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

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

%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator" = type { i8 }
%"class.urdf::Pose" = type { %"class.urdf::Vector3", %"class.urdf::Rotation" }
%"class.urdf::Vector3" = type { double, double, double }
%"class.urdf::Rotation" = type { double, double, double, double }

@.str = external hidden unnamed_addr constant [4 x i8], align 1
@_ZTIN4urdf10ParseErrorE = external dso_local constant { ptr, ptr, ptr }, align 8
@.str.1 = external hidden unnamed_addr constant [1 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [4 x i8], align 1

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf9parsePoseERNS_4PoseEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(56) %0, ptr noundef %1) #0 personality ptr @__gxx_personality_v0 {
  %3 = alloca i1, align 1
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca %"class.std::__cxx11::basic_string", align 8
  %8 = alloca %"class.std::allocator", align 1
  %9 = alloca ptr, align 8
  %10 = alloca i32, align 4
  %11 = alloca ptr, align 8
  %12 = alloca i32, align 4
  %13 = alloca ptr, align 8
  %14 = alloca %"class.std::__cxx11::basic_string", align 8
  %15 = alloca %"class.std::allocator", align 1
  %16 = alloca ptr, align 8
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  %17 = load ptr, ptr %4, align 8, !tbaa !5
  call void @_ZN4urdf4Pose5clearEv(ptr noundef nonnull align 8 dereferenceable(56) %17)
  %18 = load ptr, ptr %5, align 8, !tbaa !5
  %19 = icmp ne ptr %18, null
  br i1 %19, label %20, label %105

20:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #6
  %21 = load ptr, ptr %5, align 8, !tbaa !5
  %22 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %21, ptr noundef @.str)
  store ptr %22, ptr %6, align 8, !tbaa !5
  %23 = load ptr, ptr %6, align 8, !tbaa !5
  %24 = icmp ne ptr %23, null
  br i1 %24, label %25, label %59

25:                                               ; preds = %20
  %26 = load ptr, ptr %4, align 8, !tbaa !5
  %27 = getelementptr inbounds %"class.urdf::Pose", ptr %26, i32 0, i32 0
  call void @llvm.lifetime.start.p0(i64 32, ptr %7) #6
  %28 = load ptr, ptr %6, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 1, ptr %8) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %8) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %7, ptr noundef %28, ptr noundef nonnull align 1 dereferenceable(1) %8)
          to label %29 unwind label %31

29:                                               ; preds = %25
  invoke void @_ZN4urdf7Vector34initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(24) %27, ptr noundef nonnull align 8 dereferenceable(32) %7)
          to label %30 unwind label %35

30:                                               ; preds = %29
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %8) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %8) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %7) #6
  br label %58

31:                                               ; preds = %25
  %32 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %33 = extractvalue { ptr, i32 } %32, 0
  store ptr %33, ptr %9, align 8
  %34 = extractvalue { ptr, i32 } %32, 1
  store i32 %34, ptr %10, align 4
  br label %39

35:                                               ; preds = %29
  %36 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %37 = extractvalue { ptr, i32 } %36, 0
  store ptr %37, ptr %9, align 8
  %38 = extractvalue { ptr, i32 } %36, 1
  store i32 %38, ptr %10, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #6
  br label %39

39:                                               ; preds = %35, %31
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %8) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %8) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %7) #6
  br label %40

40:                                               ; preds = %39
  %41 = load i32, ptr %10, align 4
  %42 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN4urdf10ParseErrorE) #6
  %43 = icmp eq i32 %41, %42
  br i1 %43, label %44, label %104

44:                                               ; preds = %40
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #6
  %45 = load ptr, ptr %9, align 8
  %46 = call ptr @__cxa_begin_catch(ptr %45) #6
  store ptr %46, ptr %11, align 8
  %47 = load ptr, ptr %11, align 8, !tbaa !5
  %48 = load ptr, ptr %47, align 8, !tbaa !9
  %49 = getelementptr inbounds ptr, ptr %48, i64 2
  %50 = load ptr, ptr %49, align 8
  %51 = call noundef ptr %50(ptr noundef nonnull align 8 dereferenceable(16) %47) #6
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef %51, ptr noundef @.str.1, ptr noundef @.str.1, ptr noundef @.str.1)
          to label %52 unwind label %53

52:                                               ; preds = %44
  store i1 false, ptr %3, align 1
  store i32 1, ptr %12, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #6
  br label %100

53:                                               ; preds = %44
  %54 = landingpad { ptr, i32 }
          cleanup
  %55 = extractvalue { ptr, i32 } %54, 0
  store ptr %55, ptr %9, align 8
  %56 = extractvalue { ptr, i32 } %54, 1
  store i32 %56, ptr %10, align 4
  invoke void @__cxa_end_catch()
          to label %57 unwind label %113

57:                                               ; preds = %53
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #6
  br label %104

58:                                               ; preds = %30
  br label %59

59:                                               ; preds = %58, %20
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #6
  %60 = load ptr, ptr %5, align 8, !tbaa !5
  %61 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %60, ptr noundef @.str.2)
  store ptr %61, ptr %13, align 8, !tbaa !5
  %62 = load ptr, ptr %13, align 8, !tbaa !5
  %63 = icmp ne ptr %62, null
  br i1 %63, label %64, label %98

64:                                               ; preds = %59
  %65 = load ptr, ptr %4, align 8, !tbaa !5
  %66 = getelementptr inbounds %"class.urdf::Pose", ptr %65, i32 0, i32 1
  call void @llvm.lifetime.start.p0(i64 32, ptr %14) #6
  %67 = load ptr, ptr %13, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 1, ptr %15) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %15) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %14, ptr noundef %67, ptr noundef nonnull align 1 dereferenceable(1) %15)
          to label %68 unwind label %70

68:                                               ; preds = %64
  invoke void @_ZN4urdf8Rotation4initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(32) %66, ptr noundef nonnull align 8 dereferenceable(32) %14)
          to label %69 unwind label %74

69:                                               ; preds = %68
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %14) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %15) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %15) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %14) #6
  br label %97

70:                                               ; preds = %64
  %71 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %72 = extractvalue { ptr, i32 } %71, 0
  store ptr %72, ptr %9, align 8
  %73 = extractvalue { ptr, i32 } %71, 1
  store i32 %73, ptr %10, align 4
  br label %78

74:                                               ; preds = %68
  %75 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  %76 = extractvalue { ptr, i32 } %75, 0
  store ptr %76, ptr %9, align 8
  %77 = extractvalue { ptr, i32 } %75, 1
  store i32 %77, ptr %10, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %14) #6
  br label %78

78:                                               ; preds = %74, %70
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %15) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %15) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %14) #6
  br label %79

79:                                               ; preds = %78
  %80 = load i32, ptr %10, align 4
  %81 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN4urdf10ParseErrorE) #6
  %82 = icmp eq i32 %80, %81
  br i1 %82, label %83, label %103

83:                                               ; preds = %79
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #6
  %84 = load ptr, ptr %9, align 8
  %85 = call ptr @__cxa_begin_catch(ptr %84) #6
  store ptr %85, ptr %16, align 8
  %86 = load ptr, ptr %16, align 8, !tbaa !5
  %87 = load ptr, ptr %86, align 8, !tbaa !9
  %88 = getelementptr inbounds ptr, ptr %87, i64 2
  %89 = load ptr, ptr %88, align 8
  %90 = call noundef ptr %89(ptr noundef nonnull align 8 dereferenceable(16) %86) #6
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef %90, ptr noundef @.str.1, ptr noundef @.str.1, ptr noundef @.str.1)
          to label %91 unwind label %92

91:                                               ; preds = %83
  store i1 false, ptr %3, align 1
  store i32 1, ptr %12, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #6
  br label %99

92:                                               ; preds = %83
  %93 = landingpad { ptr, i32 }
          cleanup
  %94 = extractvalue { ptr, i32 } %93, 0
  store ptr %94, ptr %9, align 8
  %95 = extractvalue { ptr, i32 } %93, 1
  store i32 %95, ptr %10, align 4
  invoke void @__cxa_end_catch()
          to label %96 unwind label %113

96:                                               ; preds = %92
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #6
  br label %103

97:                                               ; preds = %69
  br label %98

98:                                               ; preds = %97, %59
  store i32 0, ptr %12, align 4
  br label %99

99:                                               ; preds = %98, %91
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #6
  br label %100

100:                                              ; preds = %99, %52
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #6
  %101 = load i32, ptr %12, align 4
  switch i32 %101, label %116 [
    i32 0, label %102
    i32 1, label %106
  ]

102:                                              ; preds = %100
  br label %105

103:                                              ; preds = %96, %79
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #6
  br label %104

104:                                              ; preds = %103, %57, %40
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #6
  br label %108

105:                                              ; preds = %102, %2
  store i1 true, ptr %3, align 1
  br label %106

106:                                              ; preds = %105, %100
  %107 = load i1, ptr %3, align 1
  ret i1 %107

108:                                              ; preds = %104
  %109 = load ptr, ptr %9, align 8
  %110 = load i32, ptr %10, align 4
  %111 = insertvalue { ptr, i32 } poison, ptr %109, 0
  %112 = insertvalue { ptr, i32 } %111, i32 %110, 1
  resume { ptr, i32 } %112

113:                                              ; preds = %92, %53
  %114 = landingpad { ptr, i32 }
          catch ptr null
  %115 = extractvalue { ptr, i32 } %114, 0
  call void @__clang_call_terminate(ptr %115) #7
  unreachable

116:                                              ; preds = %100
  unreachable
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf4Pose5clearEv(ptr noundef nonnull align 8 dereferenceable(56)) #0 align 2

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

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf7Vector34initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(32)) #0 align 2

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

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

declare i32 @__gxx_personality_v0(...)

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

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

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

declare ptr @__cxa_begin_catch(ptr)

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

declare void @__cxa_end_catch()

; Function Attrs: noinline noreturn nounwind uwtable
declare hidden void @__clang_call_terminate(ptr noundef) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf8Rotation4initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) #0 align 2

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

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"vtable pointer", !8, i64 0}


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

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

@.str = external hidden unnamed_addr constant [4 x i8], align 1
@_ZTIN4urdf10ParseErrorE = external dso_local constant { ptr, ptr, ptr }, align 8
@.str.1 = external hidden unnamed_addr constant [1 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [4 x i8], align 1

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf9parsePoseERNS_4PoseEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(56) %0, ptr noundef %1) local_unnamed_addr #0 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.std::__cxx11::basic_string", align 8
  %4 = alloca %"class.std::allocator", align 1
  %5 = alloca %"class.std::__cxx11::basic_string", align 8
  %6 = alloca %"class.std::allocator", align 1
  tail call void @_ZN4urdf4Pose5clearEv(ptr noundef nonnull align 8 dereferenceable(56) %0)
  %.not = icmp eq ptr %1, null
  br i1 %.not, label %.thread, label %7

7:                                                ; preds = %2
  %8 = tail call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %1, ptr noundef nonnull @.str)
  %.not30 = icmp eq ptr %8, null
  br i1 %.not30, label %28, label %9

9:                                                ; preds = %7
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %3) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %4) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %3, ptr noundef nonnull %8, ptr noundef nonnull align 1 dereferenceable(1) %4)
          to label %10 unwind label %12

10:                                               ; preds = %9
  invoke void @_ZN4urdf7Vector34initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 8 dereferenceable(32) %3)
          to label %11 unwind label %14

11:                                               ; preds = %10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %3) #6
  br label %28

12:                                               ; preds = %9
  %13 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  br label %16

14:                                               ; preds = %10
  %15 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #6
  br label %16

16:                                               ; preds = %14, %12
  %.pn = phi { ptr, i32 } [ %15, %14 ], [ %13, %12 ]
  %.024 = extractvalue { ptr, i32 } %.pn, 1
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %3) #6
  %17 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN4urdf10ParseErrorE) #6
  %18 = icmp eq i32 %.024, %17
  br i1 %18, label %19, label %50

19:                                               ; preds = %16
  %.019 = extractvalue { ptr, i32 } %.pn, 0
  %20 = call ptr @__cxa_begin_catch(ptr %.019) #6
  %21 = load ptr, ptr %20, align 8, !tbaa !5
  %22 = getelementptr inbounds i8, ptr %21, i64 16
  %23 = load ptr, ptr %22, align 8
  %24 = call noundef ptr %23(ptr noundef nonnull align 8 dereferenceable(16) %20) #6
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef %24, ptr noundef nonnull @.str.1, ptr noundef nonnull @.str.1, ptr noundef nonnull @.str.1)
          to label %25 unwind label %26

25:                                               ; preds = %19
  call void @__cxa_end_catch()
  br label %.thread

26:                                               ; preds = %19
  %27 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %50 unwind label %51

28:                                               ; preds = %11, %7
  %29 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %1, ptr noundef nonnull @.str.2)
  %.not32 = icmp eq ptr %29, null
  br i1 %.not32, label %.thread, label %30

30:                                               ; preds = %28
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %5) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %6) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %5, ptr noundef nonnull %29, ptr noundef nonnull align 1 dereferenceable(1) %6)
          to label %31 unwind label %34

31:                                               ; preds = %30
  %32 = getelementptr inbounds i8, ptr %0, i64 24
  invoke void @_ZN4urdf8Rotation4initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(32) %32, ptr noundef nonnull align 8 dereferenceable(32) %5)
          to label %33 unwind label %36

33:                                               ; preds = %31
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %6) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #6
  br label %.thread

34:                                               ; preds = %30
  %35 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  br label %38

36:                                               ; preds = %31
  %37 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN4urdf10ParseErrorE
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #6
  br label %38

38:                                               ; preds = %36, %34
  %.pn33 = phi { ptr, i32 } [ %37, %36 ], [ %35, %34 ]
  %.125 = extractvalue { ptr, i32 } %.pn33, 1
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %6) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #6
  %39 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN4urdf10ParseErrorE) #6
  %40 = icmp eq i32 %.125, %39
  br i1 %40, label %41, label %50

41:                                               ; preds = %38
  %.120 = extractvalue { ptr, i32 } %.pn33, 0
  %42 = call ptr @__cxa_begin_catch(ptr %.120) #6
  %43 = load ptr, ptr %42, align 8, !tbaa !5
  %44 = getelementptr inbounds i8, ptr %43, i64 16
  %45 = load ptr, ptr %44, align 8
  %46 = call noundef ptr %45(ptr noundef nonnull align 8 dereferenceable(16) %42) #6
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef %46, ptr noundef nonnull @.str.1, ptr noundef nonnull @.str.1, ptr noundef nonnull @.str.1)
          to label %47 unwind label %48

47:                                               ; preds = %41
  call void @__cxa_end_catch()
  br label %.thread

48:                                               ; preds = %41
  %49 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %50 unwind label %51

50:                                               ; preds = %48, %26, %38, %16
  %.merged = phi { ptr, i32 } [ %.pn, %16 ], [ %.pn33, %38 ], [ %27, %26 ], [ %49, %48 ]
  resume { ptr, i32 } %.merged

.thread:                                          ; preds = %28, %33, %2, %25, %47
  %.2 = phi i1 [ false, %47 ], [ false, %25 ], [ true, %2 ], [ true, %33 ], [ true, %28 ]
  ret i1 %.2

51:                                               ; preds = %48, %26
  %52 = landingpad { ptr, i32 }
          catch ptr null
  %53 = extractvalue { ptr, i32 } %52, 0
  call void @__clang_call_terminate(ptr %53) #7
  unreachable
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf4Pose5clearEv(ptr noundef nonnull align 8 dereferenceable(56)) 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) #1

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf7Vector34initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #0 align 2

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

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

declare i32 @__gxx_personality_v0(...)

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

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

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

declare ptr @__cxa_begin_catch(ptr) local_unnamed_addr

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

declare void @__cxa_end_catch() local_unnamed_addr

; Function Attrs: noinline noreturn nounwind uwtable
declare hidden void @__clang_call_terminate(ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf8Rotation4initERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #0 align 2

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

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

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

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


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