RigidBodyDynamics5JointE", !12, i64 0, !16, i64 8, !17, i64 12, !17, i64 16, !17, i64 20}
!16 = !{!"_ZTSN17RigidBodyDynamics9JointTypeE", !7, i64 0}
!17 = !{!"int", !7, i64 0}
!18 = !{!15, !16, i64 8}
!19 = !{!17, !17, i64 0}
!20 = !{!15, !17, i64 20}
!21 = distinct !{!21, !10}
!22 = distinct !{!22, !10}
!23 = distinct !{!23, !10}
!24 = distinct !{!24, !10}
!25 = !{!15, !17, i64 16}
!26 = !{!27, !17, i64 8}
!27 = !{!"_ZTSN17RigidBodyDynamics11CustomJointE", !17, i64 8, !28, i64 16, !39, i64 112, !39, i64 136, !39, i64 160, !43, i64 184, !43, i64 200}
!28 = !{!"_ZTSN17RigidBodyDynamics4Math16SpatialTransformE", !29, i64 0, !34, i64 72}
!29 = !{!"_ZTS9Matrix3_t", !30, i64 0}
!30 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !31, i64 0}
!31 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !32, i64 0}
!32 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !33, i64 0}
!33 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !7, i64 0}
!34 = !{!"_ZTS9Vector3_t", !35, i64 0}
!35 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !36, i64 0}
!36 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !37, i64 0}
!37 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !38, i64 0}
!38 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!39 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !40, i64 0}
!40 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !41, i64 0}
!41 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !12, i64 0, !42, i64 8, !42, i64 16}
!42 = !{!"long", !7, i64 0}
!43 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !44, i64 0}
!44 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !45, i64 0}
!45 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !12, i64 0, !42, i64 8}
!46 = distinct !{!46, !10}
!47 = distinct !{!47, !10}


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