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

; 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::basic_fstream" = type { %"class.std::basic_iostream.base", %"class.std::basic_filebuf", %"class.std::basic_ios" }
%"class.std::basic_iostream.base" = type { %"class.std::basic_istream.base", %"class.std::basic_ostream.base" }
%"class.std::basic_istream.base" = type { ptr, i64 }
%"class.std::basic_ostream.base" = type { ptr }
%"class.std::basic_filebuf" = type { %"class.std::basic_streambuf", %union.pthread_mutex_t, %"class.std::__basic_file", i32, %struct.__mbstate_t, %struct.__mbstate_t, %struct.__mbstate_t, ptr, i64, i8, i8, i8, i8, ptr, ptr, i8, ptr, ptr, i64, ptr, ptr }
%"class.std::basic_streambuf" = type { ptr, ptr, ptr, ptr, ptr, ptr, ptr, %"class.std::locale" }
%"class.std::locale" = type { ptr }
%union.pthread_mutex_t = type { %struct.__pthread_mutex_s }
%struct.__pthread_mutex_s = type { i32, i32, i32, i32, i32, i16, i16, %struct.__pthread_internal_list }
%struct.__pthread_internal_list = type { ptr, ptr }
%"class.std::__basic_file" = type <{ ptr, i8, [7 x i8] }>
%struct.__mbstate_t = type { i32, %union.anon.0 }
%union.anon.0 = type { i32 }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%class.my_shared_ptr = type { ptr, ptr }

@.str = external hidden unnamed_addr constant [2 x i8], align 1

; Function Attrs: mustprogress norecurse uwtable
define dso_local noundef i32 @main(i32 noundef %0, ptr noundef %1) #0 personality ptr @__gxx_personality_v0 {
  %3 = alloca i32, align 4
  %4 = alloca i32, align 4
  %5 = alloca ptr, align 8
  %6 = alloca %"class.std::__cxx11::basic_string", align 8
  %7 = alloca %"class.std::basic_fstream", align 8
  %8 = alloca ptr, align 8
  %9 = alloca i32, align 4
  %10 = alloca %"class.std::__cxx11::basic_string", align 8
  %11 = alloca %"class.std::__cxx11::basic_string", align 8
  %12 = alloca %class.my_shared_ptr, align 8
  store i32 0, ptr %3, align 4
  store i32 %0, ptr %4, align 4, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !9
  br label %13

13:                                               ; preds = %55, %2
  call void @llvm.lifetime.start.p0(i64 32, ptr %6) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #6
  call void @llvm.lifetime.start.p0(i64 528, ptr %7) #6
  %14 = load ptr, ptr %5, align 8, !tbaa !9
  %15 = getelementptr inbounds ptr, ptr %14, i64 1
  %16 = load ptr, ptr %15, align 8, !tbaa !9
  invoke void @_ZNSt13basic_fstreamIcSt11char_traitsIcEEC1EPKcSt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(264) %7, ptr noundef %16, i32 noundef 8)
          to label %17 unwind label %31

17:                                               ; preds = %13
  br label %18

18:                                               ; preds = %30, %17
  %19 = load ptr, ptr %7, align 8, !tbaa !11
  %20 = getelementptr i8, ptr %19, i64 -24
  %21 = load i64, ptr %20, align 8
  %22 = getelementptr inbounds i8, ptr %7, i64 %21
  %23 = invoke noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEE4goodEv(ptr noundef nonnull align 8 dereferenceable(264) %22)
          to label %24 unwind label %35

24:                                               ; preds = %18
  br i1 %23, label %25, label %53

25:                                               ; preds = %24
  call void @llvm.lifetime.start.p0(i64 32, ptr %10) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #6
  %26 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZSt7getlineIcSt11char_traitsIcESaIcEERSt13basic_istreamIT_T0_ES7_RNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(16) %7, ptr noundef nonnull align 8 dereferenceable(32) %10)
          to label %27 unwind label %39

27:                                               ; preds = %25
  call void @llvm.lifetime.start.p0(i64 32, ptr %11) #6
  invoke void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EERKS8_PKS5_(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %11, ptr noundef nonnull align 8 dereferenceable(32) %10, ptr noundef @.str)
          to label %28 unwind label %43

28:                                               ; preds = %27
  %29 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEpLERKS4_(ptr noundef nonnull align 8 dereferenceable(32) %6, ptr noundef nonnull align 8 dereferenceable(32) %11)
          to label %30 unwind label %47

30:                                               ; preds = %28
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %11) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %10) #6
  br label %18, !llvm.loop !13

31:                                               ; preds = %13
  %32 = landingpad { ptr, i32 }
          cleanup
  %33 = extractvalue { ptr, i32 } %32, 0
  store ptr %33, ptr %8, align 8
  %34 = extractvalue { ptr, i32 } %32, 1
  store i32 %34, ptr %9, align 4
  br label %57

35:                                               ; preds = %54, %53, %18
  %36 = landingpad { ptr, i32 }
          cleanup
  %37 = extractvalue { ptr, i32 } %36, 0
  store ptr %37, ptr %8, align 8
  %38 = extractvalue { ptr, i32 } %36, 1
  store i32 %38, ptr %9, align 4
  br label %56

39:                                               ; preds = %25
  %40 = landingpad { ptr, i32 }
          cleanup
  %41 = extractvalue { ptr, i32 } %40, 0
  store ptr %41, ptr %8, align 8
  %42 = extractvalue { ptr, i32 } %40, 1
  store i32 %42, ptr %9, align 4
  br label %52

43:                                               ; preds = %27
  %44 = landingpad { ptr, i32 }
          cleanup
  %45 = extractvalue { ptr, i32 } %44, 0
  store ptr %45, ptr %8, align 8
  %46 = extractvalue { ptr, i32 } %44, 1
  store i32 %46, ptr %9, align 4
  br label %51

47:                                               ; preds = %28
  %48 = landingpad { ptr, i32 }
          cleanup
  %49 = extractvalue { ptr, i32 } %48, 0
  store ptr %49, ptr %8, align 8
  %50 = extractvalue { ptr, i32 } %48, 1
  store i32 %50, ptr %9, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #6
  br label %51

51:                                               ; preds = %47, %43
  call void @llvm.lifetime.end.p0(i64 32, ptr %11) #6
  br label %52

52:                                               ; preds = %51, %39
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %10) #6
  br label %56

53:                                               ; preds = %24
  invoke void @_ZNSt13basic_fstreamIcSt11char_traitsIcEE5closeEv(ptr noundef nonnull align 8 dereferenceable(264) %7)
          to label %54 unwind label %35

54:                                               ; preds = %53
  invoke void @_ZN4urdf9parseURDFERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind writable sret(%class.my_shared_ptr) align 8 %12, ptr noundef nonnull align 8 dereferenceable(32) %6)
          to label %55 unwind label %35

55:                                               ; preds = %54
  call void @_ZN13my_shared_ptrIN4urdf14ModelInterfaceEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %12) #6
  call void @_ZNSt13basic_fstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(264) %7) #6
  call void @llvm.lifetime.end.p0(i64 528, ptr %7) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %6) #6
  br label %13, !llvm.loop !15

56:                                               ; preds = %52, %35
  call void @_ZNSt13basic_fstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(264) %7) #6
  br label %57

57:                                               ; preds = %56, %31
  call void @llvm.lifetime.end.p0(i64 528, ptr %7) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %6) #6
  br label %58

58:                                               ; preds = %57
  %59 = load ptr, ptr %8, align 8
  %60 = load i32, ptr %9, align 4
  %61 = insertvalue { ptr, i32 } poison, ptr %59, 0
  %62 = insertvalue { ptr, i32 } %61, i32 %60, 1
  resume { ptr, i32 } %62
}

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

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare void @_ZNSt13basic_fstreamIcSt11char_traitsIcEEC1EPKcSt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(264), ptr noundef, i32 noundef) unnamed_addr #3 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEE4goodEv(ptr noundef nonnull align 8 dereferenceable(264)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(16) ptr @_ZSt7getlineIcSt11char_traitsIcESaIcEERSt13basic_istreamIT_T0_ES7_RNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(32)) #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EERKS8_PKS5_(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) #4

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEpLERKS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 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: mustprogress uwtable
declare void @_ZNSt13basic_fstreamIcSt11char_traitsIcEE5closeEv(ptr noundef nonnull align 8 dereferenceable(264)) #3 align 2

declare void @_ZN4urdf9parseURDFERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind writable sret(%class.my_shared_ptr) align 8, ptr noundef nonnull align 8 dereferenceable(32)) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN13my_shared_ptrIN4urdf14ModelInterfaceEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt13basic_fstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(264)) unnamed_addr #2 align 2

attributes #0 = { mustprogress norecurse 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 = { 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 = { 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 #4 = { 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 #5 = { "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 = !{!"int", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"any pointer", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"vtable pointer", !8, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}
!15 = distinct !{!15, !14}


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

%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::basic_fstream" = type { %"class.std::basic_iostream.base", %"class.std::basic_filebuf", %"class.std::basic_ios" }
%"class.std::basic_iostream.base" = type { %"class.std::basic_istream.base", %"class.std::basic_ostream.base" }
%"class.std::basic_istream.base" = type { ptr, i64 }
%"class.std::basic_ostream.base" = type { ptr }
%"class.std::basic_filebuf" = type { %"class.std::basic_streambuf", %union.pthread_mutex_t, %"class.std::__basic_file", i32, %struct.__mbstate_t, %struct.__mbstate_t, %struct.__mbstate_t, ptr, i64, i8, i8, i8, i8, ptr, ptr, i8, ptr, ptr, i64, ptr, ptr }
%"class.std::basic_streambuf" = type { ptr, ptr, ptr, ptr, ptr, ptr, ptr, %"class.std::locale" }
%"class.std::locale" = type { ptr }
%union.pthread_mutex_t = type { %struct.__pthread_mutex_s }
%struct.__pthread_mutex_s = type { i32, i32, i32, i32, i32, i16, i16, %struct.__pthread_internal_list }
%struct.__pthread_internal_list = type { ptr, ptr }
%"class.std::__basic_file" = type <{ ptr, i8, [7 x i8] }>
%struct.__mbstate_t = type { i32, %union.anon.0 }
%union.anon.0 = type { i32 }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%class.my_shared_ptr = type { ptr, ptr }

@.str = external hidden unnamed_addr constant [2 x i8], align 1

; Function Attrs: mustprogress norecurse noreturn uwtable
define dso_local noundef i32 @main(i32 noundef %0, ptr nocapture noundef readonly %1) local_unnamed_addr #0 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.std::__cxx11::basic_string", align 8
  %4 = alloca %"class.std::basic_fstream", align 8
  %5 = alloca %"class.std::__cxx11::basic_string", align 8
  %6 = alloca %"class.std::__cxx11::basic_string", align 8
  %7 = alloca %class.my_shared_ptr, align 8
  %8 = getelementptr inbounds i8, ptr %1, i64 8
  br label %9

9:                                                ; preds = %39, %2
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %3) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #6
  call void @llvm.lifetime.start.p0(i64 528, ptr nonnull %4) #6
  %10 = load ptr, ptr %8, align 8, !tbaa !5
  invoke void @_ZNSt13basic_fstreamIcSt11char_traitsIcEEC1EPKcSt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(264) %4, ptr noundef %10, i32 noundef 8)
          to label %.preheader unwind label %26

.preheader:                                       ; preds = %9
  %11 = load ptr, ptr %4, align 8, !tbaa !9
  %12 = getelementptr i8, ptr %11, i64 -24
  %13 = load i64, ptr %12, align 8
  %14 = getelementptr inbounds i8, ptr %4, i64 %13
  %15 = call noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEE4goodEv(ptr noundef nonnull align 8 dereferenceable(264) %14)
  br i1 %15, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %.preheader, %20
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %5) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #6
  %16 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZSt7getlineIcSt11char_traitsIcESaIcEERSt13basic_istreamIT_T0_ES7_RNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef nonnull align 8 dereferenceable(32) %5)
          to label %17 unwind label %30

17:                                               ; preds = %.lr.ph
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %6) #6
  invoke void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EERKS8_PKS5_(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %6, ptr noundef nonnull align 8 dereferenceable(32) %5, ptr noundef nonnull @.str)
          to label %18 unwind label %32

18:                                               ; preds = %17
  %19 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEpLERKS4_(ptr noundef nonnull align 8 dereferenceable(32) %3, ptr noundef nonnull align 8 dereferenceable(32) %6)
          to label %20 unwind label %34

20:                                               ; preds = %18
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #6
  %21 = load ptr, ptr %4, align 8, !tbaa !9
  %22 = getelementptr i8, ptr %21, i64 -24
  %23 = load i64, ptr %22, align 8
  %24 = getelementptr inbounds i8, ptr %4, i64 %23
  %25 = call noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEE4goodEv(ptr noundef nonnull align 8 dereferenceable(264) %24)
  br i1 %25, label %.lr.ph, label %._crit_edge, !llvm.loop !11

26:                                               ; preds = %9
  %27 = landingpad { ptr, i32 }
          cleanup
  br label %41

28:                                               ; preds = %38, %._crit_edge
  %29 = landingpad { ptr, i32 }
          cleanup
  br label %40

30:                                               ; preds = %.lr.ph
  %31 = landingpad { ptr, i32 }
          cleanup
  br label %37

32:                                               ; preds = %17
  %33 = landingpad { ptr, i32 }
          cleanup
  br label %36

34:                                               ; preds = %18
  %35 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #6
  br label %36

36:                                               ; preds = %34, %32
  %.pn = phi { ptr, i32 } [ %35, %34 ], [ %33, %32 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #6
  br label %37

37:                                               ; preds = %36, %30
  %.pn.pn = phi { ptr, i32 } [ %.pn, %36 ], [ %31, %30 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #6
  br label %40

._crit_edge:                                      ; preds = %20, %.preheader
  invoke void @_ZNSt13basic_fstreamIcSt11char_traitsIcEE5closeEv(ptr noundef nonnull align 8 dereferenceable(264) %4)
          to label %38 unwind label %28

38:                                               ; preds = %._crit_edge
  invoke void @_ZN4urdf9parseURDFERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind nonnull writable sret(%class.my_shared_ptr) align 8 %7, ptr noundef nonnull align 8 dereferenceable(32) %3)
          to label %39 unwind label %28

39:                                               ; preds = %38
  call void @_ZN13my_shared_ptrIN4urdf14ModelInterfaceEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %7) #6
  call void @_ZNSt13basic_fstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(264) %4) #6
  call void @llvm.lifetime.end.p0(i64 528, ptr nonnull %4) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %3) #6
  br label %9, !llvm.loop !13

40:                                               ; preds = %37, %28
  %.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn, %37 ], [ %29, %28 ]
  call void @_ZNSt13basic_fstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(264) %4) #6
  br label %41

41:                                               ; preds = %40, %26
  %.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn, %40 ], [ %27, %26 ]
  call void @llvm.lifetime.end.p0(i64 528, ptr nonnull %4) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %3) #6
  resume { ptr, i32 } %.pn.pn.pn.pn
}

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

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare void @_ZNSt13basic_fstreamIcSt11char_traitsIcEEC1EPKcSt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(264), ptr noundef, i32 noundef) unnamed_addr #3 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEE4goodEv(ptr noundef nonnull align 8 dereferenceable(264)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(16) ptr @_ZSt7getlineIcSt11char_traitsIcESaIcEERSt13basic_istreamIT_T0_ES7_RNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZStplIcSt11char_traitsIcESaIcEENSt7__cxx1112basic_stringIT_T0_T1_EERKS8_PKS5_(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEpLERKS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) 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) #1

; Function Attrs: mustprogress uwtable
declare void @_ZNSt13basic_fstreamIcSt11char_traitsIcEE5closeEv(ptr noundef nonnull align 8 dereferenceable(264)) local_unnamed_addr #3 align 2

declare void @_ZN4urdf9parseURDFERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr dead_on_unwind writable sret(%class.my_shared_ptr) align 8, ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN13my_shared_ptrIN4urdf14ModelInterfaceEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt13basic_fstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(264)) unnamed_addr #2 align 2

attributes #0 = { mustprogress norecurse noreturn 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 = { 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 = { 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 #4 = { 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 #5 = { "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 = !{!"vtable pointer", !8, i64 0}
!11 = distinct !{!11, !12}
!12 = !{!"llvm.loop.mustprogress"}
!13 = distinct !{!13, !12}


; Effective O3 passes: GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,PostOrderFunctionAttrsPass,SROAPass,SimplifyCFGPass