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

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

%class.Matrix3_t = type { %"class.Eigen::Matrix.79" }
%"class.Eigen::Matrix.79" = type { %"class.Eigen::PlainObjectBase.80" }
%"class.Eigen::PlainObjectBase.80" = type { %"class.Eigen::DenseStorage.87" }
%"class.Eigen::DenseStorage.87" = type { %"struct.Eigen::internal::plain_array.88" }
%"struct.Eigen::internal::plain_array.88" = type { [9 x double] }
%class.Vector3_t = type { %"class.Eigen::Matrix.70" }
%"class.Eigen::Matrix.70" = type { %"class.Eigen::PlainObjectBase.71" }
%"class.Eigen::PlainObjectBase.71" = type { %"class.Eigen::DenseStorage.78" }
%"class.Eigen::DenseStorage.78" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%"class.Eigen::Product.446" = type { %"class.Eigen::Transpose.453", ptr }
%"class.Eigen::Transpose.453" = type { ptr }
%class.SpatialVector_t = type { %"class.Eigen::Matrix.89" }
%"class.Eigen::Matrix.89" = type { %"class.Eigen::PlainObjectBase.90" }
%"class.Eigen::PlainObjectBase.90" = type { %"class.Eigen::DenseStorage.97" }
%"class.Eigen::DenseStorage.97" = type { %"struct.Eigen::internal::plain_array.98" }
%"struct.Eigen::internal::plain_array.98" = type { [6 x double] }
%"class.Eigen::CwiseBinaryOp.461" = type <{ ptr, ptr, [8 x i8] }>
%"class.Eigen::Product.390" = type { %"class.Eigen::Transpose.397", ptr }
%"class.Eigen::Transpose.397" = type { ptr }
%"class.Eigen::Product.468" = type { %"class.Eigen::Transpose.438", ptr }
%"class.Eigen::Transpose.438" = 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", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase" = type { %"class.Eigen::MapBase.202" }
%"class.Eigen::MapBase.202" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.RigidBodyDynamics::ConstraintSet" = type { i32, i8, %"class.std::vector", %"class.std::vector.1", %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.11", %"class.std::vector.6", %"class.std::vector.16", %"class.std::vector.16", %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.27", %"class.std::vector.34", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::HouseholderQR", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.16", %"class.std::vector.27", %"class.std::vector.27", %"class.Eigen::Matrix", %"class.std::vector.60", %"class.std::vector.27", %"class.Eigen::Matrix", %"class.std::vector.16" }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.1" = type { %"struct.std::_Vector_base.2" }
%"struct.std::_Vector_base.2" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.11" = type { %"struct.std::_Vector_base.12" }
%"struct.std::_Vector_base.12" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.6" = type { %"struct.std::_Vector_base.7" }
%"struct.std::_Vector_base.7" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.21" = type { %"class.std::vector.22" }
%"class.std::vector.22" = type { %"struct.std::_Vector_base.23" }
%"struct.std::_Vector_base.23" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.34" = type { %"struct.std::_Vector_base.35" }
%"struct.std::_Vector_base.35" = type { %"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::HouseholderQR" = type <{ %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix.51", i8, [7 x i8] }>
%"class.Eigen::Matrix.51" = type { %"class.Eigen::PlainObjectBase.52" }
%"class.Eigen::PlainObjectBase.52" = type { %"class.Eigen::DenseStorage.59" }
%"class.Eigen::DenseStorage.59" = type { ptr, i64 }
%"class.Eigen::Matrix.41" = type { %"class.Eigen::PlainObjectBase.42" }
%"class.Eigen::PlainObjectBase.42" = type { %"class.Eigen::DenseStorage.49" }
%"class.Eigen::DenseStorage.49" = type { ptr, i64, i64 }
%"class.std::vector.60" = type { %"class.std::vector.61" }
%"class.std::vector.61" = type { %"struct.std::_Vector_base.62" }
%"struct.std::_Vector_base.62" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.27" = type { %"class.std::vector.28" }
%"class.std::vector.28" = type { %"struct.std::_Vector_base.29" }
%"struct.std::_Vector_base.29" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64 }
%"class.std::vector.16" = type { %"struct.std::_Vector_base.17" }
%"struct.std::_Vector_base.17" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"struct.RigidBodyDynamics::Model" = type { %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.118", i32, i32, i32, i32, %class.Vector3_t, %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.123", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.6", %"class.std::vector.21", %"class.std::vector.6", %"class.std::vector.130", %"class.std::vector.130", %"class.std::vector.137", %"class.std::vector.16", %"class.std::vector.6", %"class.std::vector.142", %"class.std::vector.27", %"class.std::vector.60", %"class.std::vector.27", %"class.std::vector.27", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.std::vector.27", %"class.std::vector.147", %"class.std::vector.147", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.154", i32, %"class.std::vector.161", %"class.std::map" }
%"class.std::vector.118" = type { %"struct.std::_Vector_base.119" }
%"struct.std::_Vector_base.119" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.123" = type { %"class.std::vector.124" }
%"class.std::vector.124" = type { %"struct.std::_Vector_base.125" }
%"struct.std::_Vector_base.125" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.130" = type { %"class.std::vector.131" }
%"class.std::vector.131" = type { %"struct.std::_Vector_base.132" }
%"struct.std::_Vector_base.132" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.137" = type { %"struct.std::_Vector_base.138" }
%"struct.std::_Vector_base.138" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.142" = type { %"struct.std::_Vector_base.143" }
%"struct.std::_Vector_base.143" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.147" = type { %"class.std::vector.148" }
%"class.std::vector.148" = type { %"struct.std::_Vector_base.149" }
%"struct.std::_Vector_base.149" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.154" = type { %"class.std::vector.155" }
%"class.std::vector.155" = type { %"struct.std::_Vector_base.156" }
%"struct.std::_Vector_base.156" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.161" = type { %"class.std::vector.162" }
%"class.std::vector.162" = type { %"struct.std::_Vector_base.163" }
%"struct.std::_Vector_base.163" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"struct.std::_Rb_tree_header" = type { %"struct.std::_Rb_tree_node_base", i64 }
%"struct.std::_Rb_tree_node_base" = type { i32, ptr, ptr, ptr }
%"struct.RigidBodyDynamics::CustomConstraint" = type <{ ptr, i32, [4 x i8] }>

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

; 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
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2Ev(ptr noundef nonnull align 8 dereferenceable(96)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

declare void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef, ptr noundef, ptr noundef) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN9Matrix3_tC2Ev(ptr noundef nonnull align 8 dereferenceable(72)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2Ev(ptr noundef nonnull align 16 dereferenceable(48)) unnamed_addr #2 align 2

declare void @_ZN17RigidBodyDynamics24CalcBodyWorldOrientationERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjb(ptr dead_on_unwind writable sret(%class.Matrix3_t) align 8, ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), i32 noundef, i1 noundef zeroext) #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(72) ptr @_ZN9Matrix3_taSIN5Eigen7ProductINS1_9TransposeINS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEES5_Li0EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

declare void @_ZN17RigidBodyDynamics25CalcBodyToBaseCoordinatesERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tb(ptr dead_on_unwind writable sret(%class.Vector3_t) align 8, ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), i32 noundef, ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) #5

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSEOS_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics16CustomConstraintESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics23CalcConstraintsJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS_13ConstraintSetERNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(1160) %2, ptr noundef nonnull align 8 dereferenceable(24) %3, i1 noundef zeroext %4) #1 {
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca i8, align 1
  %11 = alloca i32, align 4
  %12 = alloca i32, align 4
  %13 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %14 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %15 = alloca i32, align 4
  %16 = alloca i32, align 4
  %17 = alloca i32, align 4
  %18 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %19 = alloca i32, align 4
  %20 = alloca %class.Vector3_t, align 8
  %21 = alloca %"class.Eigen::Product.446", align 8
  %22 = alloca %"class.Eigen::Transpose.453", align 8
  %23 = alloca %class.Vector3_t, align 8
  %24 = alloca %class.SpatialVector_t, align 16
  %25 = alloca %class.Vector3_t, align 8
  %26 = alloca %class.Matrix3_t, align 8
  %27 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %28 = alloca i32, align 4
  %29 = alloca i32, align 4
  %30 = alloca %"class.Eigen::CwiseBinaryOp.461", align 8
  %31 = alloca %class.Vector3_t, align 8
  %32 = alloca %"class.Eigen::Product.390", align 8
  %33 = alloca %"class.Eigen::Transpose.397", align 8
  %34 = alloca %class.Matrix3_t, align 8
  %35 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %36 = alloca %class.SpatialVector_t, align 16
  %37 = alloca %"class.Eigen::Product.468", align 8
  %38 = alloca %"class.Eigen::Transpose.438", align 8
  %39 = alloca %"class.Eigen::Block", align 8
  %40 = alloca i32, align 4
  %41 = alloca i32, align 4
  %42 = alloca i32, align 4
  %43 = alloca i32, align 4
  store ptr %0, ptr %6, align 8, !tbaa !5
  store ptr %1, ptr %7, align 8, !tbaa !5
  store ptr %2, ptr %8, align 8, !tbaa !5
  store ptr %3, ptr %9, align 8, !tbaa !5
  %44 = zext i1 %4 to i8
  store i8 %44, ptr %10, align 1, !tbaa !9
  %45 = load i8, ptr %10, align 1, !tbaa !9, !range !11, !noundef !12
  %46 = trunc i8 %45 to i1
  br i1 %46, label %47, label %50

47:                                               ; preds = %5
  %48 = load ptr, ptr %6, align 8, !tbaa !5
  %49 = load ptr, ptr %7, align 8, !tbaa !5
  call void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872) %48, ptr noundef %49, ptr noundef null, ptr noundef null)
  br label %50

50:                                               ; preds = %47, %5
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #6
  store i32 0, ptr %11, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #6
  store i32 0, ptr %12, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 96, ptr %13) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2Ev(ptr noundef nonnull align 8 dereferenceable(96) %13)
  call void @llvm.lifetime.start.p0(i64 96, ptr %14) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2Ev(ptr noundef nonnull align 8 dereferenceable(96) %14)
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #6
  store i32 0, ptr %15, align 4, !tbaa !13
  br label %51

51:                                               ; preds = %160, %50
  %52 = load i32, ptr %15, align 4, !tbaa !13
  %53 = zext i32 %52 to i64
  %54 = load ptr, ptr %8, align 8, !tbaa !5
  %55 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %54, i32 0, i32 4
  %56 = call noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %55) #6
  %57 = icmp ult i64 %53, %56
  br i1 %57, label %59, label %58

58:                                               ; preds = %51
  store i32 2, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #6
  br label %163

59:                                               ; preds = %51
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #6
  %60 = load ptr, ptr %8, align 8, !tbaa !5
  %61 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %60, i32 0, i32 4
  %62 = load i32, ptr %15, align 4, !tbaa !13
  %63 = zext i32 %62 to i64
  %64 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef %63) #6
  %65 = load i32, ptr %64, align 4, !tbaa !13
  store i32 %65, ptr %17, align 4, !tbaa !13
  %66 = load i32, ptr %11, align 4, !tbaa !13
  %67 = load ptr, ptr %8, align 8, !tbaa !5
  %68 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %67, i32 0, i32 8
  %69 = load i32, ptr %17, align 4, !tbaa !13
  %70 = zext i32 %69 to i64
  %71 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %68, i64 noundef %70) #6
  %72 = load i32, ptr %71, align 4, !tbaa !13
  %73 = icmp ne i32 %66, %72
  br i1 %73, label %82, label %74

74:                                               ; preds = %59
  %75 = getelementptr inbounds %"struct.RigidBodyDynamics::Math::SpatialTransform", ptr %13, i32 0, i32 1
  %76 = load ptr, ptr %8, align 8, !tbaa !5
  %77 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %76, i32 0, i32 9
  %78 = load i32, ptr %17, align 4, !tbaa !13
  %79 = zext i32 %78 to i64
  %80 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %77, i64 noundef %79) #6
  %81 = call noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEneIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %75, ptr noundef nonnull align 1 dereferenceable(1) %80)
  br i1 %81, label %82, label %113

82:                                               ; preds = %74, %59
  %83 = load ptr, ptr %8, align 8, !tbaa !5
  %84 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %83, i32 0, i32 30
  %85 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %84)
  %86 = load ptr, ptr %6, align 8, !tbaa !5
  %87 = load ptr, ptr %7, align 8, !tbaa !5
  %88 = load ptr, ptr %8, align 8, !tbaa !5
  %89 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %88, i32 0, i32 8
  %90 = load i32, ptr %17, align 4, !tbaa !13
  %91 = zext i32 %90 to i64
  %92 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %89, i64 noundef %91) #6
  %93 = load i32, ptr %92, align 4, !tbaa !13
  %94 = load ptr, ptr %8, align 8, !tbaa !5
  %95 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %94, i32 0, i32 9
  %96 = load i32, ptr %17, align 4, !tbaa !13
  %97 = zext i32 %96 to i64
  %98 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %95, i64 noundef %97) #6
  %99 = load ptr, ptr %8, align 8, !tbaa !5
  %100 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %99, i32 0, i32 30
  call void @_ZN17RigidBodyDynamics17CalcPointJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tRNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872) %86, ptr noundef nonnull align 8 dereferenceable(16) %87, i32 noundef %93, ptr noundef nonnull align 8 dereferenceable(24) %98, ptr noundef nonnull align 8 dereferenceable(24) %100, i1 noundef zeroext false)
  %101 = load ptr, ptr %8, align 8, !tbaa !5
  %102 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %101, i32 0, i32 8
  %103 = load i32, ptr %17, align 4, !tbaa !13
  %104 = zext i32 %103 to i64
  %105 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %102, i64 noundef %104) #6
  %106 = load i32, ptr %105, align 4, !tbaa !13
  store i32 %106, ptr %11, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 96, ptr %18) #6
  %107 = load ptr, ptr %8, align 8, !tbaa !5
  %108 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %107, i32 0, i32 9
  %109 = load i32, ptr %17, align 4, !tbaa !13
  %110 = zext i32 %109 to i64
  %111 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %108, i64 noundef %110) #6
  call void @_ZN17RigidBodyDynamics4Math6XtransERK9Vector3_t(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %18, ptr noundef nonnull align 8 dereferenceable(24) %111)
  %112 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96) %13, ptr noundef nonnull align 8 dereferenceable(96) %18) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr %18) #6
  br label %113

113:                                              ; preds = %82, %74
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #6
  store i32 0, ptr %19, align 4, !tbaa !13
  br label %114

114:                                              ; preds = %156, %113
  %115 = load i32, ptr %19, align 4, !tbaa !13
  %116 = load ptr, ptr %6, align 8, !tbaa !5
  %117 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %116, i32 0, i32 3
  %118 = load i32, ptr %117, align 8, !tbaa !15
  %119 = icmp ult i32 %115, %118
  br i1 %119, label %121, label %120

120:                                              ; preds = %114
  store i32 5, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #6
  br label %159

121:                                              ; preds = %114
  call void @llvm.lifetime.start.p0(i64 24, ptr %20) #6
  %122 = load ptr, ptr %8, align 8, !tbaa !5
  %123 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %122, i32 0, i32 30
  %124 = load i32, ptr %19, align 4, !tbaa !13
  %125 = zext i32 %124 to i64
  %126 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %123, i64 noundef 0, i64 noundef %125)
  %127 = load ptr, ptr %8, align 8, !tbaa !5
  %128 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %127, i32 0, i32 30
  %129 = load i32, ptr %19, align 4, !tbaa !13
  %130 = zext i32 %129 to i64
  %131 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %128, i64 noundef 1, i64 noundef %130)
  %132 = load ptr, ptr %8, align 8, !tbaa !5
  %133 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %132, i32 0, i32 30
  %134 = load i32, ptr %19, align 4, !tbaa !13
  %135 = zext i32 %134 to i64
  %136 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %133, i64 noundef 2, i64 noundef %135)
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %20, ptr noundef nonnull align 8 dereferenceable(8) %126, ptr noundef nonnull align 8 dereferenceable(8) %131, ptr noundef nonnull align 8 dereferenceable(8) %136)
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #6
  %137 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %20)
  %138 = getelementptr inbounds %"class.Eigen::Transpose.453", ptr %22, i32 0, i32 0
  store ptr %137, ptr %138, align 8
  %139 = load ptr, ptr %8, align 8, !tbaa !5
  %140 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %139, i32 0, i32 10
  %141 = load i32, ptr %17, align 4, !tbaa !13
  %142 = zext i32 %141 to i64
  %143 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %140, i64 noundef %142) #6
  %144 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %22, ptr noundef nonnull align 1 dereferenceable(1) %143)
  %145 = getelementptr inbounds { ptr, ptr }, ptr %21, i32 0, i32 0
  %146 = extractvalue { ptr, ptr } %144, 0
  store ptr %146, ptr %145, align 8
  %147 = getelementptr inbounds { ptr, ptr }, ptr %21, i32 0, i32 1
  %148 = extractvalue { ptr, ptr } %144, 1
  store ptr %148, ptr %147, align 8
  %149 = call noundef double @_ZNK5Eigen8internal18dense_product_baseINS_9TransposeINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEES4_Li0ELi6EEcvKdEv(ptr noundef nonnull align 1 dereferenceable(1) %21)
  %150 = load ptr, ptr %9, align 8, !tbaa !5
  %151 = load i32, ptr %17, align 4, !tbaa !13
  %152 = zext i32 %151 to i64
  %153 = load i32, ptr %19, align 4, !tbaa !13
  %154 = zext i32 %153 to i64
  %155 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %150, i64 noundef %152, i64 noundef %154)
  store double %149, ptr %155, align 8, !tbaa !94
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %20) #6
  br label %156

156:                                              ; preds = %121
  %157 = load i32, ptr %19, align 4, !tbaa !13
  %158 = add i32 %157, 1
  store i32 %158, ptr %19, align 4, !tbaa !13
  br label %114, !llvm.loop !96

159:                                              ; preds = %120
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #6
  br label %160

160:                                              ; preds = %159
  %161 = load i32, ptr %15, align 4, !tbaa !13
  %162 = add i32 %161, 1
  store i32 %162, ptr %15, align 4, !tbaa !13
  br label %51, !llvm.loop !98

163:                                              ; preds = %58
  call void @llvm.lifetime.start.p0(i64 24, ptr %23) #6
  call void @_ZN9Vector3_tC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %23)
  call void @llvm.lifetime.start.p0(i64 48, ptr %24) #6
  call void @_ZN15SpatialVector_tC2Ev(ptr noundef nonnull align 16 dereferenceable(48) %24)
  call void @llvm.lifetime.start.p0(i64 24, ptr %25) #6
  call void @_ZN9Vector3_tC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %25)
  call void @llvm.lifetime.start.p0(i64 72, ptr %26) #6
  call void @_ZN9Matrix3_tC2Ev(ptr noundef nonnull align 8 dereferenceable(72) %26)
  call void @llvm.lifetime.start.p0(i64 96, ptr %27) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2Ev(ptr noundef nonnull align 8 dereferenceable(96) %27)
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #6
  store i32 0, ptr %28, align 4, !tbaa !13
  br label %164

164:                                              ; preds = %363, %163
  %165 = load i32, ptr %28, align 4, !tbaa !13
  %166 = zext i32 %165 to i64
  %167 = load ptr, ptr %8, align 8, !tbaa !5
  %168 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %167, i32 0, i32 5
  %169 = call noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %168) #6
  %170 = icmp ult i64 %166, %169
  br i1 %170, label %172, label %171

171:                                              ; preds = %164
  store i32 8, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #6
  br label %366

172:                                              ; preds = %164
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #6
  %173 = load ptr, ptr %8, align 8, !tbaa !5
  %174 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %173, i32 0, i32 5
  %175 = load i32, ptr %28, align 4, !tbaa !13
  %176 = zext i32 %175 to i64
  %177 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %174, i64 noundef %176) #6
  %178 = load i32, ptr %177, align 4, !tbaa !13
  store i32 %178, ptr %29, align 4, !tbaa !13
  %179 = load i32, ptr %11, align 4, !tbaa !13
  %180 = load ptr, ptr %8, align 8, !tbaa !5
  %181 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %180, i32 0, i32 11
  %182 = load i32, ptr %29, align 4, !tbaa !13
  %183 = zext i32 %182 to i64
  %184 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %181, i64 noundef %183) #6
  %185 = load i32, ptr %184, align 4, !tbaa !13
  %186 = icmp ne i32 %179, %185
  br i1 %186, label %232, label %187

187:                                              ; preds = %172
  %188 = load i32, ptr %12, align 4, !tbaa !13
  %189 = load ptr, ptr %8, align 8, !tbaa !5
  %190 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %189, i32 0, i32 12
  %191 = load i32, ptr %29, align 4, !tbaa !13
  %192 = zext i32 %191 to i64
  %193 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %190, i64 noundef %192) #6
  %194 = load i32, ptr %193, align 4, !tbaa !13
  %195 = icmp ne i32 %188, %194
  br i1 %195, label %232, label %196

196:                                              ; preds = %187
  %197 = getelementptr inbounds %"struct.RigidBodyDynamics::Math::SpatialTransform", ptr %13, i32 0, i32 1
  %198 = load ptr, ptr %8, align 8, !tbaa !5
  %199 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %198, i32 0, i32 13
  %200 = load i32, ptr %29, align 4, !tbaa !13
  %201 = zext i32 %200 to i64
  %202 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %199, i64 noundef %201) #6
  %203 = getelementptr inbounds %"struct.RigidBodyDynamics::Math::SpatialTransform", ptr %202, i32 0, i32 1
  %204 = call noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEneIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %197, ptr noundef nonnull align 1 dereferenceable(1) %203)
  br i1 %204, label %232, label %205

205:                                              ; preds = %196
  %206 = getelementptr inbounds %"struct.RigidBodyDynamics::Math::SpatialTransform", ptr %14, i32 0, i32 1
  %207 = load ptr, ptr %8, align 8, !tbaa !5
  %208 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %207, i32 0, i32 14
  %209 = load i32, ptr %29, align 4, !tbaa !13
  %210 = zext i32 %209 to i64
  %211 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %208, i64 noundef %210) #6
  %212 = getelementptr inbounds %"struct.RigidBodyDynamics::Math::SpatialTransform", ptr %211, i32 0, i32 1
  %213 = call noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEneIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %206, ptr noundef nonnull align 1 dereferenceable(1) %212)
  br i1 %213, label %232, label %214

214:                                              ; preds = %205
  %215 = getelementptr inbounds %"struct.RigidBodyDynamics::Math::SpatialTransform", ptr %13, i32 0, i32 0
  %216 = load ptr, ptr %8, align 8, !tbaa !5
  %217 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %216, i32 0, i32 13
  %218 = load i32, ptr %29, align 4, !tbaa !13
  %219 = zext i32 %218 to i64
  %220 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %217, i64 noundef %219) #6
  %221 = getelementptr inbounds %"struct.RigidBodyDynamics::Math::SpatialTransform", ptr %220, i32 0, i32 0
  %222 = call noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEneIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %215, ptr noundef nonnull align 1 dereferenceable(1) %221)
  br i1 %222, label %232, label %223

223:                                              ; preds = %214
  %224 = getelementptr inbounds %"struct.RigidBodyDynamics::Math::SpatialTransform", ptr %14, i32 0, i32 0
  %225 = load ptr, ptr %8, align 8, !tbaa !5
  %226 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %225, i32 0, i32 14
  %227 = load i32, ptr %29, align 4, !tbaa !13
  %228 = zext i32 %227 to i64
  %229 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %226, i64 noundef %228) #6
  %230 = getelementptr inbounds %"struct.RigidBodyDynamics::Math::SpatialTransform", ptr %229, i32 0, i32 0
  %231 = call noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEneIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %224, ptr noundef nonnull align 1 dereferenceable(1) %230)
  br i1 %231, label %232, label %340

232:                                              ; preds = %223, %214, %205, %196, %187, %172
  %233 = load ptr, ptr %8, align 8, !tbaa !5
  %234 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %233, i32 0, i32 31
  %235 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %234)
  %236 = load ptr, ptr %8, align 8, !tbaa !5
  %237 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %236, i32 0, i32 32
  %238 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %237)
  %239 = load ptr, ptr %6, align 8, !tbaa !5
  %240 = load ptr, ptr %7, align 8, !tbaa !5
  %241 = load ptr, ptr %8, align 8, !tbaa !5
  %242 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %241, i32 0, i32 11
  %243 = load i32, ptr %29, align 4, !tbaa !13
  %244 = zext i32 %243 to i64
  %245 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %242, i64 noundef %244) #6
  %246 = load i32, ptr %245, align 4, !tbaa !13
  %247 = load ptr, ptr %8, align 8, !tbaa !5
  %248 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %247, i32 0, i32 13
  %249 = load i32, ptr %29, align 4, !tbaa !13
  %250 = zext i32 %249 to i64
  %251 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %248, i64 noundef %250) #6
  %252 = getelementptr inbounds %"struct.RigidBodyDynamics::Math::SpatialTransform", ptr %251, i32 0, i32 1
  %253 = load ptr, ptr %8, align 8, !tbaa !5
  %254 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %253, i32 0, i32 31
  call void @_ZN17RigidBodyDynamics19CalcPointJacobian6DERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tRNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872) %239, ptr noundef nonnull align 8 dereferenceable(16) %240, i32 noundef %246, ptr noundef nonnull align 8 dereferenceable(24) %252, ptr noundef nonnull align 8 dereferenceable(24) %254, i1 noundef zeroext false)
  %255 = load ptr, ptr %6, align 8, !tbaa !5
  %256 = load ptr, ptr %7, align 8, !tbaa !5
  %257 = load ptr, ptr %8, align 8, !tbaa !5
  %258 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %257, i32 0, i32 12
  %259 = load i32, ptr %29, align 4, !tbaa !13
  %260 = zext i32 %259 to i64
  %261 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %258, i64 noundef %260) #6
  %262 = load i32, ptr %261, align 4, !tbaa !13
  %263 = load ptr, ptr %8, align 8, !tbaa !5
  %264 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %263, i32 0, i32 14
  %265 = load i32, ptr %29, align 4, !tbaa !13
  %266 = zext i32 %265 to i64
  %267 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %264, i64 noundef %266) #6
  %268 = getelementptr inbounds %"struct.RigidBodyDynamics::Math::SpatialTransform", ptr %267, i32 0, i32 1
  %269 = load ptr, ptr %8, align 8, !tbaa !5
  %270 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %269, i32 0, i32 32
  call void @_ZN17RigidBodyDynamics19CalcPointJacobian6DERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tRNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872) %255, ptr noundef nonnull align 8 dereferenceable(16) %256, i32 noundef %262, ptr noundef nonnull align 8 dereferenceable(24) %268, ptr noundef nonnull align 8 dereferenceable(24) %270, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 24, ptr %30) #6
  %271 = load ptr, ptr %8, align 8, !tbaa !5
  %272 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %271, i32 0, i32 32
  %273 = load ptr, ptr %8, align 8, !tbaa !5
  %274 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %273, i32 0, i32 31
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmiIS2_EEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.461") align 8 %30, ptr noundef nonnull align 1 dereferenceable(1) %272, ptr noundef nonnull align 1 dereferenceable(1) %274)
  %275 = load ptr, ptr %8, align 8, !tbaa !5
  %276 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %275, i32 0, i32 33
  %277 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_S7_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %276, ptr noundef nonnull align 1 dereferenceable(1) %30)
  call void @llvm.lifetime.end.p0(i64 24, ptr %30) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %31) #6
  %278 = load ptr, ptr %6, align 8, !tbaa !5
  %279 = load ptr, ptr %7, align 8, !tbaa !5
  %280 = load ptr, ptr %8, align 8, !tbaa !5
  %281 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %280, i32 0, i32 11
  %282 = load i32, ptr %29, align 4, !tbaa !13
  %283 = zext i32 %282 to i64
  %284 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %281, i64 noundef %283) #6
  %285 = load i32, ptr %284, align 4, !tbaa !13
  %286 = load ptr, ptr %8, align 8, !tbaa !5
  %287 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %286, i32 0, i32 13
  %288 = load i32, ptr %29, align 4, !tbaa !13
  %289 = zext i32 %288 to i64
  %290 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %287, i64 noundef %289) #6
  %291 = getelementptr inbounds %"struct.RigidBodyDynamics::Math::SpatialTransform", ptr %290, i32 0, i32 1
  call void @_ZN17RigidBodyDynamics25CalcBodyToBaseCoordinatesERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tb(ptr dead_on_unwind writable sret(%class.Vector3_t) align 8 %31, ptr noundef nonnull align 8 dereferenceable(872) %278, ptr noundef nonnull align 8 dereferenceable(16) %279, i32 noundef %285, ptr noundef nonnull align 8 dereferenceable(24) %291, i1 noundef zeroext false)
  %292 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSEOS_(ptr noundef nonnull align 8 dereferenceable(24) %25, ptr noundef nonnull align 8 dereferenceable(24) %31) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %31) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %32) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #6
  call void @llvm.lifetime.start.p0(i64 72, ptr %34) #6
  %293 = load ptr, ptr %6, align 8, !tbaa !5
  %294 = load ptr, ptr %7, align 8, !tbaa !5
  %295 = load ptr, ptr %8, align 8, !tbaa !5
  %296 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %295, i32 0, i32 11
  %297 = load i32, ptr %29, align 4, !tbaa !13
  %298 = zext i32 %297 to i64
  %299 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %296, i64 noundef %298) #6
  %300 = load i32, ptr %299, align 4, !tbaa !13
  call void @_ZN17RigidBodyDynamics24CalcBodyWorldOrientationERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjb(ptr dead_on_unwind writable sret(%class.Matrix3_t) align 8 %34, ptr noundef nonnull align 8 dereferenceable(872) %293, ptr noundef nonnull align 8 dereferenceable(16) %294, i32 noundef %300, i1 noundef zeroext false)
  %301 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %34)
  %302 = getelementptr inbounds %"class.Eigen::Transpose.397", ptr %33, i32 0, i32 0
  store ptr %301, ptr %302, align 8
  %303 = load ptr, ptr %8, align 8, !tbaa !5
  %304 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %303, i32 0, i32 13
  %305 = load i32, ptr %29, align 4, !tbaa !13
  %306 = zext i32 %305 to i64
  %307 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %304, i64 noundef %306) #6
  %308 = getelementptr inbounds %"struct.RigidBodyDynamics::Math::SpatialTransform", ptr %307, i32 0, i32 0
  %309 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %33, ptr noundef nonnull align 1 dereferenceable(1) %308)
  %310 = getelementptr inbounds { ptr, ptr }, ptr %32, i32 0, i32 0
  %311 = extractvalue { ptr, ptr } %309, 0
  store ptr %311, ptr %310, align 8
  %312 = getelementptr inbounds { ptr, ptr }, ptr %32, i32 0, i32 1
  %313 = extractvalue { ptr, ptr } %309, 1
  store ptr %313, ptr %312, align 8
  %314 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZN9Matrix3_taSIN5Eigen7ProductINS1_9TransposeINS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEES5_Li0EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72) %26, ptr noundef nonnull align 1 dereferenceable(1) %32)
  call void @llvm.lifetime.end.p0(i64 72, ptr %34) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #6
  call void @llvm.lifetime.start.p0(i64 96, ptr %35) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2ERK9Matrix3_tRK9Vector3_t(ptr noundef nonnull align 8 dereferenceable(96) %35, ptr noundef nonnull align 8 dereferenceable(72) %26, ptr noundef nonnull align 8 dereferenceable(24) %25)
  %315 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96) %27, ptr noundef nonnull align 8 dereferenceable(96) %35) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr %35) #6
  %316 = load ptr, ptr %8, align 8, !tbaa !5
  %317 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %316, i32 0, i32 11
  %318 = load i32, ptr %29, align 4, !tbaa !13
  %319 = zext i32 %318 to i64
  %320 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %317, i64 noundef %319) #6
  %321 = load i32, ptr %320, align 4, !tbaa !13
  store i32 %321, ptr %11, align 4, !tbaa !13
  %322 = load ptr, ptr %8, align 8, !tbaa !5
  %323 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %322, i32 0, i32 12
  %324 = load i32, ptr %29, align 4, !tbaa !13
  %325 = zext i32 %324 to i64
  %326 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %323, i64 noundef %325) #6
  %327 = load i32, ptr %326, align 4, !tbaa !13
  store i32 %327, ptr %12, align 4, !tbaa !13
  %328 = load ptr, ptr %8, align 8, !tbaa !5
  %329 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %328, i32 0, i32 13
  %330 = load i32, ptr %29, align 4, !tbaa !13
  %331 = zext i32 %330 to i64
  %332 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %329, i64 noundef %331) #6
  %333 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96) %13, ptr noundef nonnull align 8 dereferenceable(96) %332)
  %334 = load ptr, ptr %8, align 8, !tbaa !5
  %335 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %334, i32 0, i32 14
  %336 = load i32, ptr %29, align 4, !tbaa !13
  %337 = zext i32 %336 to i64
  %338 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %335, i64 noundef %337) #6
  %339 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96) %14, ptr noundef nonnull align 8 dereferenceable(96) %338)
  br label %340

340:                                              ; preds = %232, %223
  call void @llvm.lifetime.start.p0(i64 48, ptr %36) #6
  %341 = load ptr, ptr %8, align 8, !tbaa !5
  %342 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %341, i32 0, i32 15
  %343 = load i32, ptr %29, align 4, !tbaa !13
  %344 = zext i32 %343 to i64
  %345 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %342, i64 noundef %344) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %36, ptr noundef nonnull align 8 dereferenceable(96) %27, ptr noundef nonnull align 16 dereferenceable(48) %345)
  %346 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48) %24, ptr noundef nonnull align 16 dereferenceable(48) %36) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %36) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %37) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #6
  %347 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %24)
  %348 = getelementptr inbounds %"class.Eigen::Transpose.438", ptr %38, i32 0, i32 0
  store ptr %347, ptr %348, align 8
  %349 = load ptr, ptr %8, align 8, !tbaa !5
  %350 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %349, i32 0, i32 33
  %351 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEmlINS2_IdLin1ELin1ELi0ELin1ELin1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %38, ptr noundef nonnull align 1 dereferenceable(1) %350)
  %352 = getelementptr inbounds { ptr, ptr }, ptr %37, i32 0, i32 0
  %353 = extractvalue { ptr, ptr } %351, 0
  store ptr %353, ptr %352, align 8
  %354 = getelementptr inbounds { ptr, ptr }, ptr %37, i32 0, i32 1
  %355 = extractvalue { ptr, ptr } %351, 1
  store ptr %355, ptr %354, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr %39) #6
  %356 = load ptr, ptr %9, align 8, !tbaa !5
  %357 = load i32, ptr %29, align 4, !tbaa !13
  %358 = zext i32 %357 to i64
  %359 = load ptr, ptr %6, align 8, !tbaa !5
  %360 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %359, i32 0, i32 3
  %361 = load i32, ptr %360, align 8, !tbaa !15
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIijEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %39, ptr noundef nonnull align 1 dereferenceable(1) %356, i64 noundef %358, i64 noundef 0, i32 noundef 1, i32 noundef %361)
  %362 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLi6ELi1ELi0ELi6ELi1EEEEES2_Li0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %39, ptr noundef nonnull align 1 dereferenceable(1) %37)
  call void @llvm.lifetime.end.p0(i64 56, ptr %39) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %37) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #6
  br label %363

363:                                              ; preds = %340
  %364 = load i32, ptr %28, align 4, !tbaa !13
  %365 = add i32 %364, 1
  store i32 %365, ptr %28, align 4, !tbaa !13
  br label %164, !llvm.loop !99

366:                                              ; preds = %171
  call void @llvm.lifetime.start.p0(i64 4, ptr %40) #6
  store i32 0, ptr %40, align 4, !tbaa !13
  br label %367

367:                                              ; preds = %409, %366
  %368 = load i32, ptr %40, align 4, !tbaa !13
  %369 = zext i32 %368 to i64
  %370 = load ptr, ptr %8, align 8, !tbaa !5
  %371 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %370, i32 0, i32 6
  %372 = call noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %371) #6
  %373 = icmp ult i64 %369, %372
  br i1 %373, label %375, label %374

374:                                              ; preds = %367
  store i32 11, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %40) #6
  br label %412

375:                                              ; preds = %367
  call void @llvm.lifetime.start.p0(i64 4, ptr %41) #6
  %376 = load ptr, ptr %8, align 8, !tbaa !5
  %377 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %376, i32 0, i32 6
  %378 = load i32, ptr %40, align 4, !tbaa !13
  %379 = zext i32 %378 to i64
  %380 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %377, i64 noundef %379) #6
  %381 = load i32, ptr %380, align 4, !tbaa !13
  store i32 %381, ptr %41, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %42) #6
  %382 = load ptr, ptr %8, align 8, !tbaa !5
  %383 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %382, i32 0, i32 7
  %384 = load i32, ptr %40, align 4, !tbaa !13
  %385 = zext i32 %384 to i64
  %386 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics16CustomConstraintESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %383, i64 noundef %385) #6
  %387 = load ptr, ptr %386, align 8, !tbaa !5
  %388 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomConstraint", ptr %387, i32 0, i32 1
  %389 = load i32, ptr %388, align 8, !tbaa !100
  store i32 %389, ptr %42, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %43) #6
  %390 = load ptr, ptr %8, align 8, !tbaa !5
  %391 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %390, i32 0, i32 26
  %392 = call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24) %391)
  %393 = trunc i64 %392 to i32
  store i32 %393, ptr %43, align 4, !tbaa !13
  %394 = load ptr, ptr %8, align 8, !tbaa !5
  %395 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %394, i32 0, i32 7
  %396 = load i32, ptr %40, align 4, !tbaa !13
  %397 = zext i32 %396 to i64
  %398 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics16CustomConstraintESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %395, i64 noundef %397) #6
  %399 = load ptr, ptr %398, align 8, !tbaa !5
  %400 = load ptr, ptr %6, align 8, !tbaa !5
  %401 = load i32, ptr %41, align 4, !tbaa !13
  %402 = load ptr, ptr %7, align 8, !tbaa !5
  %403 = load ptr, ptr %8, align 8, !tbaa !5
  %404 = load ptr, ptr %9, align 8, !tbaa !5
  %405 = load i32, ptr %41, align 4, !tbaa !13
  %406 = load ptr, ptr %399, align 8, !tbaa !102
  %407 = getelementptr inbounds ptr, ptr %406, i64 2
  %408 = load ptr, ptr %407, align 8
  call void %408(ptr noundef nonnull align 8 dereferenceable(12) %399, ptr noundef nonnull align 8 dereferenceable(872) %400, i32 noundef %401, ptr noundef nonnull align 8 dereferenceable(16) %402, ptr noundef nonnull align 8 dereferenceable(1160) %403, ptr noundef nonnull align 8 dereferenceable(24) %404, i32 noundef %405, i32 noundef 0)
  call void @llvm.lifetime.end.p0(i64 4, ptr %43) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %42) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %41) #6
  br label %409

409:                                              ; preds = %375
  %410 = load i32, ptr %40, align 4, !tbaa !13
  %411 = add i32 %410, 1
  store i32 %411, ptr %40, align 4, !tbaa !13
  br label %367, !llvm.loop !104

412:                                              ; preds = %374
  call void @llvm.lifetime.end.p0(i64 96, ptr %27) #6
  call void @llvm.lifetime.end.p0(i64 72, ptr %26) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %25) #6
  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.end.p0(i64 96, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr %13) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #6
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEneIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

declare void @_ZN17RigidBodyDynamics17CalcPointJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tRNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), i32 noundef, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math6XtransERK9Vector3_t(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8, ptr noundef nonnull align 8 dereferenceable(24)) #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)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) #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: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_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 noundef double @_ZNK5Eigen8internal18dense_product_baseINS_9TransposeINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEES4_Li0ELi6EEcvKdEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEneIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

declare void @_ZN17RigidBodyDynamics19CalcPointJacobian6DERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tRNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), i32 noundef, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmiIS2_EEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.461") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_S7_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2ERK9Matrix3_tRK9Vector3_t(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) #2 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)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEmlINS2_IdLin1ELin1ELi0ELin1ELin1EEEEEKNS_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_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIijEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") 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_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLi6ELi1ELi0ELi6ELi1EEEEES2_Li0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { "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 = !{!"bool", !7, i64 0}
!11 = !{i8 0, i8 2}
!12 = !{}
!13 = !{!14, !14, i64 0}
!14 = !{!"int", !7, i64 0}
!15 = !{!16, !14, i64 72}
!16 = !{!"_ZTSN17RigidBodyDynamics5ModelE", !17, i64 0, !17, i64 24, !21, i64 48, !14, i64 72, !14, i64 76, !14, i64 80, !14, i64 84, !25, i64 88, !30, i64 112, !30, i64 136, !35, i64 160, !30, i64 184, !30, i64 208, !30, i64 232, !17, i64 256, !40, i64 280, !17, i64 304, !45, i64 328, !45, i64 352, !50, i64 376, !54, i64 400, !17, i64 424, !58, i64 448, !30, i64 472, !62, i64 496, !30, i64 520, !30, i64 544, !67, i64 568, !67, i64 584, !30, i64 600, !71, i64 624, !71, i64 648, !30, i64 672, !30, i64 696, !40, i64 720, !40, i64 744, !76, i64 768, !14, i64 792, !81, i64 800, !86, i64 824}
!17 = !{!"_ZTSSt6vectorIjSaIjEE", !18, i64 0}
!18 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !20, i64 0}
!20 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!21 = !{!"_ZTSSt6vectorIS_IjSaIjEESaIS1_EE", !22, i64 0}
!22 = !{!"_ZTSSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE", !23, i64 0}
!23 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE12_Vector_implE", !24, i64 0}
!24 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!25 = !{!"_ZTS9Vector3_t", !26, i64 0}
!26 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !27, i64 0}
!27 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !28, i64 0}
!28 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !29, i64 0}
!29 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!30 = !{!"_ZTSSt6vectorI15SpatialVector_tSaIS0_EE", !31, i64 0}
!31 = !{!"_ZTSSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !32, i64 0}
!32 = !{!"_ZTSSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !34, i64 0}
!34 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!35 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointESaIS1_EE", !36, i64 0}
!36 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !37, i64 0}
!37 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !38, i64 0}
!38 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !39, i64 0}
!39 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!40 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformESaIS2_EE", !41, i64 0}
!41 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !42, i64 0}
!42 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !43, i64 0}
!43 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !44, i64 0}
!44 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!45 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEESaIS2_EE", !46, i64 0}
!46 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !47, i64 0}
!47 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !48, i64 0}
!48 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !49, i64 0}
!49 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!50 = !{!"_ZTSSt6vectorI9Matrix3_tSaIS0_EE", !51, i64 0}
!51 = !{!"_ZTSSt12_Vector_baseI9Matrix3_tSaIS0_EE", !52, i64 0}
!52 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE12_Vector_implE", !53, i64 0}
!53 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!54 = !{!"_ZTSSt6vectorI9Vector3_tSaIS0_EE", !55, i64 0}
!55 = !{!"_ZTSSt12_Vector_baseI9Vector3_tSaIS0_EE", !56, i64 0}
!56 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE12_Vector_implE", !57, i64 0}
!57 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!58 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !59, i64 0}
!59 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !60, i64 0}
!60 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE12_Vector_implE", !61, i64 0}
!61 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!62 = !{!"_ZTSSt6vectorI15SpatialMatrix_tSaIS0_EE", !63, i64 0}
!63 = !{!"_ZTSSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !64, i64 0}
!64 = !{!"_ZTSSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !65, i64 0}
!65 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !66, i64 0}
!66 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!67 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !68, i64 0}
!68 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !69, i64 0}
!69 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !70, i64 8}
!70 = !{!"long", !7, i64 0}
!71 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaESaIS2_EE", !72, i64 0}
!72 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !73, i64 0}
!73 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !74, i64 0}
!74 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !75, i64 0}
!75 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!76 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyESaIS1_EE", !77, i64 0}
!77 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !78, i64 0}
!78 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !79, i64 0}
!79 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !80, i64 0}
!80 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!81 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyESaIS1_EE", !82, i64 0}
!82 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !83, i64 0}
!83 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !84, i64 0}
!84 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !85, i64 0}
!85 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!86 = !{!"_ZTSSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjSt4lessIS5_ESaISt4pairIKS5_jEEE", !87, i64 0}
!87 = !{!"_ZTSSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE", !88, i64 0}
!88 = !{!"_ZTSNSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE13_Rb_tree_implISC_Lb1EEE", !89, i64 0, !91, i64 8}
!89 = !{!"_ZTSSt20_Rb_tree_key_compareISt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEE", !90, i64 0}
!90 = !{!"_ZTSSt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE"}
!91 = !{!"_ZTSSt15_Rb_tree_header", !92, i64 0, !70, i64 32}
!92 = !{!"_ZTSSt18_Rb_tree_node_base", !93, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!93 = !{!"_ZTSSt14_Rb_tree_color", !7, i64 0}
!94 = !{!95, !95, i64 0}
!95 = !{!"double", !7, i64 0}
!96 = distinct !{!96, !97}
!97 = !{!"llvm.loop.mustprogress"}
!98 = distinct !{!98, !97}
!99 = distinct !{!99, !97}
!100 = !{!101, !14, i64 8}
!101 = !{!"_ZTSN17RigidBodyDynamics16CustomConstraintE", !14, i64 8}
!102 = !{!103, !103, i64 0}
!103 = !{!"vtable pointer", !8, i64 0}
!104 = distinct !{!104, !97}


; 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.Matrix3_t = type { %"class.Eigen::Matrix.79" }
%"class.Eigen::Matrix.79" = type { %"class.Eigen::PlainObjectBase.80" }
%"class.Eigen::PlainObjectBase.80" = type { %"class.Eigen::DenseStorage.87" }
%"class.Eigen::DenseStorage.87" = type { %"struct.Eigen::internal::plain_array.88" }
%"struct.Eigen::internal::plain_array.88" = type { [9 x double] }
%class.Vector3_t = type { %"class.Eigen::Matrix.70" }
%"class.Eigen::Matrix.70" = type { %"class.Eigen::PlainObjectBase.71" }
%"class.Eigen::PlainObjectBase.71" = type { %"class.Eigen::DenseStorage.78" }
%"class.Eigen::DenseStorage.78" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%"class.Eigen::Product.446" = type { %"class.Eigen::Transpose.453", ptr }
%"class.Eigen::Transpose.453" = type { ptr }
%class.SpatialVector_t = type { %"class.Eigen::Matrix.89" }
%"class.Eigen::Matrix.89" = type { %"class.Eigen::PlainObjectBase.90" }
%"class.Eigen::PlainObjectBase.90" = type { %"class.Eigen::DenseStorage.97" }
%"class.Eigen::DenseStorage.97" = type { %"struct.Eigen::internal::plain_array.98" }
%"struct.Eigen::internal::plain_array.98" = type { [6 x double] }
%"class.Eigen::CwiseBinaryOp.461" = type <{ ptr, ptr, [8 x i8] }>
%"class.Eigen::Product.390" = type { %"class.Eigen::Transpose.397", ptr }
%"class.Eigen::Transpose.397" = type { ptr }
%"class.Eigen::Product.468" = type { %"class.Eigen::Transpose.438", ptr }
%"class.Eigen::Transpose.438" = 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", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase" = type { %"class.Eigen::MapBase.202" }
%"class.Eigen::MapBase.202" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }

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

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2Ev(ptr noundef nonnull align 8 dereferenceable(96)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE7setZeroEv(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(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

declare void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN9Matrix3_tC2Ev(ptr noundef nonnull align 8 dereferenceable(72)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2Ev(ptr noundef nonnull align 16 dereferenceable(48)) unnamed_addr #2 align 2

declare void @_ZN17RigidBodyDynamics24CalcBodyWorldOrientationERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjb(ptr dead_on_unwind writable sret(%class.Matrix3_t) align 8, ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), i32 noundef, i1 noundef zeroext) local_unnamed_addr #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE9transposeEv(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_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(72) ptr @_ZN9Matrix3_taSIN5Eigen7ProductINS1_9TransposeINS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEES5_Li0EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

declare void @_ZN17RigidBodyDynamics25CalcBodyToBaseCoordinatesERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tb(ptr dead_on_unwind writable sret(%class.Vector3_t) align 8, ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), i32 noundef, ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) local_unnamed_addr #5

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSEOS_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics16CustomConstraintESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics23CalcConstraintsJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS_13ConstraintSetERNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(1160) %2, ptr noundef nonnull align 8 dereferenceable(24) %3, i1 noundef zeroext %4) local_unnamed_addr #1 {
  %6 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %7 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %8 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %9 = alloca %class.Vector3_t, align 8
  %10 = alloca %"class.Eigen::Product.446", align 8
  %11 = alloca %"class.Eigen::Transpose.453", align 8
  %12 = alloca %class.Vector3_t, align 8
  %13 = alloca %class.SpatialVector_t, align 16
  %14 = alloca %class.Vector3_t, align 8
  %15 = alloca %class.Matrix3_t, align 8
  %16 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %17 = alloca %"class.Eigen::CwiseBinaryOp.461", align 8
  %18 = alloca %class.Vector3_t, align 8
  %19 = alloca %"class.Eigen::Product.390", align 8
  %20 = alloca %"class.Eigen::Transpose.397", align 8
  %21 = alloca %class.Matrix3_t, align 8
  %22 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %23 = alloca %class.SpatialVector_t, align 16
  %24 = alloca %"class.Eigen::Product.468", align 8
  %25 = alloca %"class.Eigen::Transpose.438", align 8
  %26 = alloca %"class.Eigen::Block", align 8
  br i1 %4, label %27, label %28

27:                                               ; preds = %5
  tail call void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull %1, ptr noundef null, ptr noundef null)
  br label %28

28:                                               ; preds = %27, %5
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %6) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2Ev(ptr noundef nonnull align 8 dereferenceable(96) %6)
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %7) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2Ev(ptr noundef nonnull align 8 dereferenceable(96) %7)
  %29 = getelementptr inbounds i8, ptr %2, i64 56
  %30 = call noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %29) #6
  %.not143 = icmp eq i64 %30, 0
  br i1 %.not143, label %._crit_edge134, label %.lr.ph133

.lr.ph133:                                        ; preds = %28
  %31 = getelementptr inbounds i8, ptr %2, i64 152
  %32 = getelementptr inbounds i8, ptr %6, i64 72
  %33 = getelementptr inbounds i8, ptr %2, i64 176
  %34 = getelementptr inbounds i8, ptr %2, i64 600
  %35 = getelementptr inbounds i8, ptr %0, i64 72
  %36 = getelementptr inbounds i8, ptr %2, i64 200
  %37 = getelementptr inbounds i8, ptr %10, i64 8
  br label %53

._crit_edge134:                                   ; preds = %._crit_edge, %28
  %.0.lcssa = phi i32 [ 0, %28 ], [ %.1, %._crit_edge ]
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %12) #6
  call void @_ZN9Vector3_tC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %12)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %13) #6
  call void @_ZN15SpatialVector_tC2Ev(ptr noundef nonnull align 16 dereferenceable(48) %13)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %14) #6
  call void @_ZN9Vector3_tC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %14)
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %15) #6
  call void @_ZN9Matrix3_tC2Ev(ptr noundef nonnull align 8 dereferenceable(72) %15)
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %16) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2Ev(ptr noundef nonnull align 8 dereferenceable(96) %16)
  %38 = getelementptr inbounds i8, ptr %2, i64 80
  %39 = call noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %38) #6
  %.not145 = icmp eq i64 %39, 0
  br i1 %.not145, label %.preheader, label %.lr.ph139

.lr.ph139:                                        ; preds = %._crit_edge134
  %40 = getelementptr inbounds i8, ptr %2, i64 224
  %41 = getelementptr inbounds i8, ptr %2, i64 248
  %42 = getelementptr inbounds i8, ptr %6, i64 72
  %43 = getelementptr inbounds i8, ptr %2, i64 272
  %44 = getelementptr inbounds i8, ptr %7, i64 72
  %45 = getelementptr inbounds i8, ptr %2, i64 296
  %46 = getelementptr inbounds i8, ptr %2, i64 624
  %47 = getelementptr inbounds i8, ptr %2, i64 648
  %48 = getelementptr inbounds i8, ptr %2, i64 672
  %49 = getelementptr inbounds i8, ptr %19, i64 8
  %50 = getelementptr inbounds i8, ptr %2, i64 320
  %51 = getelementptr inbounds i8, ptr %24, i64 8
  %52 = getelementptr inbounds i8, ptr %0, i64 72
  br label %95

53:                                               ; preds = %.lr.ph133, %._crit_edge
  %54 = phi i64 [ 0, %.lr.ph133 ], [ %75, %._crit_edge ]
  %.0131 = phi i32 [ 0, %.lr.ph133 ], [ %.1, %._crit_edge ]
  %.0120130 = phi i32 [ 0, %.lr.ph133 ], [ %74, %._crit_edge ]
  %55 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %29, i64 noundef %54) #6
  %56 = load i32, ptr %55, align 4, !tbaa !5
  %57 = zext i32 %56 to i64
  %58 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %31, i64 noundef %57) #6
  %59 = load i32, ptr %58, align 4, !tbaa !5
  %.not128 = icmp eq i32 %.0131, %59
  br i1 %.not128, label %60, label %63

60:                                               ; preds = %53
  %61 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %33, i64 noundef %57) #6
  %62 = call noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEneIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %32, ptr noundef nonnull align 1 dereferenceable(1) %61)
  br i1 %62, label %63, label %72

63:                                               ; preds = %60, %53
  %64 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %34)
  %65 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %31, i64 noundef %57) #6
  %66 = load i32, ptr %65, align 4, !tbaa !5
  %67 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %33, i64 noundef %57) #6
  call void @_ZN17RigidBodyDynamics17CalcPointJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tRNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, i32 noundef %66, ptr noundef nonnull align 8 dereferenceable(24) %67, ptr noundef nonnull align 8 dereferenceable(24) %34, i1 noundef zeroext false)
  %68 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %31, i64 noundef %57) #6
  %69 = load i32, ptr %68, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %8) #6
  %70 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %33, i64 noundef %57) #6
  call void @_ZN17RigidBodyDynamics4Math6XtransERK9Vector3_t(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %8, ptr noundef nonnull align 8 dereferenceable(24) %70)
  %71 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96) %6, ptr noundef nonnull align 8 dereferenceable(96) %8) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %8) #6
  br label %72

72:                                               ; preds = %63, %60
  %.1 = phi i32 [ %69, %63 ], [ %.0131, %60 ]
  %73 = load i32, ptr %35, align 8, !tbaa !9
  %.not144 = icmp eq i32 %73, 0
  br i1 %.not144, label %._crit_edge, label %.lr.ph

._crit_edge:                                      ; preds = %.lr.ph, %72
  %74 = add i32 %.0120130, 1
  %75 = zext i32 %74 to i64
  %76 = call noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %29) #6
  %77 = icmp ugt i64 %76, %75
  br i1 %77, label %53, label %._crit_edge134, !llvm.loop !89

.lr.ph:                                           ; preds = %72, %.lr.ph
  %indvars.iv = phi i64 [ %indvars.iv.next, %.lr.ph ], [ 0, %72 ]
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %9) #6
  %78 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %34, i64 noundef 0, i64 noundef %indvars.iv)
  %79 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %34, i64 noundef 1, i64 noundef %indvars.iv)
  %80 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %34, i64 noundef 2, i64 noundef %indvars.iv)
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(8) %78, ptr noundef nonnull align 8 dereferenceable(8) %79, ptr noundef nonnull align 8 dereferenceable(8) %80)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %10) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #6
  %81 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %9)
  store ptr %81, ptr %11, align 8
  %82 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %36, i64 noundef %57) #6
  %83 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %11, ptr noundef nonnull align 1 dereferenceable(1) %82)
  %84 = extractvalue { ptr, ptr } %83, 0
  store ptr %84, ptr %10, align 8
  %85 = extractvalue { ptr, ptr } %83, 1
  store ptr %85, ptr %37, align 8
  %86 = call noundef double @_ZNK5Eigen8internal18dense_product_baseINS_9TransposeINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEES4_Li0ELi6EEcvKdEv(ptr noundef nonnull align 1 dereferenceable(1) %10)
  %87 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %57, i64 noundef %indvars.iv)
  store double %86, ptr %87, align 8, !tbaa !91
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %9) #6
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %88 = load i32, ptr %35, align 8, !tbaa !9
  %89 = zext i32 %88 to i64
  %90 = icmp ult i64 %indvars.iv.next, %89
  br i1 %90, label %.lr.ph, label %._crit_edge, !llvm.loop !93

.preheader:                                       ; preds = %153, %._crit_edge134
  %91 = getelementptr inbounds i8, ptr %2, i64 104
  %92 = call noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %91) #6
  %.not146 = icmp eq i64 %92, 0
  br i1 %.not146, label %._crit_edge142, label %.lr.ph141

.lr.ph141:                                        ; preds = %.preheader
  %93 = getelementptr inbounds i8, ptr %2, i64 128
  %94 = getelementptr inbounds i8, ptr %2, i64 520
  br label %166

95:                                               ; preds = %.lr.ph139, %153
  %96 = phi i64 [ 0, %.lr.ph139 ], [ %163, %153 ]
  %.2137 = phi i32 [ %.0.lcssa, %.lr.ph139 ], [ %.3, %153 ]
  %.0118136 = phi i32 [ 0, %.lr.ph139 ], [ %.1119, %153 ]
  %.0122135 = phi i32 [ 0, %.lr.ph139 ], [ %162, %153 ]
  %97 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %38, i64 noundef %96) #6
  %98 = load i32, ptr %97, align 4, !tbaa !5
  %99 = zext i32 %98 to i64
  %100 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %40, i64 noundef %99) #6
  %101 = load i32, ptr %100, align 4, !tbaa !5
  %.not = icmp eq i32 %.2137, %101
  br i1 %.not, label %102, label %119

102:                                              ; preds = %95
  %103 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %41, i64 noundef %99) #6
  %104 = load i32, ptr %103, align 4, !tbaa !5
  %.not127 = icmp eq i32 %.0118136, %104
  br i1 %.not127, label %105, label %119

105:                                              ; preds = %102
  %106 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %43, i64 noundef %99) #6
  %107 = getelementptr inbounds i8, ptr %106, i64 72
  %108 = call noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEneIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %42, ptr noundef nonnull align 1 dereferenceable(1) %107)
  br i1 %108, label %119, label %109

109:                                              ; preds = %105
  %110 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %45, i64 noundef %99) #6
  %111 = getelementptr inbounds i8, ptr %110, i64 72
  %112 = call noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEneIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %44, ptr noundef nonnull align 1 dereferenceable(1) %111)
  br i1 %112, label %119, label %113

113:                                              ; preds = %109
  %114 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %43, i64 noundef %99) #6
  %115 = call noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEneIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %6, ptr noundef nonnull align 1 dereferenceable(1) %114)
  br i1 %115, label %119, label %116

116:                                              ; preds = %113
  %117 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %45, i64 noundef %99) #6
  %118 = call noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEneIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %7, ptr noundef nonnull align 1 dereferenceable(1) %117)
  br i1 %118, label %119, label %153

119:                                              ; preds = %116, %113, %109, %105, %102, %95
  %120 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %46)
  %121 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %47)
  %122 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %40, i64 noundef %99) #6
  %123 = load i32, ptr %122, align 4, !tbaa !5
  %124 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %43, i64 noundef %99) #6
  %125 = getelementptr inbounds i8, ptr %124, i64 72
  call void @_ZN17RigidBodyDynamics19CalcPointJacobian6DERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tRNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, i32 noundef %123, ptr noundef nonnull align 8 dereferenceable(24) %125, ptr noundef nonnull align 8 dereferenceable(24) %46, i1 noundef zeroext false)
  %126 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %41, i64 noundef %99) #6
  %127 = load i32, ptr %126, align 4, !tbaa !5
  %128 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %45, i64 noundef %99) #6
  %129 = getelementptr inbounds i8, ptr %128, i64 72
  call void @_ZN17RigidBodyDynamics19CalcPointJacobian6DERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tRNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, i32 noundef %127, ptr noundef nonnull align 8 dereferenceable(24) %129, ptr noundef nonnull align 8 dereferenceable(24) %47, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %17) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmiIS2_EEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.461") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %47, ptr noundef nonnull align 1 dereferenceable(1) %46)
  %130 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_S7_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %48, ptr noundef nonnull align 1 dereferenceable(1) %17)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %17) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %18) #6
  %131 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %40, i64 noundef %99) #6
  %132 = load i32, ptr %131, align 4, !tbaa !5
  %133 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %43, i64 noundef %99) #6
  %134 = getelementptr inbounds i8, ptr %133, i64 72
  call void @_ZN17RigidBodyDynamics25CalcBodyToBaseCoordinatesERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tb(ptr dead_on_unwind nonnull writable sret(%class.Vector3_t) align 8 %18, ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, i32 noundef %132, ptr noundef nonnull align 8 dereferenceable(24) %134, i1 noundef zeroext false)
  %135 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSEOS_(ptr noundef nonnull align 8 dereferenceable(24) %14, ptr noundef nonnull align 8 dereferenceable(24) %18) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %18) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %19) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %20) #6
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %21) #6
  %136 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %40, i64 noundef %99) #6
  %137 = load i32, ptr %136, align 4, !tbaa !5
  call void @_ZN17RigidBodyDynamics24CalcBodyWorldOrientationERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjb(ptr dead_on_unwind nonnull writable sret(%class.Matrix3_t) align 8 %21, ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, i32 noundef %137, i1 noundef zeroext false)
  %138 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %21)
  store ptr %138, ptr %20, align 8
  %139 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %43, i64 noundef %99) #6
  %140 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %20, ptr noundef nonnull align 1 dereferenceable(1) %139)
  %141 = extractvalue { ptr, ptr } %140, 0
  store ptr %141, ptr %19, align 8
  %142 = extractvalue { ptr, ptr } %140, 1
  store ptr %142, ptr %49, align 8
  %143 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZN9Matrix3_taSIN5Eigen7ProductINS1_9TransposeINS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEES5_Li0EEEEERS_RKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72) %15, ptr noundef nonnull align 1 dereferenceable(1) %19)
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %21) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %19) #6
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %22) #6
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2ERK9Matrix3_tRK9Vector3_t(ptr noundef nonnull align 8 dereferenceable(96) %22, ptr noundef nonnull align 8 dereferenceable(72) %15, ptr noundef nonnull align 8 dereferenceable(24) %14)
  %144 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96) %16, ptr noundef nonnull align 8 dereferenceable(96) %22) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %22) #6
  %145 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %40, i64 noundef %99) #6
  %146 = load i32, ptr %145, align 4, !tbaa !5
  %147 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %41, i64 noundef %99) #6
  %148 = load i32, ptr %147, align 4, !tbaa !5
  %149 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %43, i64 noundef %99) #6
  %150 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96) %6, ptr noundef nonnull align 8 dereferenceable(96) %149)
  %151 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %45, i64 noundef %99) #6
  %152 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96) %7, ptr noundef nonnull align 8 dereferenceable(96) %151)
  br label %153

153:                                              ; preds = %119, %116
  %.1119 = phi i32 [ %148, %119 ], [ %.0118136, %116 ]
  %.3 = phi i32 [ %146, %119 ], [ %.2137, %116 ]
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %23) #6
  %154 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %50, i64 noundef %99) #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) %16, ptr noundef nonnull align 16 dereferenceable(48) %154)
  %155 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48) %13, ptr noundef nonnull align 16 dereferenceable(48) %23) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %23) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %24) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %25) #6
  %156 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %13)
  store ptr %156, ptr %25, align 8
  %157 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEmlINS2_IdLin1ELin1ELi0ELin1ELin1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %25, ptr noundef nonnull align 1 dereferenceable(1) %48)
  %158 = extractvalue { ptr, ptr } %157, 0
  store ptr %158, ptr %24, align 8
  %159 = extractvalue { ptr, ptr } %157, 1
  store ptr %159, ptr %51, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %26) #6
  %160 = load i32, ptr %52, align 8, !tbaa !9
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIijEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %26, ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %99, i64 noundef 0, i32 noundef 1, i32 noundef %160)
  %161 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLi6ELi1ELi0ELi6ELi1EEEEES2_Li0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %26, ptr noundef nonnull align 1 dereferenceable(1) %24)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %26) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %24) #6
  %162 = add i32 %.0122135, 1
  %163 = zext i32 %162 to i64
  %164 = call noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %38) #6
  %165 = icmp ugt i64 %164, %163
  br i1 %165, label %95, label %.preheader, !llvm.loop !94

._crit_edge142:                                   ; preds = %166, %.preheader
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %16) #6
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %15) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %14) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %13) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %12) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %7) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %6) #6
  ret void

166:                                              ; preds = %.lr.ph141, %166
  %167 = phi i64 [ 0, %.lr.ph141 ], [ %178, %166 ]
  %.0121140 = phi i32 [ 0, %.lr.ph141 ], [ %177, %166 ]
  %168 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %91, i64 noundef %167) #6
  %169 = load i32, ptr %168, align 4, !tbaa !5
  %170 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics16CustomConstraintESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %93, i64 noundef %167) #6
  %171 = call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24) %94)
  %172 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics16CustomConstraintESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %93, i64 noundef %167) #6
  %173 = load ptr, ptr %172, align 8, !tbaa !95
  %174 = load ptr, ptr %173, align 8, !tbaa !96
  %175 = getelementptr inbounds i8, ptr %174, i64 16
  %176 = load ptr, ptr %175, align 8
  call void %176(ptr noundef nonnull align 8 dereferenceable(12) %173, ptr noundef nonnull align 8 dereferenceable(872) %0, i32 noundef %169, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(1160) %2, ptr noundef nonnull align 8 dereferenceable(24) %3, i32 noundef %169, i32 noundef 0)
  %177 = add i32 %.0121140, 1
  %178 = zext i32 %177 to i64
  %179 = call noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %91) #6
  %180 = icmp ugt i64 %179, %178
  br i1 %180, label %166, label %._crit_edge142, !llvm.loop !98
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEneIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

declare void @_ZN17RigidBodyDynamics17CalcPointJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tRNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), i32 noundef, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) local_unnamed_addr #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math6XtransERK9Vector3_t(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8, ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #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 #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(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 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: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE9transposeEv(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_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_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 noundef double @_ZNK5Eigen8internal18dense_product_baseINS_9TransposeINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEES4_Li0ELi6EEcvKdEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEneIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

declare void @_ZN17RigidBodyDynamics19CalcPointJacobian6DERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tRNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), i32 noundef, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) local_unnamed_addr #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmiIS2_EEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.461") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_S7_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2ERK9Matrix3_tRK9Vector3_t(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #2 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 #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEmlINS2_IdLin1ELin1ELi0ELin1ELin1EEEEEKNS_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_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIijEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") 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_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_7ProductINS_9TransposeINS1_IdLi6ELi1ELi0ELi6ELi1EEEEES2_Li0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { "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, !6, i64 72}
!10 = !{!"_ZTSN17RigidBodyDynamics5ModelE", !11, i64 0, !11, i64 24, !16, i64 48, !6, i64 72, !6, i64 76, !6, i64 80, !6, i64 84, !20, i64 88, !25, i64 112, !25, i64 136, !30, i64 160, !25, i64 184, !25, i64 208, !25, i64 232, !11, i64 256, !35, i64 280, !11, i64 304, !40, i64 328, !40, i64 352, !45, i64 376, !49, i64 400, !11, i64 424, !53, i64 448, !25, i64 472, !57, i64 496, !25, i64 520, !25, i64 544, !62, i64 568, !62, i64 584, !25, i64 600, !66, i64 624, !66, i64 648, !25, i64 672, !25, i64 696, !35, i64 720, !35, i64 744, !71, i64 768, !6, i64 792, !76, i64 800, !81, i64 824}
!11 = !{!"_ZTSSt6vectorIjSaIjEE", !12, i64 0}
!12 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !13, i64 0}
!13 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !14, i64 0}
!14 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!15 = !{!"any pointer", !7, i64 0}
!16 = !{!"_ZTSSt6vectorIS_IjSaIjEESaIS1_EE", !17, i64 0}
!17 = !{!"_ZTSSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE12_Vector_implE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!20 = !{!"_ZTS9Vector3_t", !21, i64 0}
!21 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!25 = !{!"_ZTSSt6vectorI15SpatialVector_tSaIS0_EE", !26, i64 0}
!26 = !{!"_ZTSSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !27, i64 0}
!27 = !{!"_ZTSSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !29, i64 0}
!29 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!30 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointESaIS1_EE", !31, i64 0}
!31 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !32, i64 0}
!32 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !34, i64 0}
!34 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!35 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformESaIS2_EE", !36, i64 0}
!36 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !37, i64 0}
!37 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !38, i64 0}
!38 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !39, i64 0}
!39 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!40 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEESaIS2_EE", !41, i64 0}
!41 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !42, i64 0}
!42 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !43, i64 0}
!43 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !44, i64 0}
!44 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!45 = !{!"_ZTSSt6vectorI9Matrix3_tSaIS0_EE", !46, i64 0}
!46 = !{!"_ZTSSt12_Vector_baseI9Matrix3_tSaIS0_EE", !47, i64 0}
!47 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE12_Vector_implE", !48, i64 0}
!48 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!49 = !{!"_ZTSSt6vectorI9Vector3_tSaIS0_EE", !50, i64 0}
!50 = !{!"_ZTSSt12_Vector_baseI9Vector3_tSaIS0_EE", !51, i64 0}
!51 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE12_Vector_implE", !52, i64 0}
!52 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!53 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !54, i64 0}
!54 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !55, i64 0}
!55 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE12_Vector_implE", !56, i64 0}
!56 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!57 = !{!"_ZTSSt6vectorI15SpatialMatrix_tSaIS0_EE", !58, i64 0}
!58 = !{!"_ZTSSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !59, i64 0}
!59 = !{!"_ZTSSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !60, i64 0}
!60 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !61, i64 0}
!61 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!62 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !63, i64 0}
!63 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !64, i64 0}
!64 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !15, i64 0, !65, i64 8}
!65 = !{!"long", !7, i64 0}
!66 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaESaIS2_EE", !67, i64 0}
!67 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !68, i64 0}
!68 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !69, i64 0}
!69 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !70, i64 0}
!70 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!71 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyESaIS1_EE", !72, i64 0}
!72 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !73, i64 0}
!73 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !74, i64 0}
!74 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !75, i64 0}
!75 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!76 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyESaIS1_EE", !77, i64 0}
!77 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !78, i64 0}
!78 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !79, i64 0}
!79 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !80, i64 0}
!80 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!81 = !{!"_ZTSSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjSt4lessIS5_ESaISt4pairIKS5_jEEE", !82, i64 0}
!82 = !{!"_ZTSSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE", !83, i64 0}
!83 = !{!"_ZTSNSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE13_Rb_tree_implISC_Lb1EEE", !84, i64 0, !86, i64 8}
!84 = !{!"_ZTSSt20_Rb_tree_key_compareISt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEE", !85, i64 0}
!85 = !{!"_ZTSSt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE"}
!86 = !{!"_ZTSSt15_Rb_tree_header", !87, i64 0, !65, i64 32}
!87 = !{!"_ZTSSt18_Rb_tree_node_base", !88, i64 0, !15, i64 8, !15, i64 16, !15, i64 24}
!88 = !{!"_ZTSSt14_Rb_tree_color", !7, i64 0}
!89 = distinct !{!89, !90}
!90 = !{!"llvm.loop.mustprogress"}
!91 = !{!92, !92, i64 0}
!92 = !{!"double", !7, i64 0}
!93 = distinct !{!93, !90}
!94 = distinct !{!94, !90}
!95 = !{!15, !15, i64 0}
!96 = !{!97, !97, i64 0}
!97 = !{!"vtable pointer", !8, i64 0}
!98 = distinct !{!98, !90}


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