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

; 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.urdf::JointCalibration" = type { double, %class.my_shared_ptr, %class.my_shared_ptr }
%class.my_shared_ptr = type { ptr, ptr }

@.str.2 = external hidden unnamed_addr constant [1 x i8], align 1
@_ZTIN5boost16bad_lexical_castE = external dso_local constant { ptr, ptr }, align 8
@.str.33 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.34 = external hidden unnamed_addr constant [58 x i8], align 1
@.str.35 = external hidden unnamed_addr constant [36 x i8], align 1
@.str.36 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.37 = external hidden unnamed_addr constant [59 x i8], align 1
@.str.38 = external hidden unnamed_addr constant [37 x i8], align 1

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #0

declare noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144), ptr noundef) #1

declare void @_Z8logDebugPKcS0_S0_(ptr noundef, ptr noundef, ptr noundef) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef double @_ZN5boost12lexical_castIdEET_PKc(ptr noundef) #2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: nounwind memory(none)
declare i32 @llvm.eh.typeid.for.p0(ptr) #3

declare ptr @__cxa_begin_catch(ptr)

declare void @_Z8logErrorPKcS0_S0_S0_(ptr noundef, ptr noundef, ptr noundef, ptr noundef) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN5boost16bad_lexical_cast4whatEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

declare void @__cxa_end_catch()

; Function Attrs: noinline noreturn nounwind uwtable
declare hidden void @__clang_call_terminate(ptr noundef) #4

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf21parseJointCalibrationERNS_16JointCalibrationEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(40) %0, ptr noundef %1) #5 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 ptr, align 8
  %8 = alloca i32, align 4
  %9 = alloca ptr, align 8
  %10 = alloca i32, align 4
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  %13 = load ptr, ptr %4, align 8, !tbaa !5
  call void @_ZN4urdf16JointCalibration5clearEv(ptr noundef nonnull align 8 dereferenceable(40) %13)
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #8
  %14 = load ptr, ptr %5, align 8, !tbaa !5
  %15 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %14, ptr noundef @.str.33)
  store ptr %15, ptr %6, align 8, !tbaa !5
  %16 = load ptr, ptr %6, align 8, !tbaa !5
  %17 = icmp eq ptr %16, null
  br i1 %17, label %18, label %21

18:                                               ; preds = %2
  call void @_Z8logDebugPKcS0_S0_(ptr noundef @.str.34, ptr noundef @.str.2, ptr noundef @.str.2)
  %19 = load ptr, ptr %4, align 8, !tbaa !5
  %20 = getelementptr inbounds %"class.urdf::JointCalibration", ptr %19, i32 0, i32 1
  call void @_ZN13my_shared_ptrIdE5resetEPKd(ptr noundef nonnull align 8 dereferenceable(16) %20, ptr noundef null)
  br label %56

21:                                               ; preds = %2
  %22 = load ptr, ptr %4, align 8, !tbaa !5
  %23 = getelementptr inbounds %"class.urdf::JointCalibration", ptr %22, i32 0, i32 1
  %24 = invoke noalias noundef nonnull ptr @_Znwm(i64 noundef 8) #9
          to label %25 unwind label %30

25:                                               ; preds = %21
  %26 = load ptr, ptr %6, align 8, !tbaa !5
  %27 = invoke noundef double @_ZN5boost12lexical_castIdEET_PKc(ptr noundef %26)
          to label %28 unwind label %34

28:                                               ; preds = %25
  store double %27, ptr %24, align 8, !tbaa !9
  invoke void @_ZN13my_shared_ptrIdE5resetEPKd(ptr noundef nonnull align 8 dereferenceable(16) %23, ptr noundef %24)
          to label %29 unwind label %30

29:                                               ; preds = %28
  br label %55

30:                                               ; preds = %28, %21
  %31 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost16bad_lexical_castE
  %32 = extractvalue { ptr, i32 } %31, 0
  store ptr %32, ptr %7, align 8
  %33 = extractvalue { ptr, i32 } %31, 1
  store i32 %33, ptr %8, align 4
  br label %38

34:                                               ; preds = %25
  %35 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost16bad_lexical_castE
  %36 = extractvalue { ptr, i32 } %35, 0
  store ptr %36, ptr %7, align 8
  %37 = extractvalue { ptr, i32 } %35, 1
  store i32 %37, ptr %8, align 4
  call void @_ZdlPvm(ptr noundef %24, i64 noundef 8) #10
  br label %38

38:                                               ; preds = %34, %30
  %39 = load i32, ptr %8, align 4
  %40 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN5boost16bad_lexical_castE) #8
  %41 = icmp eq i32 %39, %40
  br i1 %41, label %42, label %104

42:                                               ; preds = %38
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #8
  %43 = load ptr, ptr %7, align 8
  %44 = call ptr @__cxa_begin_catch(ptr %43) #8
  store ptr %44, ptr %9, align 8
  %45 = load ptr, ptr %6, align 8, !tbaa !5
  %46 = load ptr, ptr %9, align 8, !tbaa !5
  %47 = invoke noundef ptr @_ZN5boost16bad_lexical_cast4whatEv(ptr noundef nonnull align 1 dereferenceable(1) %46)
          to label %48 unwind label %50

48:                                               ; preds = %42
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef @.str.35, ptr noundef %45, ptr noundef %47, ptr noundef @.str.2)
          to label %49 unwind label %50

49:                                               ; preds = %48
  store i1 false, ptr %3, align 1
  store i32 1, ptr %10, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #8
  br label %102

50:                                               ; preds = %48, %42
  %51 = landingpad { ptr, i32 }
          cleanup
  %52 = extractvalue { ptr, i32 } %51, 0
  store ptr %52, ptr %7, align 8
  %53 = extractvalue { ptr, i32 } %51, 1
  store i32 %53, ptr %8, align 4
  invoke void @__cxa_end_catch()
          to label %54 unwind label %110

54:                                               ; preds = %50
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #8
  br label %104

55:                                               ; preds = %29
  br label %56

56:                                               ; preds = %55, %18
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #8
  %57 = load ptr, ptr %5, align 8, !tbaa !5
  %58 = call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %57, ptr noundef @.str.36)
  store ptr %58, ptr %11, align 8, !tbaa !5
  %59 = load ptr, ptr %11, align 8, !tbaa !5
  %60 = icmp eq ptr %59, null
  br i1 %60, label %61, label %64

61:                                               ; preds = %56
  call void @_Z8logDebugPKcS0_S0_(ptr noundef @.str.37, ptr noundef @.str.2, ptr noundef @.str.2)
  %62 = load ptr, ptr %4, align 8, !tbaa !5
  %63 = getelementptr inbounds %"class.urdf::JointCalibration", ptr %62, i32 0, i32 2
  call void @_ZN13my_shared_ptrIdE5resetEPKd(ptr noundef nonnull align 8 dereferenceable(16) %63, ptr noundef null)
  br label %99

64:                                               ; preds = %56
  %65 = load ptr, ptr %4, align 8, !tbaa !5
  %66 = getelementptr inbounds %"class.urdf::JointCalibration", ptr %65, i32 0, i32 2
  %67 = invoke noalias noundef nonnull ptr @_Znwm(i64 noundef 8) #9
          to label %68 unwind label %73

68:                                               ; preds = %64
  %69 = load ptr, ptr %11, align 8, !tbaa !5
  %70 = invoke noundef double @_ZN5boost12lexical_castIdEET_PKc(ptr noundef %69)
          to label %71 unwind label %77

71:                                               ; preds = %68
  store double %70, ptr %67, align 8, !tbaa !9
  invoke void @_ZN13my_shared_ptrIdE5resetEPKd(ptr noundef nonnull align 8 dereferenceable(16) %66, ptr noundef %67)
          to label %72 unwind label %73

72:                                               ; preds = %71
  br label %98

73:                                               ; preds = %71, %64
  %74 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost16bad_lexical_castE
  %75 = extractvalue { ptr, i32 } %74, 0
  store ptr %75, ptr %7, align 8
  %76 = extractvalue { ptr, i32 } %74, 1
  store i32 %76, ptr %8, align 4
  br label %81

77:                                               ; preds = %68
  %78 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost16bad_lexical_castE
  %79 = extractvalue { ptr, i32 } %78, 0
  store ptr %79, ptr %7, align 8
  %80 = extractvalue { ptr, i32 } %78, 1
  store i32 %80, ptr %8, align 4
  call void @_ZdlPvm(ptr noundef %67, i64 noundef 8) #10
  br label %81

81:                                               ; preds = %77, %73
  %82 = load i32, ptr %8, align 4
  %83 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN5boost16bad_lexical_castE) #8
  %84 = icmp eq i32 %82, %83
  br i1 %84, label %85, label %101

85:                                               ; preds = %81
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #8
  %86 = load ptr, ptr %7, align 8
  %87 = call ptr @__cxa_begin_catch(ptr %86) #8
  store ptr %87, ptr %12, align 8
  %88 = load ptr, ptr %11, align 8, !tbaa !5
  %89 = load ptr, ptr %12, align 8, !tbaa !5
  %90 = invoke noundef ptr @_ZN5boost16bad_lexical_cast4whatEv(ptr noundef nonnull align 1 dereferenceable(1) %89)
          to label %91 unwind label %93

91:                                               ; preds = %85
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef @.str.38, ptr noundef %88, ptr noundef %90, ptr noundef @.str.2)
          to label %92 unwind label %93

92:                                               ; preds = %91
  store i1 false, ptr %3, align 1
  store i32 1, ptr %10, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #8
  br label %100

93:                                               ; preds = %91, %85
  %94 = landingpad { ptr, i32 }
          cleanup
  %95 = extractvalue { ptr, i32 } %94, 0
  store ptr %95, ptr %7, align 8
  %96 = extractvalue { ptr, i32 } %94, 1
  store i32 %96, ptr %8, align 4
  invoke void @__cxa_end_catch()
          to label %97 unwind label %110

97:                                               ; preds = %93
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #8
  br label %101

98:                                               ; preds = %72
  br label %99

99:                                               ; preds = %98, %61
  store i1 true, ptr %3, align 1
  store i32 1, ptr %10, align 4
  br label %100

100:                                              ; preds = %99, %92
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #8
  br label %102

101:                                              ; preds = %97, %81
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #8
  br label %104

102:                                              ; preds = %100, %49
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #8
  %103 = load i1, ptr %3, align 1
  ret i1 %103

104:                                              ; preds = %101, %54, %38
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #8
  br label %105

105:                                              ; preds = %104
  %106 = load ptr, ptr %7, align 8
  %107 = load i32, ptr %8, align 4
  %108 = insertvalue { ptr, i32 } poison, ptr %106, 0
  %109 = insertvalue { ptr, i32 } %108, i32 %107, 1
  resume { ptr, i32 } %109

110:                                              ; preds = %93, %50
  %111 = landingpad { ptr, i32 }
          catch ptr null
  %112 = extractvalue { ptr, i32 } %111, 0
  call void @__clang_call_terminate(ptr %112) #11
  unreachable
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf16JointCalibration5clearEv(ptr noundef nonnull align 8 dereferenceable(40)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN13my_shared_ptrIdE5resetEPKd(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) #5 align 2

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) #6

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) #7

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress 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 #3 = { nounwind memory(none) }
attributes #4 = { 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 #5 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nobuiltin allocsize(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 #7 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { nounwind }
attributes #9 = { builtin allocsize(0) }
attributes #10 = { builtin nounwind }
attributes #11 = { 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 = !{!"double", !7, 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"

@.str.2 = external hidden unnamed_addr constant [1 x i8], align 1
@_ZTIN5boost16bad_lexical_castE = external dso_local constant { ptr, ptr }, align 8
@.str.33 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.34 = external hidden unnamed_addr constant [58 x i8], align 1
@.str.35 = external hidden unnamed_addr constant [36 x i8], align 1
@.str.36 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.37 = external hidden unnamed_addr constant [59 x i8], align 1
@.str.38 = external hidden unnamed_addr constant [37 x i8], align 1

declare noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144), ptr noundef) local_unnamed_addr #0

declare void @_Z8logDebugPKcS0_S0_(ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef double @_ZN5boost12lexical_castIdEET_PKc(ptr noundef) local_unnamed_addr #1

declare i32 @__gxx_personality_v0(...)

; Function Attrs: nofree nosync nounwind memory(none)
declare i32 @llvm.eh.typeid.for.p0(ptr) #2

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 #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN5boost16bad_lexical_cast4whatEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

declare void @__cxa_end_catch() local_unnamed_addr

; Function Attrs: noinline noreturn nounwind uwtable
declare hidden void @__clang_call_terminate(ptr noundef) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN4urdf21parseJointCalibrationERNS_16JointCalibrationEP12TiXmlElement(ptr noundef nonnull align 8 dereferenceable(40) %0, ptr noundef %1) local_unnamed_addr #4 personality ptr @__gxx_personality_v0 {
  tail call void @_ZN4urdf16JointCalibration5clearEv(ptr noundef nonnull align 8 dereferenceable(40) %0)
  %3 = tail call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %1, ptr noundef nonnull @.str.33)
  %4 = icmp eq ptr %3, null
  br i1 %4, label %5, label %7

5:                                                ; preds = %2
  tail call void @_Z8logDebugPKcS0_S0_(ptr noundef nonnull @.str.34, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2)
  %6 = getelementptr inbounds i8, ptr %0, i64 8
  tail call void @_ZN13my_shared_ptrIdE5resetEPKd(ptr noundef nonnull align 8 dereferenceable(16) %6, ptr noundef null)
  br label %24

7:                                                ; preds = %2
  %8 = invoke noalias noundef nonnull dereferenceable(8) ptr @_Znwm(i64 noundef 8) #6
          to label %9 unwind label %12

9:                                                ; preds = %7
  %10 = getelementptr inbounds i8, ptr %0, i64 8
  %11 = tail call noundef double @_ZN5boost12lexical_castIdEET_PKc(ptr noundef nonnull %3)
  store double %11, ptr %8, align 8, !tbaa !5
  invoke void @_ZN13my_shared_ptrIdE5resetEPKd(ptr noundef nonnull align 8 dereferenceable(16) %10, ptr noundef nonnull %8)
          to label %24 unwind label %12

12:                                               ; preds = %9, %7
  %13 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost16bad_lexical_castE
  %14 = extractvalue { ptr, i32 } %13, 1
  %15 = tail call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN5boost16bad_lexical_castE) #7
  %16 = icmp eq i32 %14, %15
  br i1 %16, label %17, label %47

17:                                               ; preds = %12
  %18 = extractvalue { ptr, i32 } %13, 0
  %19 = tail call ptr @__cxa_begin_catch(ptr %18) #7
  %20 = tail call noundef ptr @_ZN5boost16bad_lexical_cast4whatEv(ptr noundef nonnull align 1 dereferenceable(1) %19)
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef nonnull @.str.35, ptr noundef nonnull %3, ptr noundef %20, ptr noundef nonnull @.str.2)
          to label %21 unwind label %22

21:                                               ; preds = %17
  tail call void @__cxa_end_catch()
  br label %46

22:                                               ; preds = %17
  %23 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %47 unwind label %48

24:                                               ; preds = %9, %5
  %25 = tail call noundef ptr @_ZNK12TiXmlElement9AttributeEPKc(ptr noundef nonnull align 8 dereferenceable(144) %1, ptr noundef nonnull @.str.36)
  %26 = icmp eq ptr %25, null
  br i1 %26, label %27, label %29

27:                                               ; preds = %24
  tail call void @_Z8logDebugPKcS0_S0_(ptr noundef nonnull @.str.37, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.2)
  %28 = getelementptr inbounds i8, ptr %0, i64 24
  tail call void @_ZN13my_shared_ptrIdE5resetEPKd(ptr noundef nonnull align 8 dereferenceable(16) %28, ptr noundef null)
  br label %46

29:                                               ; preds = %24
  %30 = invoke noalias noundef nonnull dereferenceable(8) ptr @_Znwm(i64 noundef 8) #6
          to label %31 unwind label %34

31:                                               ; preds = %29
  %32 = getelementptr inbounds i8, ptr %0, i64 24
  %33 = tail call noundef double @_ZN5boost12lexical_castIdEET_PKc(ptr noundef nonnull %25)
  store double %33, ptr %30, align 8, !tbaa !5
  invoke void @_ZN13my_shared_ptrIdE5resetEPKd(ptr noundef nonnull align 8 dereferenceable(16) %32, ptr noundef nonnull %30)
          to label %46 unwind label %34

34:                                               ; preds = %31, %29
  %35 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost16bad_lexical_castE
  %36 = extractvalue { ptr, i32 } %35, 1
  %37 = tail call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN5boost16bad_lexical_castE) #7
  %38 = icmp eq i32 %36, %37
  br i1 %38, label %39, label %47

39:                                               ; preds = %34
  %40 = extractvalue { ptr, i32 } %35, 0
  %41 = tail call ptr @__cxa_begin_catch(ptr %40) #7
  %42 = tail call noundef ptr @_ZN5boost16bad_lexical_cast4whatEv(ptr noundef nonnull align 1 dereferenceable(1) %41)
  invoke void @_Z8logErrorPKcS0_S0_S0_(ptr noundef nonnull @.str.38, ptr noundef nonnull %25, ptr noundef %42, ptr noundef nonnull @.str.2)
          to label %43 unwind label %44

43:                                               ; preds = %39
  tail call void @__cxa_end_catch()
  br label %46

44:                                               ; preds = %39
  %45 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %47 unwind label %48

46:                                               ; preds = %43, %31, %27, %21
  %.1 = phi i1 [ false, %21 ], [ false, %43 ], [ true, %31 ], [ true, %27 ]
  ret i1 %.1

47:                                               ; preds = %44, %22, %34, %12
  %.merged = phi { ptr, i32 } [ %13, %12 ], [ %35, %34 ], [ %23, %22 ], [ %45, %44 ]
  resume { ptr, i32 } %.merged

48:                                               ; preds = %44, %22
  %49 = landingpad { ptr, i32 }
          catch ptr null
  %50 = extractvalue { ptr, i32 } %49, 0
  tail call void @__clang_call_terminate(ptr %50) #8
  unreachable
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN4urdf16JointCalibration5clearEv(ptr noundef nonnull align 8 dereferenceable(40)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN13my_shared_ptrIdE5resetEPKd(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) local_unnamed_addr #4 align 2

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) local_unnamed_addr #5

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

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

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


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