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

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

%"class.Eigen::CwiseBinaryOp" = type <{ ptr, ptr, [8 x i8] }>
%class.SpatialVector_t = type { %"class.Eigen::Matrix.90" }
%"class.Eigen::Matrix.90" = type { %"class.Eigen::PlainObjectBase.91" }
%"class.Eigen::PlainObjectBase.91" = type { %"class.Eigen::DenseStorage.98" }
%"class.Eigen::DenseStorage.98" = type { %"struct.Eigen::internal::plain_array.99" }
%"struct.Eigen::internal::plain_array.99" = type { [6 x double] }
%"class.Eigen::CwiseBinaryOp.114" = type { [8 x i8], %"class.Eigen::CwiseBinaryOp", %"class.Eigen::CwiseBinaryOp.120", [8 x i8] }
%"class.Eigen::CwiseBinaryOp.120" = type <{ ptr, %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::CwiseBinaryOp.132" = type <{ [8 x i8], %"class.Eigen::CwiseBinaryOp", %"class.Eigen::Product", [8 x i8] }>
%"class.Eigen::Product" = type { ptr, ptr }
%class.Vector3_t = type { %"class.Eigen::Matrix" }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"class.Eigen::Matrix.57" = type { %"class.Eigen::PlainObjectBase.58" }
%"class.Eigen::PlainObjectBase.58" = type { %"class.Eigen::DenseStorage.65" }
%"class.Eigen::DenseStorage.65" = type { ptr, i64 }
%"class.Eigen::CwiseBinaryOp.162" = type <{ [8 x i8], %"class.Eigen::CwiseBinaryOp", %"class.Eigen::Product.168", [8 x i8] }>
%"class.Eigen::Product.168" = type { ptr, ptr }
%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%class.Matrix3_t = type { %"class.Eigen::Matrix.104" }
%"class.Eigen::Matrix.104" = type { %"class.Eigen::PlainObjectBase.105" }
%"class.Eigen::PlainObjectBase.105" = type { %"class.Eigen::DenseStorage.112" }
%"class.Eigen::DenseStorage.112" = type { %"struct.Eigen::internal::plain_array.113" }
%"struct.Eigen::internal::plain_array.113" = type { [9 x double] }
%"class.Eigen::Product.176" = type { ptr, ptr }
%class.SpatialMatrix_t = type { %"class.Eigen::Matrix.183" }
%"class.Eigen::Matrix.183" = type { %"class.Eigen::PlainObjectBase.184" }
%"class.Eigen::PlainObjectBase.184" = type { %"class.Eigen::DenseStorage.191" }
%"class.Eigen::DenseStorage.191" = type { %"struct.Eigen::internal::plain_array.192" }
%"struct.Eigen::internal::plain_array.192" = type { [36 x double] }
%"class.Eigen::Product.193" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase.base.213", ptr, %"class.Eigen::internal::variable_if_dynamic", [8 x i8], i64 }
%"class.Eigen::MapBase.base.213" = type { %"class.Eigen::MapBase.base" }
%"class.Eigen::MapBase.base" = type <{ ptr, [2 x i8] }>
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"class.Eigen::Product.214" = type { %"class.Eigen::Transpose.221", ptr }
%"class.Eigen::Transpose.221" = type { ptr }
%"class.Eigen::Block.229" = type { %"class.Eigen::BlockImpl.230" }
%"class.Eigen::BlockImpl.230" = type { %"class.Eigen::internal::BlockImpl_dense.231" }
%"class.Eigen::internal::BlockImpl_dense.231" = type { %"class.Eigen::MapBase.232", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.232" = type { %"class.Eigen::MapBase.233" }
%"class.Eigen::MapBase.233" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"struct.RigidBodyDynamics::Model" = type { %"class.std::vector", %"class.std::vector", %"class.std::vector.1", i32, i32, i32, i32, %class.Vector3_t, %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.14", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector", %"class.std::vector.21", %"class.std::vector", %"class.std::vector.28", %"class.std::vector.28", %"class.std::vector.35", %"class.std::vector.40", %"class.std::vector", %"class.std::vector.45", %"class.std::vector.8", %"class.std::vector.50", %"class.std::vector.8", %"class.std::vector.8", %"class.Eigen::Matrix.57", %"class.Eigen::Matrix.57", %"class.std::vector.8", %"class.std::vector.66", %"class.std::vector.66", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.73", i32, %"class.std::vector.80", %"class.std::map" }
%"class.std::vector.1" = type { %"struct.std::_Vector_base.2" }
%"struct.std::_Vector_base.2" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.14" = type { %"class.std::vector.15" }
%"class.std::vector.15" = type { %"struct.std::_Vector_base.16" }
%"struct.std::_Vector_base.16" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.28" = type { %"class.std::vector.29" }
%"class.std::vector.29" = type { %"struct.std::_Vector_base.30" }
%"struct.std::_Vector_base.30" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.35" = type { %"struct.std::_Vector_base.36" }
%"struct.std::_Vector_base.36" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.40" = type { %"struct.std::_Vector_base.41" }
%"struct.std::_Vector_base.41" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.45" = type { %"struct.std::_Vector_base.46" }
%"struct.std::_Vector_base.46" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.50" = type { %"class.std::vector.51" }
%"class.std::vector.51" = type { %"struct.std::_Vector_base.52" }
%"struct.std::_Vector_base.52" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.66" = type { %"class.std::vector.67" }
%"class.std::vector.67" = type { %"struct.std::_Vector_base.68" }
%"struct.std::_Vector_base.68" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.8" = type { %"class.std::vector.9" }
%"class.std::vector.9" = type { %"struct.std::_Vector_base.10" }
%"struct.std::_Vector_base.10" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.21" = type { %"class.std::vector.22" }
%"class.std::vector.22" = type { %"struct.std::_Vector_base.23" }
%"struct.std::_Vector_base.23" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.73" = type { %"class.std::vector.74" }
%"class.std::vector.74" = type { %"struct.std::_Vector_base.75" }
%"struct.std::_Vector_base.75" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.80" = type { %"class.std::vector.81" }
%"class.std::vector.81" = type { %"struct.std::_Vector_base.82" }
%"struct.std::_Vector_base.82" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"struct.std::_Rb_tree_header" = type { %"struct.std::_Rb_tree_node_base", i64 }
%"struct.std::_Rb_tree_node_base" = type { i32, ptr, ptr, ptr }
%"struct.RigidBodyDynamics::Joint" = type { ptr, i32, i32, i32, i32 }
%"struct.RigidBodyDynamics::CustomJoint" = type { ptr, i32, %"struct.RigidBodyDynamics::Math::SpatialTransform", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.57", %"class.Eigen::Matrix.57" }
%"class.Eigen::Matrix.153" = type { %"class.Eigen::PlainObjectBase.154" }
%"class.Eigen::PlainObjectBase.154" = type { %"class.Eigen::DenseStorage.161" }
%"class.Eigen::DenseStorage.161" = type { ptr, i64, i64 }
%"struct.RigidBodyDynamics::Body" = type <{ double, %class.Vector3_t, %class.Matrix3_t, i8, [7 x i8] }>

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics15InverseDynamicsERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RS4_PSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef %5) #0 personality ptr @__gxx_personality_v0 {
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca double, align 8
  %14 = alloca double, align 8
  %15 = alloca double, align 8
  %16 = alloca double, align 8
  %17 = alloca double, align 8
  %18 = alloca double, align 8
  %19 = alloca i32, align 4
  %20 = alloca i32, align 4
  %21 = alloca i32, align 4
  %22 = alloca i32, align 4
  %23 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %24 = alloca %class.SpatialVector_t, align 16
  %25 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %26 = alloca %class.SpatialVector_t, align 16
  %27 = alloca %"class.Eigen::CwiseBinaryOp.114", align 8
  %28 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %29 = alloca %class.SpatialVector_t, align 16
  %30 = alloca %"class.Eigen::CwiseBinaryOp.120", align 8
  %31 = alloca %"class.Eigen::CwiseBinaryOp.132", align 8
  %32 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %33 = alloca %class.SpatialVector_t, align 16
  %34 = alloca %"class.Eigen::Product", align 8
  %35 = alloca %class.Vector3_t, align 8
  %36 = alloca i32, align 4
  %37 = alloca %"class.Eigen::Matrix.57", align 8
  %38 = alloca i32, align 4
  %39 = alloca ptr, align 8
  %40 = alloca i32, align 4
  %41 = alloca %"class.Eigen::CwiseBinaryOp.162", align 8
  %42 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %43 = alloca %class.SpatialVector_t, align 16
  %44 = alloca %"class.Eigen::Product.168", align 8
  %45 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %46 = alloca %class.SpatialVector_t, align 16
  %47 = alloca %class.SpatialVector_t, align 16
  %48 = alloca %class.SpatialVector_t, align 16
  %49 = alloca i32, align 4
  %50 = alloca i32, align 4
  %51 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %52 = alloca %"class.Eigen::Product.176", align 8
  %53 = alloca %class.SpatialMatrix_t, align 16
  %54 = alloca i32, align 4
  %55 = alloca %"class.Eigen::Product.193", align 8
  %56 = alloca %"class.Eigen::Transpose", align 8
  %57 = alloca %"class.Eigen::Block", align 8
  %58 = alloca i32, align 4
  %59 = alloca %"class.Eigen::Product.214", align 8
  %60 = alloca %"class.Eigen::Transpose.221", align 8
  %61 = alloca %"class.Eigen::Block.229", align 8
  %62 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %63 = alloca %class.SpatialVector_t, align 16
  store ptr %0, ptr %7, align 8, !tbaa !5
  store ptr %1, ptr %8, align 8, !tbaa !5
  store ptr %2, ptr %9, align 8, !tbaa !5
  store ptr %3, ptr %10, align 8, !tbaa !5
  store ptr %4, ptr %11, align 8, !tbaa !5
  store ptr %5, ptr %12, align 8, !tbaa !5
  %64 = load ptr, ptr %7, align 8, !tbaa !5
  %65 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %64, i32 0, i32 8
  %66 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %65, i64 noundef 0) #6
  %67 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %66)
  %68 = load ptr, ptr %7, align 8, !tbaa !5
  %69 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %68, i32 0, i32 9
  %70 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %69, i64 noundef 0) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #6
  store double 0.000000e+00, ptr %13, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #6
  store double 0.000000e+00, ptr %14, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #6
  store double 0.000000e+00, ptr %15, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #6
  %71 = load ptr, ptr %7, align 8, !tbaa !5
  %72 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %71, i32 0, i32 7
  %73 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %72, i64 noundef 0)
  %74 = load double, ptr %73, align 8, !tbaa !9
  %75 = fneg double %74
  store double %75, ptr %16, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #6
  %76 = load ptr, ptr %7, align 8, !tbaa !5
  %77 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %76, i32 0, i32 7
  %78 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %77, i64 noundef 1)
  %79 = load double, ptr %78, align 8, !tbaa !9
  %80 = fneg double %79
  store double %80, ptr %17, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #6
  %81 = load ptr, ptr %7, align 8, !tbaa !5
  %82 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %81, i32 0, i32 7
  %83 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %82, i64 noundef 2)
  %84 = load double, ptr %83, align 8, !tbaa !9
  %85 = fneg double %84
  store double %85, ptr %18, align 8, !tbaa !9
  call void @_ZN15SpatialVector_t3setERKdS1_S1_S1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(48) %70, ptr noundef nonnull align 8 dereferenceable(8) %13, ptr noundef nonnull align 8 dereferenceable(8) %14, ptr noundef nonnull align 8 dereferenceable(8) %15, ptr noundef nonnull align 8 dereferenceable(8) %16, ptr noundef nonnull align 8 dereferenceable(8) %17, ptr noundef nonnull align 8 dereferenceable(8) %18)
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #6
  store i32 1, ptr %19, align 4, !tbaa !11
  br label %86

86:                                               ; preds = %414, %6
  %87 = load i32, ptr %19, align 4, !tbaa !11
  %88 = zext i32 %87 to i64
  %89 = load ptr, ptr %7, align 8, !tbaa !5
  %90 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %89, i32 0, i32 38
  %91 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %90) #6
  %92 = icmp ult i64 %88, %91
  br i1 %92, label %94, label %93

93:                                               ; preds = %86
  store i32 2, ptr %20, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #6
  br label %417

94:                                               ; preds = %86
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #6
  %95 = load ptr, ptr %7, align 8, !tbaa !5
  %96 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %95, i32 0, i32 10
  %97 = load i32, ptr %19, align 4, !tbaa !11
  %98 = zext i32 %97 to i64
  %99 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %96, i64 noundef %98) #6
  %100 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %99, i32 0, i32 3
  %101 = load i32, ptr %100, align 8, !tbaa !13
  store i32 %101, ptr %21, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #6
  %102 = load ptr, ptr %7, align 8, !tbaa !5
  %103 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %102, i32 0, i32 0
  %104 = load i32, ptr %19, align 4, !tbaa !11
  %105 = zext i32 %104 to i64
  %106 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %103, i64 noundef %105) #6
  %107 = load i32, ptr %106, align 4, !tbaa !11
  store i32 %107, ptr %22, align 4, !tbaa !11
  %108 = load ptr, ptr %7, align 8, !tbaa !5
  %109 = load i32, ptr %19, align 4, !tbaa !11
  %110 = load ptr, ptr %8, align 8, !tbaa !5
  %111 = load ptr, ptr %9, align 8, !tbaa !5
  call void @_ZN17RigidBodyDynamics5jcalcERNS_5ModelEjRKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_(ptr noundef nonnull align 8 dereferenceable(872) %108, i32 noundef %109, ptr noundef nonnull align 8 dereferenceable(16) %110, ptr noundef nonnull align 8 dereferenceable(16) %111)
  call void @llvm.lifetime.start.p0(i64 24, ptr %23) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %24) #6
  %112 = load ptr, ptr %7, align 8, !tbaa !5
  %113 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %112, i32 0, i32 34
  %114 = load i32, ptr %19, align 4, !tbaa !11
  %115 = zext i32 %114 to i64
  %116 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %113, i64 noundef %115) #6
  %117 = load ptr, ptr %7, align 8, !tbaa !5
  %118 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %117, i32 0, i32 8
  %119 = load i32, ptr %22, align 4, !tbaa !11
  %120 = zext i32 %119 to i64
  %121 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %118, i64 noundef %120) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %24, ptr noundef nonnull align 8 dereferenceable(96) %116, ptr noundef nonnull align 16 dereferenceable(48) %121)
  %122 = load ptr, ptr %7, align 8, !tbaa !5
  %123 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %122, i32 0, i32 12
  %124 = load i32, ptr %19, align 4, !tbaa !11
  %125 = zext i32 %124 to i64
  %126 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %123, i64 noundef %125) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %23, ptr noundef nonnull align 1 dereferenceable(1) %24, ptr noundef nonnull align 1 dereferenceable(1) %126)
  %127 = load ptr, ptr %7, align 8, !tbaa !5
  %128 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %127, i32 0, i32 8
  %129 = load i32, ptr %19, align 4, !tbaa !11
  %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 @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %131, ptr noundef nonnull align 1 dereferenceable(1) %23)
  call void @llvm.lifetime.end.p0(i64 48, ptr %24) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %23) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %25) #6
  %133 = load ptr, ptr %7, align 8, !tbaa !5
  %134 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %133, i32 0, i32 13
  %135 = load i32, ptr %19, align 4, !tbaa !11
  %136 = zext i32 %135 to i64
  %137 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %134, i64 noundef %136) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %26) #6
  %138 = load ptr, ptr %7, align 8, !tbaa !5
  %139 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %138, i32 0, i32 8
  %140 = load i32, ptr %19, align 4, !tbaa !11
  %141 = zext i32 %140 to i64
  %142 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %139, i64 noundef %141) #6
  %143 = load ptr, ptr %7, align 8, !tbaa !5
  %144 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %143, i32 0, i32 12
  %145 = load i32, ptr %19, align 4, !tbaa !11
  %146 = zext i32 %145 to i64
  %147 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %144, i64 noundef %146) #6
  call void @_ZN17RigidBodyDynamics4Math6crossmERK15SpatialVector_tS3_(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %26, ptr noundef nonnull align 16 dereferenceable(48) %142, ptr noundef nonnull align 16 dereferenceable(48) %147)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %25, ptr noundef nonnull align 1 dereferenceable(1) %137, ptr noundef nonnull align 1 dereferenceable(1) %26)
  %148 = load ptr, ptr %7, align 8, !tbaa !5
  %149 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %148, i32 0, i32 23
  %150 = load i32, ptr %19, align 4, !tbaa !11
  %151 = zext i32 %150 to i64
  %152 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %149, i64 noundef %151) #6
  %153 = 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) %152, ptr noundef nonnull align 1 dereferenceable(1) %25)
  call void @llvm.lifetime.end.p0(i64 48, ptr %26) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %25) #6
  %154 = load ptr, ptr %7, align 8, !tbaa !5
  %155 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %154, i32 0, i32 10
  %156 = load i32, ptr %19, align 4, !tbaa !11
  %157 = zext i32 %156 to i64
  %158 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %155, i64 noundef %157) #6
  %159 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %158, i32 0, i32 1
  %160 = load i32, ptr %159, align 8, !tbaa !16
  %161 = icmp ne i32 %160, 21
  br i1 %161, label %162, label %259

162:                                              ; preds = %94
  %163 = load ptr, ptr %7, align 8, !tbaa !5
  %164 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %163, i32 0, i32 10
  %165 = load i32, ptr %19, align 4, !tbaa !11
  %166 = zext i32 %165 to i64
  %167 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %164, i64 noundef %166) #6
  %168 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %167, i32 0, i32 2
  %169 = load i32, ptr %168, align 4, !tbaa !17
  %170 = icmp eq i32 %169, 1
  br i1 %170, label %171, label %202

171:                                              ; preds = %162
  call void @llvm.lifetime.start.p0(i64 72, ptr %27) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %28) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %29) #6
  %172 = load ptr, ptr %7, align 8, !tbaa !5
  %173 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %172, i32 0, i32 34
  %174 = load i32, ptr %19, align 4, !tbaa !11
  %175 = zext i32 %174 to i64
  %176 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %173, i64 noundef %175) #6
  %177 = load ptr, ptr %7, align 8, !tbaa !5
  %178 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %177, i32 0, i32 9
  %179 = load i32, ptr %22, align 4, !tbaa !11
  %180 = zext i32 %179 to i64
  %181 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %178, i64 noundef %180) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %29, ptr noundef nonnull align 8 dereferenceable(96) %176, ptr noundef nonnull align 16 dereferenceable(48) %181)
  %182 = load ptr, ptr %7, align 8, !tbaa !5
  %183 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %182, i32 0, i32 23
  %184 = load i32, ptr %19, align 4, !tbaa !11
  %185 = zext i32 %184 to i64
  %186 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %183, i64 noundef %185) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %28, ptr noundef nonnull align 1 dereferenceable(1) %29, ptr noundef nonnull align 1 dereferenceable(1) %186)
  call void @llvm.lifetime.start.p0(i64 32, ptr %30) #6
  %187 = load ptr, ptr %7, align 8, !tbaa !5
  %188 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %187, i32 0, i32 11
  %189 = load i32, ptr %19, align 4, !tbaa !11
  %190 = zext i32 %189 to i64
  %191 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %188, i64 noundef %190) #6
  %192 = load ptr, ptr %10, align 8, !tbaa !5
  %193 = load i32, ptr %21, align 4, !tbaa !11
  %194 = zext i32 %193 to i64
  %195 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %192, i64 noundef %194)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8 %30, ptr noundef nonnull align 1 dereferenceable(1) %191, ptr noundef nonnull align 8 dereferenceable(8) %195)
  call void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES7_EEEplINS1_INS2_17scalar_product_opIddEES7_KNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKS8_KSK_EERKNS0_ISK_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.114") align 8 %27, ptr noundef nonnull align 1 dereferenceable(1) %28, ptr noundef nonnull align 1 dereferenceable(1) %30)
  %196 = load ptr, ptr %7, align 8, !tbaa !5
  %197 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %196, i32 0, i32 9
  %198 = load i32, ptr %19, align 4, !tbaa !11
  %199 = zext i32 %198 to i64
  %200 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %197, i64 noundef %199) #6
  %201 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %200, ptr noundef nonnull align 1 dereferenceable(1) %27)
  call void @llvm.lifetime.end.p0(i64 32, ptr %30) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %29) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %28) #6
  call void @llvm.lifetime.end.p0(i64 72, ptr %27) #6
  br label %258

202:                                              ; preds = %162
  %203 = load ptr, ptr %7, align 8, !tbaa !5
  %204 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %203, i32 0, i32 10
  %205 = load i32, ptr %19, align 4, !tbaa !11
  %206 = zext i32 %205 to i64
  %207 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %204, i64 noundef %206) #6
  %208 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %207, i32 0, i32 2
  %209 = load i32, ptr %208, align 4, !tbaa !17
  %210 = icmp eq i32 %209, 3
  br i1 %210, label %211, label %257

211:                                              ; preds = %202
  call void @llvm.lifetime.start.p0(i64 56, ptr %31) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %32) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %33) #6
  %212 = load ptr, ptr %7, align 8, !tbaa !5
  %213 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %212, i32 0, i32 34
  %214 = load i32, ptr %19, align 4, !tbaa !11
  %215 = zext i32 %214 to i64
  %216 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %213, i64 noundef %215) #6
  %217 = load ptr, ptr %7, align 8, !tbaa !5
  %218 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %217, i32 0, i32 9
  %219 = load i32, ptr %22, align 4, !tbaa !11
  %220 = zext i32 %219 to i64
  %221 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %218, i64 noundef %220) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %33, ptr noundef nonnull align 8 dereferenceable(96) %216, ptr noundef nonnull align 16 dereferenceable(48) %221)
  %222 = load ptr, ptr %7, align 8, !tbaa !5
  %223 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %222, i32 0, i32 23
  %224 = load i32, ptr %19, align 4, !tbaa !11
  %225 = zext i32 %224 to i64
  %226 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %223, i64 noundef %225) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %32, ptr noundef nonnull align 1 dereferenceable(1) %33, ptr noundef nonnull align 1 dereferenceable(1) %226)
  call void @llvm.lifetime.start.p0(i64 16, ptr %34) #6
  %227 = load ptr, ptr %7, align 8, !tbaa !5
  %228 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %227, i32 0, i32 17
  %229 = load i32, ptr %19, align 4, !tbaa !11
  %230 = zext i32 %229 to i64
  %231 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %228, i64 noundef %230) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %35) #6
  %232 = load ptr, ptr %10, align 8, !tbaa !5
  %233 = load i32, ptr %21, align 4, !tbaa !11
  %234 = zext i32 %233 to i64
  %235 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %232, i64 noundef %234)
  %236 = load ptr, ptr %10, align 8, !tbaa !5
  %237 = load i32, ptr %21, align 4, !tbaa !11
  %238 = add i32 %237, 1
  %239 = zext i32 %238 to i64
  %240 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %236, i64 noundef %239)
  %241 = load ptr, ptr %10, align 8, !tbaa !5
  %242 = load i32, ptr %21, align 4, !tbaa !11
  %243 = add i32 %242, 2
  %244 = zext i32 %243 to i64
  %245 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %241, i64 noundef %244)
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %35, ptr noundef nonnull align 8 dereferenceable(8) %235, ptr noundef nonnull align 8 dereferenceable(8) %240, ptr noundef nonnull align 8 dereferenceable(8) %245)
  %246 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %231, ptr noundef nonnull align 1 dereferenceable(1) %35)
  %247 = getelementptr inbounds { ptr, ptr }, ptr %34, i32 0, i32 0
  %248 = extractvalue { ptr, ptr } %246, 0
  store ptr %248, ptr %247, align 8
  %249 = getelementptr inbounds { ptr, ptr }, ptr %34, i32 0, i32 1
  %250 = extractvalue { ptr, ptr } %246, 1
  store ptr %250, ptr %249, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES7_EEEplINS_7ProductINS5_IdLi6ELi3ELi0ELi6ELi3EEENS5_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKS8_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.132") align 8 %31, ptr noundef nonnull align 1 dereferenceable(1) %32, ptr noundef nonnull align 1 dereferenceable(1) %34)
  %251 = load ptr, ptr %7, align 8, !tbaa !5
  %252 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %251, i32 0, i32 9
  %253 = load i32, ptr %19, align 4, !tbaa !11
  %254 = zext i32 %253 to i64
  %255 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %252, i64 noundef %254) #6
  %256 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEKNS1_7ProductINS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %255, ptr noundef nonnull align 1 dereferenceable(1) %31)
  call void @llvm.lifetime.end.p0(i64 24, ptr %35) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %34) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %33) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %32) #6
  call void @llvm.lifetime.end.p0(i64 56, ptr %31) #6
  br label %257

257:                                              ; preds = %211, %202
  br label %258

258:                                              ; preds = %257, %171
  br label %365

259:                                              ; preds = %94
  %260 = load ptr, ptr %7, align 8, !tbaa !5
  %261 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %260, i32 0, i32 10
  %262 = load i32, ptr %19, align 4, !tbaa !11
  %263 = zext i32 %262 to i64
  %264 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %261, i64 noundef %263) #6
  %265 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %264, i32 0, i32 1
  %266 = load i32, ptr %265, align 8, !tbaa !16
  %267 = icmp eq i32 %266, 21
  br i1 %267, label %268, label %364

268:                                              ; preds = %259
  call void @llvm.lifetime.start.p0(i64 4, ptr %36) #6
  %269 = load ptr, ptr %7, align 8, !tbaa !5
  %270 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %269, i32 0, i32 10
  %271 = load i32, ptr %19, align 4, !tbaa !11
  %272 = zext i32 %271 to i64
  %273 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %270, i64 noundef %272) #6
  %274 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %273, i32 0, i32 4
  %275 = load i32, ptr %274, align 4, !tbaa !18
  store i32 %275, ptr %36, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 16, ptr %37) #6
  %276 = load ptr, ptr %7, align 8, !tbaa !5
  %277 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %276, i32 0, i32 22
  %278 = load i32, ptr %36, align 4, !tbaa !11
  %279 = zext i32 %278 to i64
  %280 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %277, i64 noundef %279) #6
  %281 = load ptr, ptr %280, align 8, !tbaa !5
  %282 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %281, i32 0, i32 1
  call void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2IjEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %37, ptr noundef nonnull align 4 dereferenceable(4) %282)
  call void @llvm.lifetime.start.p0(i64 4, ptr %38) #6
  store i32 0, ptr %38, align 4, !tbaa !11
  br label %283

283:                                              ; preds = %308, %268
  %284 = load i32, ptr %38, align 4, !tbaa !11
  %285 = load ptr, ptr %7, align 8, !tbaa !5
  %286 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %285, i32 0, i32 22
  %287 = load i32, ptr %36, align 4, !tbaa !11
  %288 = zext i32 %287 to i64
  %289 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %286, i64 noundef %288) #6
  %290 = load ptr, ptr %289, align 8, !tbaa !5
  %291 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %290, i32 0, i32 1
  %292 = load i32, ptr %291, align 8, !tbaa !19
  %293 = icmp ult i32 %284, %292
  br i1 %293, label %295, label %294

294:                                              ; preds = %283
  store i32 5, ptr %20, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %38) #6
  br label %315

295:                                              ; preds = %283
  %296 = load ptr, ptr %10, align 8, !tbaa !5
  %297 = load i32, ptr %21, align 4, !tbaa !11
  %298 = load i32, ptr %38, align 4, !tbaa !11
  %299 = add i32 %297, %298
  %300 = zext i32 %299 to i64
  %301 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %296, i64 noundef %300)
          to label %302 unwind label %311

302:                                              ; preds = %295
  %303 = load double, ptr %301, align 8, !tbaa !9
  %304 = load i32, ptr %38, align 4, !tbaa !11
  %305 = zext i32 %304 to i64
  %306 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %37, i64 noundef %305)
          to label %307 unwind label %311

307:                                              ; preds = %302
  store double %303, ptr %306, align 8, !tbaa !9
  br label %308

308:                                              ; preds = %307
  %309 = load i32, ptr %38, align 4, !tbaa !11
  %310 = add i32 %309, 1
  store i32 %310, ptr %38, align 4, !tbaa !11
  br label %283, !llvm.loop !39

311:                                              ; preds = %302, %295
  %312 = landingpad { ptr, i32 }
          cleanup
  %313 = extractvalue { ptr, i32 } %312, 0
  store ptr %313, ptr %39, align 8
  %314 = extractvalue { ptr, i32 } %312, 1
  store i32 %314, ptr %40, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %38) #6
  br label %363

315:                                              ; preds = %294
  call void @llvm.lifetime.start.p0(i64 56, ptr %41) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %42) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %43) #6
  %316 = load ptr, ptr %7, align 8, !tbaa !5
  %317 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %316, i32 0, i32 34
  %318 = load i32, ptr %19, align 4, !tbaa !11
  %319 = zext i32 %318 to i64
  %320 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %317, i64 noundef %319) #6
  %321 = load ptr, ptr %7, align 8, !tbaa !5
  %322 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %321, i32 0, i32 9
  %323 = load i32, ptr %22, align 4, !tbaa !11
  %324 = zext i32 %323 to i64
  %325 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %322, i64 noundef %324) #6
  invoke void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %43, ptr noundef nonnull align 8 dereferenceable(96) %320, ptr noundef nonnull align 16 dereferenceable(48) %325)
          to label %326 unwind label %354

326:                                              ; preds = %315
  %327 = load ptr, ptr %7, align 8, !tbaa !5
  %328 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %327, i32 0, i32 23
  %329 = load i32, ptr %19, align 4, !tbaa !11
  %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
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %42, ptr noundef nonnull align 1 dereferenceable(1) %43, ptr noundef nonnull align 1 dereferenceable(1) %331)
          to label %332 unwind label %354

332:                                              ; preds = %326
  call void @llvm.lifetime.start.p0(i64 16, ptr %44) #6
  %333 = load ptr, ptr %7, align 8, !tbaa !5
  %334 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %333, i32 0, i32 22
  %335 = load i32, ptr %36, align 4, !tbaa !11
  %336 = zext i32 %335 to i64
  %337 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %334, i64 noundef %336) #6
  %338 = load ptr, ptr %337, align 8, !tbaa !5
  %339 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %338, i32 0, i32 3
  %340 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %339, ptr noundef nonnull align 1 dereferenceable(1) %37)
          to label %341 unwind label %358

341:                                              ; preds = %332
  %342 = getelementptr inbounds { ptr, ptr }, ptr %44, i32 0, i32 0
  %343 = extractvalue { ptr, ptr } %340, 0
  store ptr %343, ptr %342, align 8
  %344 = getelementptr inbounds { ptr, ptr }, ptr %44, i32 0, i32 1
  %345 = extractvalue { ptr, ptr } %340, 1
  store ptr %345, ptr %344, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES7_EEEplINS_7ProductINS5_IdLin1ELin1ELi0ELin1ELin1EEENS5_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKS8_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.162") align 8 %41, ptr noundef nonnull align 1 dereferenceable(1) %42, ptr noundef nonnull align 1 dereferenceable(1) %44)
          to label %346 unwind label %358

346:                                              ; preds = %341
  %347 = load ptr, ptr %7, align 8, !tbaa !5
  %348 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %347, i32 0, i32 9
  %349 = load i32, ptr %19, align 4, !tbaa !11
  %350 = zext i32 %349 to i64
  %351 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %348, i64 noundef %350) #6
  %352 = invoke noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEKNS1_7ProductINS6_IdLin1ELin1ELi0ELin1ELin1EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %351, ptr noundef nonnull align 1 dereferenceable(1) %41)
          to label %353 unwind label %358

353:                                              ; preds = %346
  call void @llvm.lifetime.end.p0(i64 16, ptr %44) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %43) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %42) #6
  call void @llvm.lifetime.end.p0(i64 56, ptr %41) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %37) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %37) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #6
  br label %364

354:                                              ; preds = %326, %315
  %355 = landingpad { ptr, i32 }
          cleanup
  %356 = extractvalue { ptr, i32 } %355, 0
  store ptr %356, ptr %39, align 8
  %357 = extractvalue { ptr, i32 } %355, 1
  store i32 %357, ptr %40, align 4
  br label %362

358:                                              ; preds = %346, %341, %332
  %359 = landingpad { ptr, i32 }
          cleanup
  %360 = extractvalue { ptr, i32 } %359, 0
  store ptr %360, ptr %39, align 8
  %361 = extractvalue { ptr, i32 } %359, 1
  store i32 %361, ptr %40, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %44) #6
  br label %362

362:                                              ; preds = %358, %354
  call void @llvm.lifetime.end.p0(i64 48, ptr %43) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %42) #6
  call void @llvm.lifetime.end.p0(i64 56, ptr %41) #6
  br label %363

363:                                              ; preds = %362, %311
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %37) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %37) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #6
  br label %665

364:                                              ; preds = %353, %259
  br label %365

365:                                              ; preds = %364, %258
  %366 = load ptr, ptr %7, align 8, !tbaa !5
  %367 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %366, i32 0, i32 38
  %368 = load i32, ptr %19, align 4, !tbaa !11
  %369 = zext i32 %368 to i64
  %370 = call noundef nonnull align 8 dereferenceable(105) ptr @_ZNSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %367, i64 noundef %369) #6
  %371 = getelementptr inbounds %"struct.RigidBodyDynamics::Body", ptr %370, i32 0, i32 3
  %372 = load i8, ptr %371, align 8, !tbaa !41, !range !44, !noundef !45
  %373 = trunc i8 %372 to i1
  br i1 %373, label %406, label %374

374:                                              ; preds = %365
  call void @llvm.lifetime.start.p0(i64 24, ptr %45) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %46) #6
  %375 = load ptr, ptr %7, align 8, !tbaa !5
  %376 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %375, i32 0, i32 30
  %377 = load i32, ptr %19, align 4, !tbaa !11
  %378 = zext i32 %377 to i64
  %379 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %376, i64 noundef %378) #6
  %380 = load ptr, ptr %7, align 8, !tbaa !5
  %381 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %380, i32 0, i32 9
  %382 = load i32, ptr %19, align 4, !tbaa !11
  %383 = zext i32 %382 to i64
  %384 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %381, i64 noundef %383) #6
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %46, ptr noundef nonnull align 8 dereferenceable(80) %379, ptr noundef nonnull align 16 dereferenceable(48) %384)
  call void @llvm.lifetime.start.p0(i64 48, ptr %47) #6
  %385 = load ptr, ptr %7, align 8, !tbaa !5
  %386 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %385, i32 0, i32 8
  %387 = load i32, ptr %19, align 4, !tbaa !11
  %388 = zext i32 %387 to i64
  %389 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %386, i64 noundef %388) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %48) #6
  %390 = load ptr, ptr %7, align 8, !tbaa !5
  %391 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %390, i32 0, i32 30
  %392 = load i32, ptr %19, align 4, !tbaa !11
  %393 = zext i32 %392 to i64
  %394 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %391, i64 noundef %393) #6
  %395 = load ptr, ptr %7, align 8, !tbaa !5
  %396 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %395, i32 0, i32 8
  %397 = load i32, ptr %19, align 4, !tbaa !11
  %398 = zext i32 %397 to i64
  %399 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %396, i64 noundef %398) #6
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %48, ptr noundef nonnull align 8 dereferenceable(80) %394, ptr noundef nonnull align 16 dereferenceable(48) %399)
  call void @_ZN17RigidBodyDynamics4Math6crossfERK15SpatialVector_tS3_(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %47, ptr noundef nonnull align 16 dereferenceable(48) %389, ptr noundef nonnull align 16 dereferenceable(48) %48)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %45, ptr noundef nonnull align 1 dereferenceable(1) %46, ptr noundef nonnull align 1 dereferenceable(1) %47)
  %400 = load ptr, ptr %7, align 8, !tbaa !5
  %401 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %400, i32 0, i32 29
  %402 = load i32, ptr %19, align 4, !tbaa !11
  %403 = zext i32 %402 to i64
  %404 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %401, i64 noundef %403) #6
  %405 = 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) %404, ptr noundef nonnull align 1 dereferenceable(1) %45)
  call void @llvm.lifetime.end.p0(i64 48, ptr %48) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %47) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %46) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %45) #6
  br label %413

406:                                              ; preds = %365
  %407 = load ptr, ptr %7, align 8, !tbaa !5
  %408 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %407, i32 0, i32 29
  %409 = load i32, ptr %19, align 4, !tbaa !11
  %410 = zext i32 %409 to i64
  %411 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %408, i64 noundef %410) #6
  %412 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %411)
  br label %413

413:                                              ; preds = %406, %374
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #6
  br label %414

414:                                              ; preds = %413
  %415 = load i32, ptr %19, align 4, !tbaa !11
  %416 = add i32 %415, 1
  store i32 %416, ptr %19, align 4, !tbaa !11
  br label %86, !llvm.loop !46

417:                                              ; preds = %93
  %418 = load ptr, ptr %12, align 8, !tbaa !5
  %419 = icmp ne ptr %418, null
  br i1 %419, label %420, label %476

420:                                              ; preds = %417
  call void @llvm.lifetime.start.p0(i64 4, ptr %49) #6
  store i32 1, ptr %49, align 4, !tbaa !11
  br label %421

421:                                              ; preds = %472, %420
  %422 = load i32, ptr %49, align 4, !tbaa !11
  %423 = zext i32 %422 to i64
  %424 = load ptr, ptr %7, align 8, !tbaa !5
  %425 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %424, i32 0, i32 38
  %426 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %425) #6
  %427 = icmp ult i64 %423, %426
  br i1 %427, label %429, label %428

428:                                              ; preds = %421
  store i32 8, ptr %20, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %49) #6
  br label %475

429:                                              ; preds = %421
  call void @llvm.lifetime.start.p0(i64 4, ptr %50) #6
  %430 = load ptr, ptr %7, align 8, !tbaa !5
  %431 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %430, i32 0, i32 0
  %432 = load i32, ptr %49, align 4, !tbaa !11
  %433 = zext i32 %432 to i64
  %434 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %431, i64 noundef %433) #6
  %435 = load i32, ptr %434, align 4, !tbaa !11
  store i32 %435, ptr %50, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 96, ptr %51) #6
  %436 = load ptr, ptr %7, align 8, !tbaa !5
  %437 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %436, i32 0, i32 34
  %438 = load i32, ptr %49, align 4, !tbaa !11
  %439 = zext i32 %438 to i64
  %440 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %437, i64 noundef %439) #6
  %441 = load ptr, ptr %7, align 8, !tbaa !5
  %442 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %441, i32 0, i32 35
  %443 = load i32, ptr %50, align 4, !tbaa !11
  %444 = zext i32 %443 to i64
  %445 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %442, i64 noundef %444) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransformmlERKS1_(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %51, ptr noundef nonnull align 8 dereferenceable(96) %440, ptr noundef nonnull align 8 dereferenceable(96) %445)
  %446 = load ptr, ptr %7, align 8, !tbaa !5
  %447 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %446, i32 0, i32 35
  %448 = load i32, ptr %49, align 4, !tbaa !11
  %449 = zext i32 %448 to i64
  %450 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %447, i64 noundef %449) #6
  %451 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96) %450, ptr noundef nonnull align 8 dereferenceable(96) %51) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr %51) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %52) #6
  call void @llvm.lifetime.start.p0(i64 288, ptr %53) #6
  %452 = load ptr, ptr %7, align 8, !tbaa !5
  %453 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %452, i32 0, i32 35
  %454 = load i32, ptr %49, align 4, !tbaa !11
  %455 = zext i32 %454 to i64
  %456 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %453, i64 noundef %455) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform15toMatrixAdjointEv(ptr dead_on_unwind writable sret(%class.SpatialMatrix_t) align 16 %53, ptr noundef nonnull align 8 dereferenceable(96) %456)
  %457 = load ptr, ptr %12, align 8, !tbaa !5
  %458 = load i32, ptr %49, align 4, !tbaa !11
  %459 = zext i32 %458 to i64
  %460 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %457, i64 noundef %459) #6
  %461 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %53, ptr noundef nonnull align 1 dereferenceable(1) %460)
  %462 = getelementptr inbounds { ptr, ptr }, ptr %52, i32 0, i32 0
  %463 = extractvalue { ptr, ptr } %461, 0
  store ptr %463, ptr %462, align 8
  %464 = getelementptr inbounds { ptr, ptr }, ptr %52, i32 0, i32 1
  %465 = extractvalue { ptr, ptr } %461, 1
  store ptr %465, ptr %464, align 8
  %466 = load ptr, ptr %7, align 8, !tbaa !5
  %467 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %466, i32 0, i32 29
  %468 = load i32, ptr %49, align 4, !tbaa !11
  %469 = zext i32 %468 to i64
  %470 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %467, i64 noundef %469) #6
  %471 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmIINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEERS2_RKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %470, ptr noundef nonnull align 1 dereferenceable(1) %52)
  call void @llvm.lifetime.end.p0(i64 288, ptr %53) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %52) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %50) #6
  br label %472

472:                                              ; preds = %429
  %473 = load i32, ptr %49, align 4, !tbaa !11
  %474 = add i32 %473, 1
  store i32 %474, ptr %49, align 4, !tbaa !11
  br label %421, !llvm.loop !47

475:                                              ; preds = %428
  br label %476

476:                                              ; preds = %475, %417
  call void @llvm.lifetime.start.p0(i64 4, ptr %54) #6
  %477 = load ptr, ptr %7, align 8, !tbaa !5
  %478 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %477, i32 0, i32 38
  %479 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %478) #6
  %480 = sub i64 %479, 1
  %481 = trunc i64 %480 to i32
  store i32 %481, ptr %54, align 4, !tbaa !11
  br label %482

482:                                              ; preds = %661, %476
  %483 = load i32, ptr %54, align 4, !tbaa !11
  %484 = icmp ugt i32 %483, 0
  br i1 %484, label %486, label %485

485:                                              ; preds = %482
  store i32 11, ptr %20, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %54) #6
  br label %664

486:                                              ; preds = %482
  %487 = load ptr, ptr %7, align 8, !tbaa !5
  %488 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %487, i32 0, i32 10
  %489 = load i32, ptr %54, align 4, !tbaa !11
  %490 = zext i32 %489 to i64
  %491 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %488, i64 noundef %490) #6
  %492 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %491, i32 0, i32 1
  %493 = load i32, ptr %492, align 8, !tbaa !16
  %494 = icmp ne i32 %493, 21
  br i1 %494, label %495, label %565

495:                                              ; preds = %486
  %496 = load ptr, ptr %7, align 8, !tbaa !5
  %497 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %496, i32 0, i32 10
  %498 = load i32, ptr %54, align 4, !tbaa !11
  %499 = zext i32 %498 to i64
  %500 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %497, i64 noundef %499) #6
  %501 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %500, i32 0, i32 2
  %502 = load i32, ptr %501, align 4, !tbaa !17
  %503 = icmp eq i32 %502, 1
  br i1 %503, label %504, label %526

504:                                              ; preds = %495
  %505 = load ptr, ptr %7, align 8, !tbaa !5
  %506 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %505, i32 0, i32 11
  %507 = load i32, ptr %54, align 4, !tbaa !11
  %508 = zext i32 %507 to i64
  %509 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %506, i64 noundef %508) #6
  %510 = load ptr, ptr %7, align 8, !tbaa !5
  %511 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %510, i32 0, i32 29
  %512 = load i32, ptr %54, align 4, !tbaa !11
  %513 = zext i32 %512 to i64
  %514 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %511, i64 noundef %513) #6
  %515 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %509, ptr noundef nonnull align 1 dereferenceable(1) %514)
  %516 = load ptr, ptr %11, align 8, !tbaa !5
  %517 = load ptr, ptr %7, align 8, !tbaa !5
  %518 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %517, i32 0, i32 10
  %519 = load i32, ptr %54, align 4, !tbaa !11
  %520 = zext i32 %519 to i64
  %521 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %518, i64 noundef %520) #6
  %522 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %521, i32 0, i32 3
  %523 = load i32, ptr %522, align 8, !tbaa !13
  %524 = zext i32 %523 to i64
  %525 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %516, i64 noundef %524)
  store double %515, ptr %525, align 8, !tbaa !9
  br label %564

526:                                              ; preds = %495
  %527 = load ptr, ptr %7, align 8, !tbaa !5
  %528 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %527, i32 0, i32 10
  %529 = load i32, ptr %54, align 4, !tbaa !11
  %530 = zext i32 %529 to i64
  %531 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %528, i64 noundef %530) #6
  %532 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %531, i32 0, i32 2
  %533 = load i32, ptr %532, align 4, !tbaa !17
  %534 = icmp eq i32 %533, 3
  br i1 %534, label %535, label %563

535:                                              ; preds = %526
  call void @llvm.lifetime.start.p0(i64 16, ptr %55) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %56) #6
  %536 = load ptr, ptr %7, align 8, !tbaa !5
  %537 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %536, i32 0, i32 17
  %538 = load i32, ptr %54, align 4, !tbaa !11
  %539 = zext i32 %538 to i64
  %540 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %537, i64 noundef %539) #6
  %541 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %540)
  %542 = getelementptr inbounds %"class.Eigen::Transpose", ptr %56, i32 0, i32 0
  store ptr %541, ptr %542, align 8
  %543 = load ptr, ptr %7, align 8, !tbaa !5
  %544 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %543, i32 0, i32 29
  %545 = load i32, ptr %54, align 4, !tbaa !11
  %546 = zext i32 %545 to i64
  %547 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %544, i64 noundef %546) #6
  %548 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %56, ptr noundef nonnull align 1 dereferenceable(1) %547)
  %549 = getelementptr inbounds { ptr, ptr }, ptr %55, i32 0, i32 0
  %550 = extractvalue { ptr, ptr } %548, 0
  store ptr %550, ptr %549, align 8
  %551 = getelementptr inbounds { ptr, ptr }, ptr %55, i32 0, i32 1
  %552 = extractvalue { ptr, ptr } %548, 1
  store ptr %552, ptr %551, align 8
  call void @llvm.lifetime.start.p0(i64 48, ptr %57) #6
  %553 = load ptr, ptr %11, align 8, !tbaa !5
  %554 = load ptr, ptr %7, align 8, !tbaa !5
  %555 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %554, i32 0, i32 10
  %556 = load i32, ptr %54, align 4, !tbaa !11
  %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 3
  %560 = load i32, ptr %559, align 8, !tbaa !13
  %561 = zext i32 %560 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockILi3ELi1EEENS3_13FixedBlockXprIXT_EXT0_EE4TypeEll(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %57, ptr noundef nonnull align 1 dereferenceable(1) %553, i64 noundef %561, i64 noundef 0)
  %562 = call noundef nonnull align 8 dereferenceable(48) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi3ELi1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(48) %57, ptr noundef nonnull align 1 dereferenceable(1) %55)
  call void @llvm.lifetime.end.p0(i64 48, ptr %57) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %56) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %55) #6
  br label %563

563:                                              ; preds = %535, %526
  br label %564

564:                                              ; preds = %563, %504
  br label %620

565:                                              ; preds = %486
  %566 = load ptr, ptr %7, align 8, !tbaa !5
  %567 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %566, i32 0, i32 10
  %568 = load i32, ptr %54, align 4, !tbaa !11
  %569 = zext i32 %568 to i64
  %570 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %567, i64 noundef %569) #6
  %571 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %570, i32 0, i32 1
  %572 = load i32, ptr %571, align 8, !tbaa !16
  %573 = icmp eq i32 %572, 21
  br i1 %573, label %574, label %619

574:                                              ; preds = %565
  call void @llvm.lifetime.start.p0(i64 4, ptr %58) #6
  %575 = load ptr, ptr %7, align 8, !tbaa !5
  %576 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %575, i32 0, i32 10
  %577 = load i32, ptr %54, align 4, !tbaa !11
  %578 = zext i32 %577 to i64
  %579 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %576, i64 noundef %578) #6
  %580 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %579, i32 0, i32 4
  %581 = load i32, ptr %580, align 4, !tbaa !18
  store i32 %581, ptr %58, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 16, ptr %59) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %60) #6
  %582 = load ptr, ptr %7, align 8, !tbaa !5
  %583 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %582, i32 0, i32 22
  %584 = load i32, ptr %58, align 4, !tbaa !11
  %585 = zext i32 %584 to i64
  %586 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %583, i64 noundef %585) #6
  %587 = load ptr, ptr %586, align 8, !tbaa !5
  %588 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %587, i32 0, i32 3
  %589 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %588)
  %590 = getelementptr inbounds %"class.Eigen::Transpose.221", ptr %60, i32 0, i32 0
  store ptr %589, ptr %590, align 8
  %591 = load ptr, ptr %7, align 8, !tbaa !5
  %592 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %591, i32 0, i32 29
  %593 = load i32, ptr %54, align 4, !tbaa !11
  %594 = zext i32 %593 to i64
  %595 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %592, i64 noundef %594) #6
  %596 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %60, ptr noundef nonnull align 1 dereferenceable(1) %595)
  %597 = getelementptr inbounds { ptr, ptr }, ptr %59, i32 0, i32 0
  %598 = extractvalue { ptr, ptr } %596, 0
  store ptr %598, ptr %597, align 8
  %599 = getelementptr inbounds { ptr, ptr }, ptr %59, i32 0, i32 1
  %600 = extractvalue { ptr, ptr } %596, 1
  store ptr %600, ptr %599, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr %61) #6
  %601 = load ptr, ptr %11, align 8, !tbaa !5
  %602 = load ptr, ptr %7, align 8, !tbaa !5
  %603 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %602, i32 0, i32 10
  %604 = load i32, ptr %54, align 4, !tbaa !11
  %605 = zext i32 %604 to i64
  %606 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %603, i64 noundef %605) #6
  %607 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %606, i32 0, i32 3
  %608 = load i32, ptr %607, align 8, !tbaa !13
  %609 = zext i32 %608 to i64
  %610 = load ptr, ptr %7, align 8, !tbaa !5
  %611 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %610, i32 0, i32 22
  %612 = load i32, ptr %58, align 4, !tbaa !11
  %613 = zext i32 %612 to i64
  %614 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %611, i64 noundef %613) #6
  %615 = load ptr, ptr %614, align 8, !tbaa !5
  %616 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %615, i32 0, i32 1
  %617 = load i32, ptr %616, align 8, !tbaa !19
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block.229") align 8 %61, ptr noundef nonnull align 1 dereferenceable(1) %601, i64 noundef %609, i64 noundef 0, i32 noundef %617, i32 noundef 1)
  %618 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %61, ptr noundef nonnull align 1 dereferenceable(1) %59)
  call void @llvm.lifetime.end.p0(i64 56, ptr %61) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %60) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %59) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %58) #6
  br label %619

619:                                              ; preds = %574, %565
  br label %620

620:                                              ; preds = %619, %564
  %621 = load ptr, ptr %7, align 8, !tbaa !5
  %622 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %621, i32 0, i32 0
  %623 = load i32, ptr %54, align 4, !tbaa !11
  %624 = zext i32 %623 to i64
  %625 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %622, i64 noundef %624) #6
  %626 = load i32, ptr %625, align 4, !tbaa !11
  %627 = icmp ne i32 %626, 0
  br i1 %627, label %628, label %660

628:                                              ; preds = %620
  call void @llvm.lifetime.start.p0(i64 24, ptr %62) #6
  %629 = load ptr, ptr %7, align 8, !tbaa !5
  %630 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %629, i32 0, i32 29
  %631 = load ptr, ptr %7, align 8, !tbaa !5
  %632 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %631, i32 0, i32 0
  %633 = load i32, ptr %54, align 4, !tbaa !11
  %634 = zext i32 %633 to i64
  %635 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %632, i64 noundef %634) #6
  %636 = load i32, ptr %635, align 4, !tbaa !11
  %637 = zext i32 %636 to i64
  %638 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %630, i64 noundef %637) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %63) #6
  %639 = load ptr, ptr %7, align 8, !tbaa !5
  %640 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %639, i32 0, i32 34
  %641 = load i32, ptr %54, align 4, !tbaa !11
  %642 = zext i32 %641 to i64
  %643 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %640, i64 noundef %642) #6
  %644 = load ptr, ptr %7, align 8, !tbaa !5
  %645 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %644, i32 0, i32 29
  %646 = load i32, ptr %54, align 4, !tbaa !11
  %647 = zext i32 %646 to i64
  %648 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %645, i64 noundef %647) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %63, ptr noundef nonnull align 8 dereferenceable(96) %643, ptr noundef nonnull align 16 dereferenceable(48) %648)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %62, ptr noundef nonnull align 1 dereferenceable(1) %638, ptr noundef nonnull align 1 dereferenceable(1) %63)
  %649 = load ptr, ptr %7, align 8, !tbaa !5
  %650 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %649, i32 0, i32 29
  %651 = load ptr, ptr %7, align 8, !tbaa !5
  %652 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %651, i32 0, i32 0
  %653 = load i32, ptr %54, align 4, !tbaa !11
  %654 = zext i32 %653 to i64
  %655 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %652, i64 noundef %654) #6
  %656 = load i32, ptr %655, align 4, !tbaa !11
  %657 = zext i32 %656 to i64
  %658 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %650, i64 noundef %657) #6
  %659 = 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) %658, ptr noundef nonnull align 1 dereferenceable(1) %62)
  call void @llvm.lifetime.end.p0(i64 48, ptr %63) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %62) #6
  br label %660

660:                                              ; preds = %628, %620
  br label %661

661:                                              ; preds = %660
  %662 = load i32, ptr %54, align 4, !tbaa !11
  %663 = add i32 %662, -1
  store i32 %663, ptr %54, align 4, !tbaa !11
  br label %482, !llvm.loop !48

664:                                              ; preds = %485
  ret void

665:                                              ; preds = %363
  %666 = load ptr, ptr %39, align 8
  %667 = load i32, ptr %40, align 4
  %668 = insertvalue { ptr, i32 } poison, ptr %666, 0
  %669 = insertvalue { ptr, i32 } %668, i32 %667, 1
  resume { ptr, i32 } %669
}

; 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) #1 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 uwtable
declare dso_local void @_ZN15SpatialVector_t3setERKdS1_S1_S1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #0 align 2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #3

; 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: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 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) #1 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) #1 align 2

declare void @_ZN17RigidBodyDynamics5jcalcERNS_5ModelEjRKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_(ptr noundef nonnull align 8 dereferenceable(872), i32 noundef, ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) #4

; 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) #1 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)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #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)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math6crossmERK15SpatialVector_tS3_(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES7_EEEplINS1_INS2_17scalar_product_opIddEES7_KNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKS8_KSK_EERKNS0_ISK_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.114") 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 void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEKNS2_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)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES7_EEEplINS_7ProductINS5_IdLi6ELi3ELi0ELi6ELi3EEENS5_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKS8_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.132") 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) #1 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: inlinehint mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEKNS1_7ProductINS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #0 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) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2IjEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #2 align 2

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES7_EEEplINS_7ProductINS5_IdLin1ELin1ELi0ELin1ELin1EEENS5_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKS8_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.162") 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: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEKNS1_7ProductINS6_IdLin1ELin1ELi0ELin1ELin1EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(105) ptr @_ZNSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 16 dereferenceable(48)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math6crossfERK15SpatialVector_tS3_(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransformmlERKS1_(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) #0 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransform15toMatrixAdjointEv(ptr dead_on_unwind noalias writable sret(%class.SpatialMatrix_t) align 16, ptr noundef nonnull align 8 dereferenceable(96)) #0 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmIINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEERS2_RKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 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 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 void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockILi3ELi1EEENS3_13FixedBlockXprIXT_EXT0_EE4TypeEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(48) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi3ELi1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(48), 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 { 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 void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.229") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), 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)) #0 align 2

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"double", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = !{!14, !12, i64 16}
!14 = !{!"_ZTSN17RigidBodyDynamics5JointE", !6, i64 0, !15, i64 8, !12, i64 12, !12, i64 16, !12, i64 20}
!15 = !{!"_ZTSN17RigidBodyDynamics9JointTypeE", !7, i64 0}
!16 = !{!14, !15, i64 8}
!17 = !{!14, !12, i64 12}
!18 = !{!14, !12, i64 20}
!19 = !{!20, !12, i64 8}
!20 = !{!"_ZTSN17RigidBodyDynamics11CustomJointE", !12, i64 8, !21, i64 16, !32, i64 112, !32, i64 136, !32, i64 160, !36, i64 184, !36, i64 200}
!21 = !{!"_ZTSN17RigidBodyDynamics4Math16SpatialTransformE", !22, i64 0, !27, i64 72}
!22 = !{!"_ZTS9Matrix3_t", !23, i64 0}
!23 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !25, i64 0}
!25 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !26, i64 0}
!26 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !7, i64 0}
!27 = !{!"_ZTS9Vector3_t", !28, i64 0}
!28 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !29, i64 0}
!29 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !30, i64 0}
!30 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !31, i64 0}
!31 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!32 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !33, i64 0}
!33 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !34, i64 0}
!34 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !6, i64 0, !35, i64 8, !35, i64 16}
!35 = !{!"long", !7, i64 0}
!36 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !37, i64 0}
!37 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !38, i64 0}
!38 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !35, i64 8}
!39 = distinct !{!39, !40}
!40 = !{!"llvm.loop.mustprogress"}
!41 = !{!42, !43, i64 104}
!42 = !{!"_ZTSN17RigidBodyDynamics4BodyE", !10, i64 0, !27, i64 8, !22, i64 32, !43, i64 104}
!43 = !{!"bool", !7, i64 0}
!44 = !{i8 0, i8 2}
!45 = !{}
!46 = distinct !{!46, !40}
!47 = distinct !{!47, !40}
!48 = distinct !{!48, !40}


; 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::CwiseBinaryOp" = type <{ ptr, ptr, [8 x i8] }>
%class.SpatialVector_t = type { %"class.Eigen::Matrix.90" }
%"class.Eigen::Matrix.90" = type { %"class.Eigen::PlainObjectBase.91" }
%"class.Eigen::PlainObjectBase.91" = type { %"class.Eigen::DenseStorage.98" }
%"class.Eigen::DenseStorage.98" = type { %"struct.Eigen::internal::plain_array.99" }
%"struct.Eigen::internal::plain_array.99" = type { [6 x double] }
%"class.Eigen::CwiseBinaryOp.114" = type { [8 x i8], %"class.Eigen::CwiseBinaryOp", %"class.Eigen::CwiseBinaryOp.120", [8 x i8] }
%"class.Eigen::CwiseBinaryOp.120" = type <{ ptr, %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::CwiseBinaryOp.132" = type <{ [8 x i8], %"class.Eigen::CwiseBinaryOp", %"class.Eigen::Product", [8 x i8] }>
%"class.Eigen::Product" = type { ptr, ptr }
%class.Vector3_t = type { %"class.Eigen::Matrix" }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"class.Eigen::Matrix.57" = type { %"class.Eigen::PlainObjectBase.58" }
%"class.Eigen::PlainObjectBase.58" = type { %"class.Eigen::DenseStorage.65" }
%"class.Eigen::DenseStorage.65" = type { ptr, i64 }
%"class.Eigen::CwiseBinaryOp.162" = type <{ [8 x i8], %"class.Eigen::CwiseBinaryOp", %"class.Eigen::Product.168", [8 x i8] }>
%"class.Eigen::Product.168" = type { ptr, ptr }
%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%class.Matrix3_t = type { %"class.Eigen::Matrix.104" }
%"class.Eigen::Matrix.104" = type { %"class.Eigen::PlainObjectBase.105" }
%"class.Eigen::PlainObjectBase.105" = type { %"class.Eigen::DenseStorage.112" }
%"class.Eigen::DenseStorage.112" = type { %"struct.Eigen::internal::plain_array.113" }
%"struct.Eigen::internal::plain_array.113" = type { [9 x double] }
%"class.Eigen::Product.176" = type { ptr, ptr }
%class.SpatialMatrix_t = type { %"class.Eigen::Matrix.183" }
%"class.Eigen::Matrix.183" = type { %"class.Eigen::PlainObjectBase.184" }
%"class.Eigen::PlainObjectBase.184" = type { %"class.Eigen::DenseStorage.191" }
%"class.Eigen::DenseStorage.191" = type { %"struct.Eigen::internal::plain_array.192" }
%"struct.Eigen::internal::plain_array.192" = type { [36 x double] }
%"class.Eigen::Product.193" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase.base.213", ptr, %"class.Eigen::internal::variable_if_dynamic", [8 x i8], i64 }
%"class.Eigen::MapBase.base.213" = type { %"class.Eigen::MapBase.base" }
%"class.Eigen::MapBase.base" = type <{ ptr, [2 x i8] }>
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"class.Eigen::Product.214" = type { %"class.Eigen::Transpose.221", ptr }
%"class.Eigen::Transpose.221" = type { ptr }
%"class.Eigen::Block.229" = type { %"class.Eigen::BlockImpl.230" }
%"class.Eigen::BlockImpl.230" = type { %"class.Eigen::internal::BlockImpl_dense.231" }
%"class.Eigen::internal::BlockImpl_dense.231" = type { %"class.Eigen::MapBase.232", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.232" = type { %"class.Eigen::MapBase.233" }
%"class.Eigen::MapBase.233" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics15InverseDynamicsERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RS4_PSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef %5) local_unnamed_addr #0 personality ptr @__gxx_personality_v0 {
  %7 = alloca double, align 8
  %8 = alloca double, align 8
  %9 = alloca double, align 8
  %10 = alloca double, align 8
  %11 = alloca double, align 8
  %12 = alloca double, align 8
  %13 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %14 = alloca %class.SpatialVector_t, align 16
  %15 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %16 = alloca %class.SpatialVector_t, align 16
  %17 = alloca %"class.Eigen::CwiseBinaryOp.114", align 8
  %18 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %19 = alloca %class.SpatialVector_t, align 16
  %20 = alloca %"class.Eigen::CwiseBinaryOp.120", align 8
  %21 = alloca %"class.Eigen::CwiseBinaryOp.132", align 8
  %22 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %23 = alloca %class.SpatialVector_t, align 16
  %24 = alloca %"class.Eigen::Product", align 8
  %25 = alloca %class.Vector3_t, align 8
  %26 = alloca %"class.Eigen::Matrix.57", align 8
  %27 = alloca %"class.Eigen::CwiseBinaryOp.162", align 8
  %28 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %29 = alloca %class.SpatialVector_t, align 16
  %30 = alloca %"class.Eigen::Product.168", align 8
  %31 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %32 = alloca %class.SpatialVector_t, align 16
  %33 = alloca %class.SpatialVector_t, align 16
  %34 = alloca %class.SpatialVector_t, align 16
  %35 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %36 = alloca %"class.Eigen::Product.176", align 8
  %37 = alloca %class.SpatialMatrix_t, align 16
  %38 = alloca %"class.Eigen::Product.193", align 8
  %39 = alloca %"class.Eigen::Transpose", align 8
  %40 = alloca %"class.Eigen::Block", align 8
  %41 = alloca %"class.Eigen::Product.214", align 8
  %42 = alloca %"class.Eigen::Transpose.221", align 8
  %43 = alloca %"class.Eigen::Block.229", align 8
  %44 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %45 = alloca %class.SpatialVector_t, align 16
  %46 = getelementptr inbounds i8, ptr %0, i64 112
  %47 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef 0) #6
  %48 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %47)
  %49 = getelementptr inbounds i8, ptr %0, i64 136
  %50 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %49, i64 noundef 0) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #6
  store double 0.000000e+00, ptr %7, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #6
  store double 0.000000e+00, ptr %8, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #6
  store double 0.000000e+00, ptr %9, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #6
  %51 = getelementptr inbounds i8, ptr %0, i64 88
  %52 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %51, i64 noundef 0)
  %53 = load double, ptr %52, align 8, !tbaa !5
  %54 = fneg double %53
  store double %54, ptr %10, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #6
  %55 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %51, i64 noundef 1)
  %56 = load double, ptr %55, align 8, !tbaa !5
  %57 = fneg double %56
  store double %57, ptr %11, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #6
  %58 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %51, i64 noundef 2)
  %59 = load double, ptr %58, align 8, !tbaa !5
  %60 = fneg double %59
  store double %60, ptr %12, align 8, !tbaa !5
  call void @_ZN15SpatialVector_t3setERKdS1_S1_S1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(48) %50, ptr noundef nonnull align 8 dereferenceable(8) %7, ptr noundef nonnull align 8 dereferenceable(8) %8, ptr noundef nonnull align 8 dereferenceable(8) %9, ptr noundef nonnull align 8 dereferenceable(8) %10, ptr noundef nonnull align 8 dereferenceable(8) %11, ptr noundef nonnull align 8 dereferenceable(8) %12)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #6
  %61 = getelementptr inbounds i8, ptr %0, i64 800
  %62 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %61) #6
  %63 = icmp ugt i64 %62, 1
  br i1 %63, label %.lr.ph195, label %._crit_edge196

.lr.ph195:                                        ; preds = %6
  %64 = getelementptr inbounds i8, ptr %0, i64 160
  %65 = getelementptr inbounds i8, ptr %0, i64 720
  %66 = getelementptr inbounds i8, ptr %0, i64 208
  %67 = getelementptr inbounds i8, ptr %0, i64 232
  %68 = getelementptr inbounds i8, ptr %0, i64 472
  %69 = getelementptr inbounds i8, ptr %0, i64 328
  %70 = getelementptr inbounds i8, ptr %24, i64 8
  %71 = getelementptr inbounds i8, ptr %0, i64 184
  %72 = getelementptr inbounds i8, ptr %0, i64 448
  %73 = getelementptr inbounds i8, ptr %30, i64 8
  %74 = getelementptr inbounds i8, ptr %0, i64 624
  %75 = getelementptr inbounds i8, ptr %0, i64 600
  br label %82

._crit_edge196:                                   ; preds = %210, %6
  %.not = icmp eq ptr %5, null
  br i1 %.not, label %.loopexit, label %.preheader

.preheader:                                       ; preds = %._crit_edge196
  %76 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %61) #6
  %77 = icmp ugt i64 %76, 1
  br i1 %77, label %.lr.ph198, label %.loopexit

.lr.ph198:                                        ; preds = %.preheader
  %78 = getelementptr inbounds i8, ptr %0, i64 720
  %79 = getelementptr inbounds i8, ptr %0, i64 744
  %80 = getelementptr inbounds i8, ptr %36, i64 8
  %81 = getelementptr inbounds i8, ptr %0, i64 600
  br label %215

82:                                               ; preds = %.lr.ph195, %210
  %83 = phi i64 [ 1, %.lr.ph195 ], [ %212, %210 ]
  %.0193 = phi i32 [ 1, %.lr.ph195 ], [ %211, %210 ]
  %84 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %64, i64 noundef %83) #6
  %85 = getelementptr inbounds i8, ptr %84, i64 16
  %86 = load i32, ptr %85, align 8, !tbaa !9
  %87 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %83) #6
  %88 = load i32, ptr %87, align 4, !tbaa !14
  call void @_ZN17RigidBodyDynamics5jcalcERNS_5ModelEjRKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_(ptr noundef nonnull align 8 dereferenceable(872) %0, i32 noundef %.0193, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %13) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %14) #6
  %89 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %65, i64 noundef %83) #6
  %90 = zext i32 %88 to i64
  %91 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef %90) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %14, ptr noundef nonnull align 8 dereferenceable(96) %89, ptr noundef nonnull align 16 dereferenceable(48) %91)
  %92 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %66, i64 noundef %83) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %13, ptr noundef nonnull align 1 dereferenceable(1) %14, ptr noundef nonnull align 1 dereferenceable(1) %92)
  %93 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef %83) #6
  %94 = 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) %93, ptr noundef nonnull align 1 dereferenceable(1) %13)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %14) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %13) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %15) #6
  %95 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %67, i64 noundef %83) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %16) #6
  %96 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef %83) #6
  %97 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %66, i64 noundef %83) #6
  call void @_ZN17RigidBodyDynamics4Math6crossmERK15SpatialVector_tS3_(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %16, ptr noundef nonnull align 16 dereferenceable(48) %96, ptr noundef nonnull align 16 dereferenceable(48) %97)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %15, ptr noundef nonnull align 1 dereferenceable(1) %95, ptr noundef nonnull align 1 dereferenceable(1) %16)
  %98 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %68, i64 noundef %83) #6
  %99 = 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) %98, ptr noundef nonnull align 1 dereferenceable(1) %15)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %16) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %15) #6
  %100 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %64, i64 noundef %83) #6
  %101 = getelementptr inbounds i8, ptr %100, i64 8
  %102 = load i32, ptr %101, align 8, !tbaa !15
  %.not185 = icmp eq i32 %102, 21
  %103 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %64, i64 noundef %83) #6
  br i1 %.not185, label %140, label %104

104:                                              ; preds = %82
  %105 = getelementptr inbounds i8, ptr %103, i64 12
  %106 = load i32, ptr %105, align 4, !tbaa !16
  %107 = icmp eq i32 %106, 1
  br i1 %107, label %108, label %117

108:                                              ; preds = %104
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %17) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %18) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %19) #6
  %109 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %65, i64 noundef %83) #6
  %110 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %49, i64 noundef %90) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %19, ptr noundef nonnull align 8 dereferenceable(96) %109, ptr noundef nonnull align 16 dereferenceable(48) %110)
  %111 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %68, i64 noundef %83) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %19, ptr noundef nonnull align 1 dereferenceable(1) %111)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %20) #6
  %112 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %71, i64 noundef %83) #6
  %113 = zext i32 %86 to i64
  %114 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %113)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8 %20, ptr noundef nonnull align 1 dereferenceable(1) %112, ptr noundef nonnull align 8 dereferenceable(8) %114)
  call void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES7_EEEplINS1_INS2_17scalar_product_opIddEES7_KNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKS8_KSK_EERKNS0_ISK_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.114") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %18, ptr noundef nonnull align 1 dereferenceable(1) %20)
  %115 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %49, i64 noundef %83) #6
  %116 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEKNS2_INS3_17scalar_product_opIddEES8_KNS1_14CwiseNullaryOpINS3_18scalar_constant_opIdEES8_EEEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %115, ptr noundef nonnull align 1 dereferenceable(1) %17)
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %20) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %19) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %18) #6
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %17) #6
  br label %194

117:                                              ; preds = %104
  %118 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %64, i64 noundef %83) #6
  %119 = getelementptr inbounds i8, ptr %118, i64 12
  %120 = load i32, ptr %119, align 4, !tbaa !16
  %121 = icmp eq i32 %120, 3
  br i1 %121, label %122, label %194

122:                                              ; preds = %117
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %21) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %22) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %23) #6
  %123 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %65, i64 noundef %83) #6
  %124 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %49, i64 noundef %90) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %23, ptr noundef nonnull align 8 dereferenceable(96) %123, ptr noundef nonnull align 16 dereferenceable(48) %124)
  %125 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %68, i64 noundef %83) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %22, ptr noundef nonnull align 1 dereferenceable(1) %23, ptr noundef nonnull align 1 dereferenceable(1) %125)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %24) #6
  %126 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %69, i64 noundef %83) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %25) #6
  %127 = zext i32 %86 to i64
  %128 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %127)
  %129 = add i32 %86, 1
  %130 = zext i32 %129 to i64
  %131 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %130)
  %132 = add i32 %86, 2
  %133 = zext i32 %132 to i64
  %134 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %133)
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %25, ptr noundef nonnull align 8 dereferenceable(8) %128, ptr noundef nonnull align 8 dereferenceable(8) %131, ptr noundef nonnull align 8 dereferenceable(8) %134)
  %135 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEmlINS1_IdLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %126, ptr noundef nonnull align 1 dereferenceable(1) %25)
  %136 = extractvalue { ptr, ptr } %135, 0
  store ptr %136, ptr %24, align 8
  %137 = extractvalue { ptr, ptr } %135, 1
  store ptr %137, ptr %70, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES7_EEEplINS_7ProductINS5_IdLi6ELi3ELi0ELi6ELi3EEENS5_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKS8_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.132") align 8 %21, ptr noundef nonnull align 1 dereferenceable(1) %22, ptr noundef nonnull align 1 dereferenceable(1) %24)
  %138 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %49, i64 noundef %83) #6
  %139 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEKNS1_7ProductINS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %138, ptr noundef nonnull align 1 dereferenceable(1) %21)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %25) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %24) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %23) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %22) #6
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %21) #6
  br label %194

140:                                              ; preds = %82
  %141 = getelementptr inbounds i8, ptr %103, i64 8
  %142 = load i32, ptr %141, align 8, !tbaa !15
  %143 = icmp eq i32 %142, 21
  br i1 %143, label %144, label %194

144:                                              ; preds = %140
  %145 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %64, i64 noundef %83) #6
  %146 = getelementptr inbounds i8, ptr %145, i64 20
  %147 = load i32, ptr %146, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %26) #6
  %148 = zext i32 %147 to i64
  %149 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %72, i64 noundef %148) #6
  %150 = load ptr, ptr %149, align 8, !tbaa !18
  %151 = getelementptr inbounds i8, ptr %150, i64 8
  call void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2IjEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %26, ptr noundef nonnull align 4 dereferenceable(4) %151)
  %152 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %72, i64 noundef %148) #6
  %153 = load ptr, ptr %152, align 8, !tbaa !18
  %154 = getelementptr inbounds i8, ptr %153, i64 8
  %155 = load i32, ptr %154, align 8, !tbaa !19
  %.not205 = icmp eq i32 %155, 0
  br i1 %.not205, label %._crit_edge, label %.lr.ph

._crit_edge:                                      ; preds = %165, %144
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %27) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %28) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %29) #6
  %156 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %65, i64 noundef %83) #6
  %157 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %49, i64 noundef %90) #6
  invoke void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %29, ptr noundef nonnull align 8 dereferenceable(96) %156, ptr noundef nonnull align 16 dereferenceable(48) %157)
          to label %174 unwind label %188

.lr.ph:                                           ; preds = %144, %165
  %indvars.iv = phi i64 [ %indvars.iv.next, %165 ], [ 0, %144 ]
  %158 = trunc nuw i64 %indvars.iv to i32
  %159 = add i32 %86, %158
  %160 = zext i32 %159 to i64
  %161 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %160)
          to label %162 unwind label %172

162:                                              ; preds = %.lr.ph
  %163 = load double, ptr %161, align 8, !tbaa !5
  %164 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %26, i64 noundef %indvars.iv)
          to label %165 unwind label %172

165:                                              ; preds = %162
  store double %163, ptr %164, align 8, !tbaa !5
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %166 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %72, i64 noundef %148) #6
  %167 = load ptr, ptr %166, align 8, !tbaa !18
  %168 = getelementptr inbounds i8, ptr %167, i64 8
  %169 = load i32, ptr %168, align 8, !tbaa !19
  %170 = zext i32 %169 to i64
  %171 = icmp ult i64 %indvars.iv.next, %170
  br i1 %171, label %.lr.ph, label %._crit_edge, !llvm.loop !39

172:                                              ; preds = %162, %.lr.ph
  %173 = landingpad { ptr, i32 }
          cleanup
  br label %193

174:                                              ; preds = %._crit_edge
  %175 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %68, i64 noundef %83) #6
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %28, ptr noundef nonnull align 1 dereferenceable(1) %29, ptr noundef nonnull align 1 dereferenceable(1) %175)
          to label %176 unwind label %188

176:                                              ; preds = %174
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %30) #6
  %177 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %72, i64 noundef %148) #6
  %178 = load ptr, ptr %177, align 8, !tbaa !18
  %179 = getelementptr inbounds i8, ptr %178, i64 112
  %180 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %179, ptr noundef nonnull align 1 dereferenceable(1) %26)
          to label %181 unwind label %190

181:                                              ; preds = %176
  %182 = extractvalue { ptr, ptr } %180, 0
  store ptr %182, ptr %30, align 8
  %183 = extractvalue { ptr, ptr } %180, 1
  store ptr %183, ptr %73, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES7_EEEplINS_7ProductINS5_IdLin1ELin1ELi0ELin1ELin1EEENS5_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKS8_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.162") align 8 %27, ptr noundef nonnull align 1 dereferenceable(1) %28, ptr noundef nonnull align 1 dereferenceable(1) %30)
          to label %184 unwind label %190

184:                                              ; preds = %181
  %185 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %49, i64 noundef %83) #6
  %186 = invoke noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEKNS1_7ProductINS6_IdLin1ELin1ELi0ELin1ELin1EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %185, ptr noundef nonnull align 1 dereferenceable(1) %27)
          to label %187 unwind label %190

187:                                              ; preds = %184
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %30) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %29) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %28) #6
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %27) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %26) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %26) #6
  br label %194

188:                                              ; preds = %174, %._crit_edge
  %189 = landingpad { ptr, i32 }
          cleanup
  br label %192

190:                                              ; preds = %184, %181, %176
  %191 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %30) #6
  br label %192

192:                                              ; preds = %190, %188
  %.pn = phi { ptr, i32 } [ %191, %190 ], [ %189, %188 ]
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %29) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %28) #6
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %27) #6
  br label %193

193:                                              ; preds = %192, %172
  %.pn187 = phi { ptr, i32 } [ %173, %172 ], [ %.pn, %192 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %26) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %26) #6
  resume { ptr, i32 } %.pn187

194:                                              ; preds = %140, %187, %108, %122, %117
  %195 = call noundef nonnull align 8 dereferenceable(105) ptr @_ZNSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef %83) #6
  %196 = getelementptr inbounds i8, ptr %195, i64 104
  %197 = load i8, ptr %196, align 8, !tbaa !41, !range !44, !noundef !45
  %198 = trunc nuw i8 %197 to i1
  br i1 %198, label %207, label %199

199:                                              ; preds = %194
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %31) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %32) #6
  %200 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %83) #6
  %201 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %49, i64 noundef %83) #6
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %32, ptr noundef nonnull align 8 dereferenceable(80) %200, ptr noundef nonnull align 16 dereferenceable(48) %201)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %33) #6
  %202 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef %83) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %34) #6
  %203 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %83) #6
  %204 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef %83) #6
  call void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %34, ptr noundef nonnull align 8 dereferenceable(80) %203, ptr noundef nonnull align 16 dereferenceable(48) %204)
  call void @_ZN17RigidBodyDynamics4Math6crossfERK15SpatialVector_tS3_(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %33, ptr noundef nonnull align 16 dereferenceable(48) %202, ptr noundef nonnull align 16 dereferenceable(48) %34)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %31, ptr noundef nonnull align 1 dereferenceable(1) %32, ptr noundef nonnull align 1 dereferenceable(1) %33)
  %205 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %75, i64 noundef %83) #6
  %206 = 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) %205, ptr noundef nonnull align 1 dereferenceable(1) %31)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %34) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %33) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %32) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %31) #6
  br label %210

207:                                              ; preds = %194
  %208 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %75, i64 noundef %83) #6
  %209 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %208)
  br label %210

210:                                              ; preds = %207, %199
  %211 = add i32 %.0193, 1
  %212 = zext i32 %211 to i64
  %213 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %61) #6
  %214 = icmp ugt i64 %213, %212
  br i1 %214, label %82, label %._crit_edge196, !llvm.loop !46

215:                                              ; preds = %.lr.ph198, %215
  %216 = phi i64 [ 1, %.lr.ph198 ], [ %232, %215 ]
  %.0174197 = phi i32 [ 1, %.lr.ph198 ], [ %231, %215 ]
  %217 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %216) #6
  %218 = load i32, ptr %217, align 4, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %35) #6
  %219 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %78, i64 noundef %216) #6
  %220 = zext i32 %218 to i64
  %221 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %79, i64 noundef %220) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransformmlERKS1_(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %35, ptr noundef nonnull align 8 dereferenceable(96) %219, ptr noundef nonnull align 8 dereferenceable(96) %221)
  %222 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %79, i64 noundef %216) #6
  %223 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96) %222, ptr noundef nonnull align 8 dereferenceable(96) %35) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %35) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %36) #6
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %37) #6
  %224 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %79, i64 noundef %216) #6
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform15toMatrixAdjointEv(ptr dead_on_unwind nonnull writable sret(%class.SpatialMatrix_t) align 16 %37, ptr noundef nonnull align 8 dereferenceable(96) %224)
  %225 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %216) #6
  %226 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %37, ptr noundef nonnull align 1 dereferenceable(1) %225)
  %227 = extractvalue { ptr, ptr } %226, 0
  store ptr %227, ptr %36, align 8
  %228 = extractvalue { ptr, ptr } %226, 1
  store ptr %228, ptr %80, align 8
  %229 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %81, i64 noundef %216) #6
  %230 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmIINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEERS2_RKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %229, ptr noundef nonnull align 1 dereferenceable(1) %36)
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %37) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %36) #6
  %231 = add i32 %.0174197, 1
  %232 = zext i32 %231 to i64
  %233 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %61) #6
  %234 = icmp ugt i64 %233, %232
  br i1 %234, label %215, label %.loopexit, !llvm.loop !47

.loopexit:                                        ; preds = %215, %.preheader, %._crit_edge196
  %235 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %61) #6
  %236 = trunc i64 %235 to i32
  %.0173199 = add i32 %236, -1
  %.not182200 = icmp eq i32 %.0173199, 0
  br i1 %.not182200, label %._crit_edge204, label %.lr.ph203

.lr.ph203:                                        ; preds = %.loopexit
  %237 = getelementptr inbounds i8, ptr %0, i64 160
  %238 = getelementptr inbounds i8, ptr %0, i64 328
  %239 = getelementptr inbounds i8, ptr %0, i64 600
  %240 = getelementptr inbounds i8, ptr %38, i64 8
  %241 = getelementptr inbounds i8, ptr %0, i64 184
  %242 = getelementptr inbounds i8, ptr %0, i64 448
  %243 = getelementptr inbounds i8, ptr %41, i64 8
  %244 = getelementptr inbounds i8, ptr %0, i64 720
  %245 = zext i32 %.0173199 to i64
  br label %246

._crit_edge204:                                   ; preds = %322, %.loopexit
  ret void

246:                                              ; preds = %.lr.ph203, %322
  %indvars.iv207 = phi i64 [ %245, %.lr.ph203 ], [ %indvars.iv.next208, %322 ]
  %247 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %237, i64 noundef %indvars.iv207) #6
  %248 = getelementptr inbounds i8, ptr %247, i64 8
  %249 = load i32, ptr %248, align 8, !tbaa !15
  %.not183 = icmp eq i32 %249, 21
  %250 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %237, i64 noundef %indvars.iv207) #6
  br i1 %.not183, label %281, label %251

251:                                              ; preds = %246
  %252 = getelementptr inbounds i8, ptr %250, i64 12
  %253 = load i32, ptr %252, align 4, !tbaa !16
  %254 = icmp eq i32 %253, 1
  br i1 %254, label %255, label %264

255:                                              ; preds = %251
  %256 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %241, i64 noundef %indvars.iv207) #6
  %257 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %239, i64 noundef %indvars.iv207) #6
  %258 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %256, ptr noundef nonnull align 1 dereferenceable(1) %257)
  %259 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %237, i64 noundef %indvars.iv207) #6
  %260 = getelementptr inbounds i8, ptr %259, i64 16
  %261 = load i32, ptr %260, align 8, !tbaa !9
  %262 = zext i32 %261 to i64
  %263 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %262)
  store double %258, ptr %263, align 8, !tbaa !5
  br label %307

264:                                              ; preds = %251
  %265 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %237, i64 noundef %indvars.iv207) #6
  %266 = getelementptr inbounds i8, ptr %265, i64 12
  %267 = load i32, ptr %266, align 4, !tbaa !16
  %268 = icmp eq i32 %267, 3
  br i1 %268, label %269, label %307

269:                                              ; preds = %264
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %38) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %39) #6
  %270 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %238, i64 noundef %indvars.iv207) #6
  %271 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %270)
  store ptr %271, ptr %39, align 8
  %272 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %239, i64 noundef %indvars.iv207) #6
  %273 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi3ELi0ELi6ELi3EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %39, ptr noundef nonnull align 1 dereferenceable(1) %272)
  %274 = extractvalue { ptr, ptr } %273, 0
  store ptr %274, ptr %38, align 8
  %275 = extractvalue { ptr, ptr } %273, 1
  store ptr %275, ptr %240, align 8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %40) #6
  %276 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %237, i64 noundef %indvars.iv207) #6
  %277 = getelementptr inbounds i8, ptr %276, i64 16
  %278 = load i32, ptr %277, align 8, !tbaa !9
  %279 = zext i32 %278 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockILi3ELi1EEENS3_13FixedBlockXprIXT_EXT0_EE4TypeEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %40, ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %279, i64 noundef 0)
  %280 = call noundef nonnull align 8 dereferenceable(48) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi3ELi1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(48) %40, ptr noundef nonnull align 1 dereferenceable(1) %38)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %40) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %39) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %38) #6
  br label %307

281:                                              ; preds = %246
  %282 = getelementptr inbounds i8, ptr %250, i64 8
  %283 = load i32, ptr %282, align 8, !tbaa !15
  %284 = icmp eq i32 %283, 21
  br i1 %284, label %285, label %307

285:                                              ; preds = %281
  %286 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %237, i64 noundef %indvars.iv207) #6
  %287 = getelementptr inbounds i8, ptr %286, i64 20
  %288 = load i32, ptr %287, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %41) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %42) #6
  %289 = zext i32 %288 to i64
  %290 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %242, i64 noundef %289) #6
  %291 = load ptr, ptr %290, align 8, !tbaa !18
  %292 = getelementptr inbounds i8, ptr %291, i64 112
  %293 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %292)
  store ptr %293, ptr %42, align 8
  %294 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %239, i64 noundef %indvars.iv207) #6
  %295 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLi6ELi1ELi0ELi6ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %42, ptr noundef nonnull align 1 dereferenceable(1) %294)
  %296 = extractvalue { ptr, ptr } %295, 0
  store ptr %296, ptr %41, align 8
  %297 = extractvalue { ptr, ptr } %295, 1
  store ptr %297, ptr %243, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %43) #6
  %298 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %237, i64 noundef %indvars.iv207) #6
  %299 = getelementptr inbounds i8, ptr %298, i64 16
  %300 = load i32, ptr %299, align 8, !tbaa !9
  %301 = zext i32 %300 to i64
  %302 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %242, i64 noundef %289) #6
  %303 = load ptr, ptr %302, align 8, !tbaa !18
  %304 = getelementptr inbounds i8, ptr %303, i64 8
  %305 = load i32, ptr %304, align 8, !tbaa !19
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.229") align 8 %43, ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %301, i64 noundef 0, i32 noundef %305, i32 noundef 1)
  %306 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %43, ptr noundef nonnull align 1 dereferenceable(1) %41)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %43) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %42) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %41) #6
  br label %307

307:                                              ; preds = %281, %285, %255, %269, %264
  %308 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv207) #6
  %309 = load i32, ptr %308, align 4, !tbaa !14
  %.not184 = icmp eq i32 %309, 0
  br i1 %.not184, label %322, label %310

310:                                              ; preds = %307
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %44) #6
  %311 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv207) #6
  %312 = load i32, ptr %311, align 4, !tbaa !14
  %313 = zext i32 %312 to i64
  %314 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %239, i64 noundef %313) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %45) #6
  %315 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %244, i64 noundef %indvars.iv207) #6
  %316 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %239, i64 noundef %indvars.iv207) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform14applyTransposeERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %45, ptr noundef nonnull align 8 dereferenceable(96) %315, ptr noundef nonnull align 16 dereferenceable(48) %316)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %44, ptr noundef nonnull align 1 dereferenceable(1) %314, ptr noundef nonnull align 1 dereferenceable(1) %45)
  %317 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv207) #6
  %318 = load i32, ptr %317, align 4, !tbaa !14
  %319 = zext i32 %318 to i64
  %320 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %239, i64 noundef %319) #6
  %321 = 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) %320, ptr noundef nonnull align 1 dereferenceable(1) %44)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %45) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %44) #6
  br label %322

322:                                              ; preds = %307, %310
  %indvars.iv.next208 = add nsw i64 %indvars.iv207, -1
  %323 = and i64 %indvars.iv.next208, 4294967295
  %.not182 = icmp eq i64 %323, 0
  br i1 %.not182, label %._crit_edge204, label %246, !llvm.loop !48
}

; 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 #1 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 uwtable
declare dso_local void @_ZN15SpatialVector_t3setERKdS1_S1_S1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #3

; 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: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 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 #1 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 #1 align 2

declare void @_ZN17RigidBodyDynamics5jcalcERNS_5ModelEjRKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_(ptr noundef nonnull align 8 dereferenceable(872), i32 noundef, ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #4

; 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 #1 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 #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #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 #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math6crossmERK15SpatialVector_tS3_(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES7_EEEplINS1_INS2_17scalar_product_opIddEES7_KNS_14CwiseNullaryOpINS2_18scalar_constant_opIdEES7_EEEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKS8_KSK_EERKNS0_ISK_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.114") 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 void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.120") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEKNS2_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 #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES7_EEEplINS_7ProductINS5_IdLi6ELi3ELi0ELi6ELi3EEENS5_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKS8_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.132") 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 #1 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: inlinehint mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEKNS1_7ProductINS6_IdLi6ELi3ELi0ELi6ELi3EEENS6_IdLi3ELi1ELi0ELi3ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 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 #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2IjEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #2 align 2

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES7_EEEplINS_7ProductINS5_IdLin1ELin1ELi0ELin1ELin1EEENS5_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEKNS1_INS3_IdNS2_6traitsIT_E6ScalarEEEKS8_KSG_EERKNS0_ISG_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.162") 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: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSIN5Eigen13CwiseBinaryOpINS1_8internal13scalar_sum_opIddEEKNS2_IS5_KNS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEES8_EEKNS1_7ProductINS6_IdLin1ELin1ELi0ELin1ELin1EEENS6_IdLin1ELi1ELi0ELin1ELi1EEELi0EEEEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(105) ptr @_ZNSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math23SpatialRigidBodyInertiamlERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math6crossfERK15SpatialVector_tS3_(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransformmlERKS1_(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #0 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransform15toMatrixAdjointEv(ptr dead_on_unwind noalias writable sret(%class.SpatialMatrix_t) align 16, ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #0 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmIINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEERS2_RKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 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 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 void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockILi3ELi1EEENS3_13FixedBlockXprIXT_EXT0_EE4TypeEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(48) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi3ELi1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLi6ELi3ELi0ELi6ELi3EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(48), 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 { 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 void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.229") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELin1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEENS1_IdLi6ELi1ELi0ELi6ELi1EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), 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 #0 align 2

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !13, i64 16}
!10 = !{!"_ZTSN17RigidBodyDynamics5JointE", !11, i64 0, !12, i64 8, !13, i64 12, !13, i64 16, !13, i64 20}
!11 = !{!"any pointer", !7, i64 0}
!12 = !{!"_ZTSN17RigidBodyDynamics9JointTypeE", !7, i64 0}
!13 = !{!"int", !7, i64 0}
!14 = !{!13, !13, i64 0}
!15 = !{!10, !12, i64 8}
!16 = !{!10, !13, i64 12}
!17 = !{!10, !13, i64 20}
!18 = !{!11, !11, i64 0}
!19 = !{!20, !13, i64 8}
!20 = !{!"_ZTSN17RigidBodyDynamics11CustomJointE", !13, i64 8, !21, i64 16, !32, i64 112, !32, i64 136, !32, i64 160, !36, i64 184, !36, i64 200}
!21 = !{!"_ZTSN17RigidBodyDynamics4Math16SpatialTransformE", !22, i64 0, !27, i64 72}
!22 = !{!"_ZTS9Matrix3_t", !23, i64 0}
!23 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !25, i64 0}
!25 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !26, i64 0}
!26 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !7, i64 0}
!27 = !{!"_ZTS9Vector3_t", !28, i64 0}
!28 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !29, i64 0}
!29 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !30, i64 0}
!30 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !31, i64 0}
!31 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!32 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !33, i64 0}
!33 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !34, i64 0}
!34 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !11, i64 0, !35, i64 8, !35, i64 16}
!35 = !{!"long", !7, i64 0}
!36 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !37, i64 0}
!37 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !38, i64 0}
!38 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !11, i64 0, !35, i64 8}
!39 = distinct !{!39, !40}
!40 = !{!"llvm.loop.mustprogress"}
!41 = !{!42, !43, i64 104}
!42 = !{!"_ZTSN17RigidBodyDynamics4BodyE", !6, i64 0, !27, i64 8, !22, i64 32, !43, i64 104}
!43 = !{!"bool", !7, i64 0}
!44 = !{i8 0, i8 2}
!45 = !{}
!46 = distinct !{!46, !40}
!47 = distinct !{!47, !40}
!48 = distinct !{!48, !40}


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