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

; 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"

%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%class.Matrix3_t = type { %"class.Eigen::Matrix.100" }
%"class.Eigen::Matrix.100" = type { %"class.Eigen::PlainObjectBase.101" }
%"class.Eigen::PlainObjectBase.101" = type { %"class.Eigen::DenseStorage.108" }
%"class.Eigen::DenseStorage.108" = type { %"struct.Eigen::internal::plain_array.109" }
%"struct.Eigen::internal::plain_array.109" = type { [9 x double] }
%class.Vector3_t = type { %"class.Eigen::Matrix" }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%class.SpatialVector_t = type { %"class.Eigen::Matrix.90" }
%"class.Eigen::Matrix.90" = type { %"class.Eigen::PlainObjectBase.91" }
%"class.Eigen::PlainObjectBase.91" = type { %"class.Eigen::DenseStorage.98" }
%"class.Eigen::DenseStorage.98" = type { %"struct.Eigen::internal::plain_array.99" }
%"struct.Eigen::internal::plain_array.99" = type { [6 x double] }
%"class.Eigen::Block.268" = type { %"class.Eigen::BlockImpl.269" }
%"class.Eigen::BlockImpl.269" = type { %"class.Eigen::internal::BlockImpl_dense.270" }
%"class.Eigen::internal::BlockImpl_dense.270" = type { %"class.Eigen::MapBase.271", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.271" = type { %"class.Eigen::MapBase.272" }
%"class.Eigen::MapBase.272" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%class.SpatialMatrix_t = type { %"class.Eigen::Matrix.293" }
%"class.Eigen::Matrix.293" = type { %"class.Eigen::PlainObjectBase.294" }
%"class.Eigen::PlainObjectBase.294" = type { %"class.Eigen::DenseStorage.301" }
%"class.Eigen::DenseStorage.301" = type { %"struct.Eigen::internal::plain_array.302" }
%"struct.Eigen::internal::plain_array.302" = type { [36 x double] }
%"class.Eigen::Product.286" = type { ptr, ptr }
%"class.Eigen::Product.310" = type { ptr, ptr }
%"struct.RigidBodyDynamics::Model" = type { %"class.std::vector", %"class.std::vector", %"class.std::vector.1", i32, i32, i32, i32, %class.Vector3_t, %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.14", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector", %"class.std::vector.21", %"class.std::vector", %"class.std::vector.28", %"class.std::vector.28", %"class.std::vector.35", %"class.std::vector.40", %"class.std::vector", %"class.std::vector.45", %"class.std::vector.8", %"class.std::vector.50", %"class.std::vector.8", %"class.std::vector.8", %"class.Eigen::Matrix.57", %"class.Eigen::Matrix.57", %"class.std::vector.8", %"class.std::vector.66", %"class.std::vector.66", %"class.std::vector.8", %"class.std::vector.8", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.73", i32, %"class.std::vector.80", %"class.std::map" }
%"class.std::vector.1" = type { %"struct.std::_Vector_base.2" }
%"struct.std::_Vector_base.2" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.14" = type { %"class.std::vector.15" }
%"class.std::vector.15" = type { %"struct.std::_Vector_base.16" }
%"struct.std::_Vector_base.16" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.28" = type { %"class.std::vector.29" }
%"class.std::vector.29" = type { %"struct.std::_Vector_base.30" }
%"struct.std::_Vector_base.30" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.35" = type { %"struct.std::_Vector_base.36" }
%"struct.std::_Vector_base.36" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.40" = type { %"struct.std::_Vector_base.41" }
%"struct.std::_Vector_base.41" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.45" = type { %"struct.std::_Vector_base.46" }
%"struct.std::_Vector_base.46" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.50" = type { %"class.std::vector.51" }
%"class.std::vector.51" = type { %"struct.std::_Vector_base.52" }
%"struct.std::_Vector_base.52" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::Matrix.57" = type { %"class.Eigen::PlainObjectBase.58" }
%"class.Eigen::PlainObjectBase.58" = type { %"class.Eigen::DenseStorage.65" }
%"class.Eigen::DenseStorage.65" = type { ptr, i64 }
%"class.std::vector.66" = type { %"class.std::vector.67" }
%"class.std::vector.67" = type { %"struct.std::_Vector_base.68" }
%"struct.std::_Vector_base.68" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.8" = type { %"class.std::vector.9" }
%"class.std::vector.9" = type { %"struct.std::_Vector_base.10" }
%"struct.std::_Vector_base.10" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.21" = type { %"class.std::vector.22" }
%"class.std::vector.22" = type { %"struct.std::_Vector_base.23" }
%"struct.std::_Vector_base.23" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.73" = type { %"class.std::vector.74" }
%"class.std::vector.74" = type { %"struct.std::_Vector_base.75" }
%"struct.std::_Vector_base.75" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.80" = type { %"class.std::vector.81" }
%"class.std::vector.81" = type { %"struct.std::_Vector_base.82" }
%"struct.std::_Vector_base.82" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"struct.std::_Rb_tree_header" = type { %"struct.std::_Rb_tree_node_base", i64 }
%"struct.std::_Rb_tree_node_base" = type { i32, ptr, ptr, ptr }
%"struct.RigidBodyDynamics::FixedBody" = type { double, %class.Vector3_t, %class.Matrix3_t, i32, %"struct.RigidBodyDynamics::Math::SpatialTransform", %"struct.RigidBodyDynamics::Math::SpatialTransform" }
%"struct.RigidBodyDynamics::Joint" = type { ptr, i32, i32, i32, i32 }
%"struct.RigidBodyDynamics::CustomJoint" = type { ptr, i32, %"struct.RigidBodyDynamics::Math::SpatialTransform", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.57", %"class.Eigen::Matrix.57" }
%"class.Eigen::Matrix.153" = type { %"class.Eigen::PlainObjectBase.154" }
%"class.Eigen::PlainObjectBase.154" = type { %"class.Eigen::DenseStorage.161" }
%"class.Eigen::DenseStorage.161" = type { ptr, i64, i64 }

@.str.4 = external hidden unnamed_addr constant [111 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [45 x i8], align 1
@__PRETTY_FUNCTION__._ZN17RigidBodyDynamics23CalcBodySpatialJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRNS3_IdLin1ELin1ELi0ELin1ELin1EEEb = external hidden unnamed_addr constant [107 x i8], align 1

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) #3 align 2

; 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 @_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)) #2 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)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef, ptr noundef, ptr noundef) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(304) ptr @_ZNSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24)) #3 align 2

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

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN17RigidBodyDynamics5Model13IsFixedBodyIdEj(ptr noundef nonnull align 8 dereferenceable(872), i32 noundef) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransform7inverseEv(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8, ptr noundef nonnull align 8 dereferenceable(96)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.268") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind noalias writable sret(%class.SpatialMatrix_t) align 16, ptr noundef nonnull align 8 dereferenceable(96)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi3ELi0ELi6ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLin1ELin1ELi0ELin1ELin1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #4 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.268") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) #4 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics23CalcBodySpatialJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, i32 noundef %2, ptr noundef nonnull align 8 dereferenceable(24) %3, i1 noundef zeroext %4) #2 {
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  %9 = alloca ptr, align 8
  %10 = alloca i8, align 1
  %11 = alloca i32, align 4
  %12 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %13 = alloca i32, align 4
  %14 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %15 = alloca i32, align 4
  %16 = alloca i32, align 4
  %17 = alloca %class.SpatialVector_t, align 16
  %18 = alloca %class.SpatialVector_t, align 16
  %19 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %20 = alloca %"class.Eigen::Block.268", align 8
  %21 = alloca %"class.Eigen::Product.286", align 8
  %22 = alloca %class.SpatialMatrix_t, align 16
  %23 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %24 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %25 = alloca %"class.Eigen::Block.268", align 8
  %26 = alloca i32, align 4
  %27 = alloca %"class.Eigen::Product.310", align 8
  %28 = alloca %class.SpatialMatrix_t, align 16
  %29 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %30 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %31 = alloca %"class.Eigen::Block.268", align 8
  store ptr %0, ptr %6, align 8, !tbaa !5
  store ptr %1, ptr %7, align 8, !tbaa !5
  store i32 %2, ptr %8, align 4, !tbaa !9
  store ptr %3, ptr %9, align 8, !tbaa !5
  %32 = zext i1 %4 to i8
  store i8 %32, ptr %10, align 1, !tbaa !11
  %33 = load i8, ptr %10, align 1, !tbaa !11, !range !13, !noundef !14
  %34 = trunc i8 %33 to i1
  br i1 %34, label %35, label %38

35:                                               ; preds = %5
  %36 = load ptr, ptr %6, align 8, !tbaa !5
  %37 = load ptr, ptr %7, align 8, !tbaa !5
  call void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872) %36, ptr noundef %37, ptr noundef null, ptr noundef null)
  br label %38

38:                                               ; preds = %35, %5
  %39 = load ptr, ptr %9, align 8, !tbaa !5
  %40 = call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24) %39)
  %41 = icmp eq i64 %40, 6
  br i1 %41, label %42, label %50

42:                                               ; preds = %38
  %43 = load ptr, ptr %9, align 8, !tbaa !5
  %44 = call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24) %43)
  %45 = load ptr, ptr %6, align 8, !tbaa !5
  %46 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %45, i32 0, i32 5
  %47 = load i32, ptr %46, align 8, !tbaa !15
  %48 = zext i32 %47 to i64
  %49 = icmp eq i64 %44, %48
  br label %50

50:                                               ; preds = %42, %38
  %51 = phi i1 [ false, %38 ], [ %49, %42 ]
  br i1 %51, label %52, label %53

52:                                               ; preds = %50
  br label %55

53:                                               ; preds = %50
  call void @__assert_fail(ptr noundef @.str.5, ptr noundef @.str.4, i32 noundef 383, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics23CalcBodySpatialJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRNS3_IdLin1ELin1ELi0ELin1ELin1EEEb) #6
  unreachable

54:                                               ; No predecessors!
  br label %55

55:                                               ; preds = %54, %52
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #7
  %56 = load i32, ptr %8, align 4, !tbaa !9
  store i32 %56, ptr %11, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 96, ptr %12) #7
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2Ev(ptr noundef nonnull align 8 dereferenceable(96) %12)
  %57 = load ptr, ptr %6, align 8, !tbaa !5
  %58 = load i32, ptr %8, align 4, !tbaa !9
  %59 = call noundef zeroext i1 @_ZN17RigidBodyDynamics5Model13IsFixedBodyIdEj(ptr noundef nonnull align 8 dereferenceable(872) %57, i32 noundef %58)
  br i1 %59, label %60, label %85

60:                                               ; preds = %55
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #7
  %61 = load i32, ptr %8, align 4, !tbaa !9
  %62 = load ptr, ptr %6, align 8, !tbaa !5
  %63 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %62, i32 0, i32 37
  %64 = load i32, ptr %63, align 8, !tbaa !94
  %65 = sub i32 %61, %64
  store i32 %65, ptr %13, align 4, !tbaa !9
  %66 = load ptr, ptr %6, align 8, !tbaa !5
  %67 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %66, i32 0, i32 36
  %68 = load i32, ptr %13, align 4, !tbaa !9
  %69 = zext i32 %68 to i64
  %70 = call noundef nonnull align 8 dereferenceable(304) ptr @_ZNSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %67, i64 noundef %69) #7
  %71 = getelementptr inbounds %"struct.RigidBodyDynamics::FixedBody", ptr %70, i32 0, i32 3
  %72 = load i32, ptr %71, align 8, !tbaa !95
  store i32 %72, ptr %11, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 96, ptr %14) #7
  %73 = load ptr, ptr %6, align 8, !tbaa !5
  %74 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %73, i32 0, i32 36
  %75 = load i32, ptr %13, align 4, !tbaa !9
  %76 = zext i32 %75 to i64
  %77 = call noundef nonnull align 8 dereferenceable(304) ptr @_ZNSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %76) #7
  %78 = getelementptr inbounds %"struct.RigidBodyDynamics::FixedBody", ptr %77, i32 0, i32 4
  %79 = load ptr, ptr %6, align 8, !tbaa !5
  %80 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %79, i32 0, i32 35
  %81 = load i32, ptr %11, align 4, !tbaa !9
  %82 = zext i32 %81 to i64
  %83 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %80, i64 noundef %82) #7
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransformmlERKS1_(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %14, ptr noundef nonnull align 8 dereferenceable(96) %78, ptr noundef nonnull align 8 dereferenceable(96) %83)
  %84 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96) %12, ptr noundef nonnull align 8 dereferenceable(96) %14) #7
  call void @llvm.lifetime.end.p0(i64 96, ptr %14) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #7
  br label %92

85:                                               ; preds = %55
  %86 = load ptr, ptr %6, align 8, !tbaa !5
  %87 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %86, i32 0, i32 35
  %88 = load i32, ptr %11, align 4, !tbaa !9
  %89 = zext i32 %88 to i64
  %90 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %87, i64 noundef %89) #7
  %91 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96) %12, ptr noundef nonnull align 8 dereferenceable(96) %90)
  br label %92

92:                                               ; preds = %85, %60
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #7
  %93 = load i32, ptr %11, align 4, !tbaa !9
  store i32 %93, ptr %15, align 4, !tbaa !9
  br label %94

94:                                               ; preds = %215, %92
  %95 = load i32, ptr %15, align 4, !tbaa !9
  %96 = icmp ne i32 %95, 0
  br i1 %96, label %97, label %222

97:                                               ; preds = %94
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #7
  %98 = load ptr, ptr %6, align 8, !tbaa !5
  %99 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %98, i32 0, i32 10
  %100 = load i32, ptr %15, align 4, !tbaa !9
  %101 = zext i32 %100 to i64
  %102 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %99, i64 noundef %101) #7
  %103 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %102, i32 0, i32 3
  %104 = load i32, ptr %103, align 8, !tbaa !104
  store i32 %104, ptr %16, align 4, !tbaa !9
  %105 = load ptr, ptr %6, align 8, !tbaa !5
  %106 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %105, i32 0, i32 10
  %107 = load i32, ptr %15, align 4, !tbaa !9
  %108 = zext i32 %107 to i64
  %109 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %106, i64 noundef %108) #7
  %110 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %109, i32 0, i32 1
  %111 = load i32, ptr %110, align 8, !tbaa !107
  %112 = icmp ne i32 %111, 21
  br i1 %112, label %113, label %168

113:                                              ; preds = %97
  %114 = load ptr, ptr %6, align 8, !tbaa !5
  %115 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %114, i32 0, i32 10
  %116 = load i32, ptr %15, align 4, !tbaa !9
  %117 = zext i32 %116 to i64
  %118 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %115, i64 noundef %117) #7
  %119 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %118, i32 0, i32 2
  %120 = load i32, ptr %119, align 4, !tbaa !108
  %121 = icmp eq i32 %120, 1
  br i1 %121, label %122, label %137

122:                                              ; preds = %113
  call void @llvm.lifetime.start.p0(i64 48, ptr %17) #7
  call void @llvm.lifetime.start.p0(i64 48, ptr %18) #7
  call void @llvm.lifetime.start.p0(i64 96, ptr %19) #7
  %123 = load ptr, ptr %6, align 8, !tbaa !5
  %124 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %123, i32 0, i32 35
  %125 = load i32, ptr %15, align 4, !tbaa !9
  %126 = zext i32 %125 to i64
  %127 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %124, i64 noundef %126) #7
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform7inverseEv(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %19, ptr noundef nonnull align 8 dereferenceable(96) %127)
  %128 = load ptr, ptr %6, align 8, !tbaa !5
  %129 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %128, i32 0, i32 11
  %130 = load i32, ptr %15, align 4, !tbaa !9
  %131 = zext i32 %130 to i64
  %132 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %129, i64 noundef %131) #7
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %18, ptr noundef nonnull align 8 dereferenceable(96) %19, ptr noundef nonnull align 16 dereferenceable(48) %132)
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %17, ptr noundef nonnull align 8 dereferenceable(96) %12, ptr noundef nonnull align 16 dereferenceable(48) %18)
  call void @llvm.lifetime.start.p0(i64 56, ptr %20) #7
  %133 = load ptr, ptr %9, align 8, !tbaa !5
  %134 = load i32, ptr %16, align 4, !tbaa !9
  %135 = zext i32 %134 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block.268") align 8 %20, ptr noundef nonnull align 1 dereferenceable(1) %133, i64 noundef 0, i64 noundef %135, i32 noundef 6, i32 noundef 1)
  %136 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS1_IdLi6ELi1ELi0ELi6ELi1EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %20, ptr noundef nonnull align 1 dereferenceable(1) %17)
  call void @llvm.lifetime.end.p0(i64 56, ptr %20) #7
  call void @llvm.lifetime.end.p0(i64 96, ptr %19) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr %17) #7
  br label %167

137:                                              ; preds = %113
  %138 = load ptr, ptr %6, align 8, !tbaa !5
  %139 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %138, i32 0, i32 10
  %140 = load i32, ptr %15, align 4, !tbaa !9
  %141 = zext i32 %140 to i64
  %142 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %139, i64 noundef %141) #7
  %143 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %142, i32 0, i32 2
  %144 = load i32, ptr %143, align 4, !tbaa !108
  %145 = icmp eq i32 %144, 3
  br i1 %145, label %146, label %166

146:                                              ; preds = %137
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #7
  call void @llvm.lifetime.start.p0(i64 288, ptr %22) #7
  call void @llvm.lifetime.start.p0(i64 96, ptr %23) #7
  call void @llvm.lifetime.start.p0(i64 96, ptr %24) #7
  %147 = load ptr, ptr %6, align 8, !tbaa !5
  %148 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %147, i32 0, i32 35
  %149 = load i32, ptr %15, align 4, !tbaa !9
  %150 = zext i32 %149 to i64
  %151 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %148, i64 noundef %150) #7
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform7inverseEv(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %24, ptr noundef nonnull align 8 dereferenceable(96) %151)
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransformmlERKS1_(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %23, ptr noundef nonnull align 8 dereferenceable(96) %12, ptr noundef nonnull align 8 dereferenceable(96) %24)
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind writable sret(%class.SpatialMatrix_t) align 16 %22, ptr noundef nonnull align 8 dereferenceable(96) %23)
  %152 = load ptr, ptr %6, align 8, !tbaa !5
  %153 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %152, i32 0, i32 17
  %154 = load i32, ptr %15, align 4, !tbaa !9
  %155 = zext i32 %154 to i64
  %156 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %153, i64 noundef %155) #7
  %157 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi3ELi0ELi6ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %22, ptr noundef nonnull align 1 dereferenceable(1) %156)
  %158 = getelementptr inbounds { ptr, ptr }, ptr %21, i32 0, i32 0
  %159 = extractvalue { ptr, ptr } %157, 0
  store ptr %159, ptr %158, align 8
  %160 = getelementptr inbounds { ptr, ptr }, ptr %21, i32 0, i32 1
  %161 = extractvalue { ptr, ptr } %157, 1
  store ptr %161, ptr %160, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr %25) #7
  %162 = load ptr, ptr %9, align 8, !tbaa !5
  %163 = load i32, ptr %16, align 4, !tbaa !9
  %164 = zext i32 %163 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block.268") align 8 %25, ptr noundef nonnull align 1 dereferenceable(1) %162, i64 noundef 0, i64 noundef %164, i32 noundef 6, i32 noundef 3)
  %165 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEENS1_IdLi6ELi3ELi0ELi6ELi3EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %25, ptr noundef nonnull align 1 dereferenceable(1) %21)
  call void @llvm.lifetime.end.p0(i64 56, ptr %25) #7
  call void @llvm.lifetime.end.p0(i64 96, ptr %24) #7
  call void @llvm.lifetime.end.p0(i64 96, ptr %23) #7
  call void @llvm.lifetime.end.p0(i64 288, ptr %22) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #7
  br label %166

166:                                              ; preds = %146, %137
  br label %167

167:                                              ; preds = %166, %122
  br label %215

168:                                              ; preds = %97
  %169 = load ptr, ptr %6, align 8, !tbaa !5
  %170 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %169, i32 0, i32 10
  %171 = load i32, ptr %15, align 4, !tbaa !9
  %172 = zext i32 %171 to i64
  %173 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %170, i64 noundef %172) #7
  %174 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %173, i32 0, i32 1
  %175 = load i32, ptr %174, align 8, !tbaa !107
  %176 = icmp eq i32 %175, 21
  br i1 %176, label %177, label %214

177:                                              ; preds = %168
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #7
  %178 = load ptr, ptr %6, align 8, !tbaa !5
  %179 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %178, i32 0, i32 10
  %180 = load i32, ptr %15, align 4, !tbaa !9
  %181 = zext i32 %180 to i64
  %182 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %179, i64 noundef %181) #7
  %183 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %182, i32 0, i32 4
  %184 = load i32, ptr %183, align 4, !tbaa !109
  store i32 %184, ptr %26, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 16, ptr %27) #7
  call void @llvm.lifetime.start.p0(i64 288, ptr %28) #7
  call void @llvm.lifetime.start.p0(i64 96, ptr %29) #7
  call void @llvm.lifetime.start.p0(i64 96, ptr %30) #7
  %185 = load ptr, ptr %6, align 8, !tbaa !5
  %186 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %185, i32 0, i32 35
  %187 = load i32, ptr %15, align 4, !tbaa !9
  %188 = zext i32 %187 to i64
  %189 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %186, i64 noundef %188) #7
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform7inverseEv(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %30, ptr noundef nonnull align 8 dereferenceable(96) %189)
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransformmlERKS1_(ptr dead_on_unwind writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %29, ptr noundef nonnull align 8 dereferenceable(96) %12, ptr noundef nonnull align 8 dereferenceable(96) %30)
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind writable sret(%class.SpatialMatrix_t) align 16 %28, ptr noundef nonnull align 8 dereferenceable(96) %29)
  %190 = load ptr, ptr %6, align 8, !tbaa !5
  %191 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %190, i32 0, i32 22
  %192 = load i32, ptr %26, align 4, !tbaa !9
  %193 = zext i32 %192 to i64
  %194 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %191, i64 noundef %193) #7
  %195 = load ptr, ptr %194, align 8, !tbaa !5
  %196 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %195, i32 0, i32 3
  %197 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLin1ELin1ELi0ELin1ELin1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %28, ptr noundef nonnull align 1 dereferenceable(1) %196)
  %198 = getelementptr inbounds { ptr, ptr }, ptr %27, i32 0, i32 0
  %199 = extractvalue { ptr, ptr } %197, 0
  store ptr %199, ptr %198, align 8
  %200 = getelementptr inbounds { ptr, ptr }, ptr %27, i32 0, i32 1
  %201 = extractvalue { ptr, ptr } %197, 1
  store ptr %201, ptr %200, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr %31) #7
  %202 = load ptr, ptr %9, align 8, !tbaa !5
  %203 = load i32, ptr %16, align 4, !tbaa !9
  %204 = zext i32 %203 to i64
  %205 = load ptr, ptr %6, align 8, !tbaa !5
  %206 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %205, i32 0, i32 22
  %207 = load i32, ptr %26, align 4, !tbaa !9
  %208 = zext i32 %207 to i64
  %209 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %206, i64 noundef %208) #7
  %210 = load ptr, ptr %209, align 8, !tbaa !5
  %211 = getelementptr inbounds %"struct.RigidBodyDynamics::CustomJoint", ptr %210, i32 0, i32 1
  %212 = load i32, ptr %211, align 8, !tbaa !110
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIijEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block.268") align 8 %31, ptr noundef nonnull align 1 dereferenceable(1) %202, i64 noundef 0, i64 noundef %204, i32 noundef 6, i32 noundef %212)
  %213 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %31, ptr noundef nonnull align 1 dereferenceable(1) %27)
  call void @llvm.lifetime.end.p0(i64 56, ptr %31) #7
  call void @llvm.lifetime.end.p0(i64 96, ptr %30) #7
  call void @llvm.lifetime.end.p0(i64 96, ptr %29) #7
  call void @llvm.lifetime.end.p0(i64 288, ptr %28) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #7
  br label %214

214:                                              ; preds = %177, %168
  br label %215

215:                                              ; preds = %214, %167
  %216 = load ptr, ptr %6, align 8, !tbaa !5
  %217 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %216, i32 0, i32 0
  %218 = load i32, ptr %15, align 4, !tbaa !9
  %219 = zext i32 %218 to i64
  %220 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %217, i64 noundef %219) #7
  %221 = load i32, ptr %220, align 4, !tbaa !9
  store i32 %221, ptr %15, align 4, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #7
  br label %94, !llvm.loop !115

222:                                              ; preds = %94
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #7
  call void @llvm.lifetime.end.p0(i64 96, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #7
  ret void
}

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS1_IdLi6ELi1ELi0ELi6ELi1EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEENS1_IdLi6ELi3ELi0ELi6ELi3EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #4 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { 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 = { 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 #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { noreturn nounwind }
attributes #7 = { 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 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"bool", !7, i64 0}
!13 = !{i8 0, i8 2}
!14 = !{}
!15 = !{!16, !10, i64 80}
!16 = !{!"_ZTSN17RigidBodyDynamics5ModelE", !17, i64 0, !17, i64 24, !21, i64 48, !10, i64 72, !10, i64 76, !10, i64 80, !10, 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, !10, 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 = !{!16, !10, i64 792}
!95 = !{!96, !10, i64 104}
!96 = !{!"_ZTSN17RigidBodyDynamics9FixedBodyE", !97, i64 0, !25, i64 8, !98, i64 32, !10, i64 104, !103, i64 112, !103, i64 208}
!97 = !{!"double", !7, i64 0}
!98 = !{!"_ZTS9Matrix3_t", !99, i64 0}
!99 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !100, i64 0}
!100 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !101, i64 0}
!101 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !102, i64 0}
!102 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !7, i64 0}
!103 = !{!"_ZTSN17RigidBodyDynamics4Math16SpatialTransformE", !98, i64 0, !25, i64 72}
!104 = !{!105, !10, i64 16}
!105 = !{!"_ZTSN17RigidBodyDynamics5JointE", !6, i64 0, !106, i64 8, !10, i64 12, !10, i64 16, !10, i64 20}
!106 = !{!"_ZTSN17RigidBodyDynamics9JointTypeE", !7, i64 0}
!107 = !{!105, !106, i64 8}
!108 = !{!105, !10, i64 12}
!109 = !{!105, !10, i64 20}
!110 = !{!111, !10, i64 8}
!111 = !{!"_ZTSN17RigidBodyDynamics11CustomJointE", !10, i64 8, !103, i64 16, !112, i64 112, !112, i64 136, !112, i64 160, !67, i64 184, !67, i64 200}
!112 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !113, i64 0}
!113 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !114, i64 0}
!114 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !6, i64 0, !70, i64 8, !70, i64 16}
!115 = distinct !{!115, !116}
!116 = !{!"llvm.loop.mustprogress"}


; 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"

%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%class.Matrix3_t = type { %"class.Eigen::Matrix.100" }
%"class.Eigen::Matrix.100" = type { %"class.Eigen::PlainObjectBase.101" }
%"class.Eigen::PlainObjectBase.101" = type { %"class.Eigen::DenseStorage.108" }
%"class.Eigen::DenseStorage.108" = type { %"struct.Eigen::internal::plain_array.109" }
%"struct.Eigen::internal::plain_array.109" = type { [9 x double] }
%class.Vector3_t = type { %"class.Eigen::Matrix" }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%class.SpatialVector_t = type { %"class.Eigen::Matrix.90" }
%"class.Eigen::Matrix.90" = type { %"class.Eigen::PlainObjectBase.91" }
%"class.Eigen::PlainObjectBase.91" = type { %"class.Eigen::DenseStorage.98" }
%"class.Eigen::DenseStorage.98" = type { %"struct.Eigen::internal::plain_array.99" }
%"struct.Eigen::internal::plain_array.99" = type { [6 x double] }
%"class.Eigen::Block.268" = type { %"class.Eigen::BlockImpl.269" }
%"class.Eigen::BlockImpl.269" = type { %"class.Eigen::internal::BlockImpl_dense.270" }
%"class.Eigen::internal::BlockImpl_dense.270" = type { %"class.Eigen::MapBase.271", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.271" = type { %"class.Eigen::MapBase.272" }
%"class.Eigen::MapBase.272" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%class.SpatialMatrix_t = type { %"class.Eigen::Matrix.293" }
%"class.Eigen::Matrix.293" = type { %"class.Eigen::PlainObjectBase.294" }
%"class.Eigen::PlainObjectBase.294" = type { %"class.Eigen::DenseStorage.301" }
%"class.Eigen::DenseStorage.301" = type { %"struct.Eigen::internal::plain_array.302" }
%"struct.Eigen::internal::plain_array.302" = type { [36 x double] }
%"class.Eigen::Product.286" = type { ptr, ptr }
%"class.Eigen::Product.310" = type { ptr, ptr }

@.str.4 = external hidden unnamed_addr constant [111 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [45 x i8], align 1
@__PRETTY_FUNCTION__._ZN17RigidBodyDynamics23CalcBodySpatialJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRNS3_IdLin1ELin1ELi0ELin1ELin1EEEb = external hidden unnamed_addr constant [107 x i8], align 1

; 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 nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #3 align 2

; 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 @_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 #2 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 #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(304) ptr @_ZNSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #3 align 2

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

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN17RigidBodyDynamics5Model13IsFixedBodyIdEj(ptr noundef nonnull align 8 dereferenceable(872), i32 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransform7inverseEv(ptr dead_on_unwind noalias writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8, ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.268") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind noalias writable sret(%class.SpatialMatrix_t) align 16, ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi3ELi0ELi6ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLin1ELin1ELi0ELin1ELin1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 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.268") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics23CalcBodySpatialJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, i32 noundef %2, ptr noundef nonnull align 8 dereferenceable(24) %3, i1 noundef zeroext %4) local_unnamed_addr #2 {
  %6 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %7 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %8 = alloca %class.SpatialVector_t, align 16
  %9 = alloca %class.SpatialVector_t, align 16
  %10 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %11 = alloca %"class.Eigen::Block.268", align 8
  %12 = alloca %"class.Eigen::Product.286", align 8
  %13 = alloca %class.SpatialMatrix_t, align 16
  %14 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %15 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %16 = alloca %"class.Eigen::Block.268", align 8
  %17 = alloca %"class.Eigen::Product.310", align 8
  %18 = alloca %class.SpatialMatrix_t, align 16
  %19 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %20 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %21 = alloca %"class.Eigen::Block.268", align 8
  br i1 %4, label %22, label %23

22:                                               ; 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 %23

23:                                               ; preds = %22, %5
  %24 = tail call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24) %3)
  %25 = icmp eq i64 %24, 6
  br i1 %25, label %26, label %.critedge

26:                                               ; preds = %23
  %27 = tail call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24) %3)
  %28 = getelementptr inbounds i8, ptr %0, i64 80
  %29 = load i32, ptr %28, align 8, !tbaa !5
  %30 = zext i32 %29 to i64
  %31 = icmp eq i64 %27, %30
  br i1 %31, label %32, label %.critedge

.critedge:                                        ; preds = %23, %26
  tail call void @__assert_fail(ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.4, i32 noundef 383, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics23CalcBodySpatialJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRNS3_IdLin1ELin1ELi0ELin1ELin1EEEb) #6
  unreachable

32:                                               ; preds = %26
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %6) #7
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2Ev(ptr noundef nonnull align 8 dereferenceable(96) %6)
  %33 = call noundef zeroext i1 @_ZN17RigidBodyDynamics5Model13IsFixedBodyIdEj(ptr noundef nonnull align 8 dereferenceable(872) %0, i32 noundef %2)
  br i1 %33, label %34, label %49

34:                                               ; preds = %32
  %35 = getelementptr inbounds i8, ptr %0, i64 792
  %36 = load i32, ptr %35, align 8, !tbaa !88
  %37 = sub i32 %2, %36
  %38 = getelementptr inbounds i8, ptr %0, i64 768
  %39 = zext i32 %37 to i64
  %40 = call noundef nonnull align 8 dereferenceable(304) ptr @_ZNSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %38, i64 noundef %39) #7
  %41 = getelementptr inbounds i8, ptr %40, i64 104
  %42 = load i32, ptr %41, align 8, !tbaa !89
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %7) #7
  %43 = call noundef nonnull align 8 dereferenceable(304) ptr @_ZNSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %38, i64 noundef %39) #7
  %44 = getelementptr inbounds i8, ptr %43, i64 112
  %45 = getelementptr inbounds i8, ptr %0, i64 744
  %46 = zext i32 %42 to i64
  %47 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %45, i64 noundef %46) #7
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransformmlERKS1_(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %7, ptr noundef nonnull align 8 dereferenceable(96) %44, ptr noundef nonnull align 8 dereferenceable(96) %47)
  %48 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96) %6, ptr noundef nonnull align 8 dereferenceable(96) %7) #7
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %7) #7
  br label %54

49:                                               ; preds = %32
  %50 = getelementptr inbounds i8, ptr %0, i64 744
  %51 = zext i32 %2 to i64
  %52 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %50, i64 noundef %51) #7
  %53 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96) %6, ptr noundef nonnull align 8 dereferenceable(96) %52)
  br label %54

54:                                               ; preds = %49, %34
  %.0 = phi i32 [ %42, %34 ], [ %2, %49 ]
  %.not56 = icmp eq i32 %.0, 0
  br i1 %.not56, label %._crit_edge, label %.lr.ph

.lr.ph:                                           ; preds = %54
  %55 = getelementptr inbounds i8, ptr %0, i64 160
  %56 = getelementptr inbounds i8, ptr %0, i64 744
  %57 = getelementptr inbounds i8, ptr %0, i64 328
  %58 = getelementptr inbounds i8, ptr %12, i64 8
  %59 = getelementptr inbounds i8, ptr %0, i64 184
  %60 = getelementptr inbounds i8, ptr %0, i64 448
  %61 = getelementptr inbounds i8, ptr %17, i64 8
  br label %62

62:                                               ; preds = %.lr.ph, %115
  %.05457 = phi i32 [ %.0, %.lr.ph ], [ %117, %115 ]
  %63 = zext i32 %.05457 to i64
  %64 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %55, i64 noundef %63) #7
  %65 = getelementptr inbounds i8, ptr %64, i64 16
  %66 = load i32, ptr %65, align 8, !tbaa !98
  %67 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %55, i64 noundef %63) #7
  %68 = getelementptr inbounds i8, ptr %67, i64 8
  %69 = load i32, ptr %68, align 8, !tbaa !101
  %.not55 = icmp eq i32 %69, 21
  %70 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %55, i64 noundef %63) #7
  br i1 %.not55, label %93, label %71

71:                                               ; preds = %62
  %72 = getelementptr inbounds i8, ptr %70, i64 12
  %73 = load i32, ptr %72, align 4, !tbaa !102
  %74 = icmp eq i32 %73, 1
  br i1 %74, label %75, label %80

75:                                               ; preds = %71
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %8) #7
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %9) #7
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %10) #7
  %76 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %56, i64 noundef %63) #7
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform7inverseEv(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %10, ptr noundef nonnull align 8 dereferenceable(96) %76)
  %77 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %59, i64 noundef %63) #7
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %9, ptr noundef nonnull align 8 dereferenceable(96) %10, ptr noundef nonnull align 16 dereferenceable(48) %77)
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform5applyERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %8, ptr noundef nonnull align 8 dereferenceable(96) %6, ptr noundef nonnull align 16 dereferenceable(48) %9)
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %11) #7
  %78 = zext i32 %66 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.268") align 8 %11, ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 0, i64 noundef %78, i32 noundef 6, i32 noundef 1)
  %79 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS1_IdLi6ELi1ELi0ELi6ELi1EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %11, ptr noundef nonnull align 1 dereferenceable(1) %8)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %11) #7
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %10) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %9) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %8) #7
  br label %115

80:                                               ; preds = %71
  %81 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %55, i64 noundef %63) #7
  %82 = getelementptr inbounds i8, ptr %81, i64 12
  %83 = load i32, ptr %82, align 4, !tbaa !102
  %84 = icmp eq i32 %83, 3
  br i1 %84, label %85, label %115

85:                                               ; preds = %80
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #7
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %13) #7
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %14) #7
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %15) #7
  %86 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %56, i64 noundef %63) #7
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform7inverseEv(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %15, ptr noundef nonnull align 8 dereferenceable(96) %86)
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransformmlERKS1_(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %14, ptr noundef nonnull align 8 dereferenceable(96) %6, ptr noundef nonnull align 8 dereferenceable(96) %15)
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind nonnull writable sret(%class.SpatialMatrix_t) align 16 %13, ptr noundef nonnull align 8 dereferenceable(96) %14)
  %87 = call noundef nonnull align 16 dereferenceable(144) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %57, i64 noundef %63) #7
  %88 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLi6ELi3ELi0ELi6ELi3EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %13, ptr noundef nonnull align 1 dereferenceable(1) %87)
  %89 = extractvalue { ptr, ptr } %88, 0
  store ptr %89, ptr %12, align 8
  %90 = extractvalue { ptr, ptr } %88, 1
  store ptr %90, ptr %58, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %16) #7
  %91 = zext i32 %66 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.268") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 0, i64 noundef %91, i32 noundef 6, i32 noundef 3)
  %92 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEENS1_IdLi6ELi3ELi0ELi6ELi3EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %16, ptr noundef nonnull align 1 dereferenceable(1) %12)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %16) #7
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %15) #7
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %14) #7
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %13) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #7
  br label %115

93:                                               ; preds = %62
  %94 = getelementptr inbounds i8, ptr %70, i64 8
  %95 = load i32, ptr %94, align 8, !tbaa !101
  %96 = icmp eq i32 %95, 21
  br i1 %96, label %97, label %115

97:                                               ; preds = %93
  %98 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %55, i64 noundef %63) #7
  %99 = getelementptr inbounds i8, ptr %98, i64 20
  %100 = load i32, ptr %99, align 4, !tbaa !103
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #7
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %18) #7
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %19) #7
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %20) #7
  %101 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZNSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %56, i64 noundef %63) #7
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform7inverseEv(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %20, ptr noundef nonnull align 8 dereferenceable(96) %101)
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransformmlERKS1_(ptr dead_on_unwind nonnull writable sret(%"struct.RigidBodyDynamics::Math::SpatialTransform") align 8 %19, ptr noundef nonnull align 8 dereferenceable(96) %6, ptr noundef nonnull align 8 dereferenceable(96) %20)
  call void @_ZNK17RigidBodyDynamics4Math16SpatialTransform8toMatrixEv(ptr dead_on_unwind nonnull writable sret(%class.SpatialMatrix_t) align 16 %18, ptr noundef nonnull align 8 dereferenceable(96) %19)
  %102 = zext i32 %100 to i64
  %103 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %60, i64 noundef %102) #7
  %104 = load ptr, ptr %103, align 8, !tbaa !104
  %105 = getelementptr inbounds i8, ptr %104, i64 112
  %106 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEmlINS1_IdLin1ELin1ELi0ELin1ELin1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %18, ptr noundef nonnull align 1 dereferenceable(1) %105)
  %107 = extractvalue { ptr, ptr } %106, 0
  store ptr %107, ptr %17, align 8
  %108 = extractvalue { ptr, ptr } %106, 1
  store ptr %108, ptr %61, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %21) #7
  %109 = zext i32 %66 to i64
  %110 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %60, i64 noundef %102) #7
  %111 = load ptr, ptr %110, align 8, !tbaa !104
  %112 = getelementptr inbounds i8, ptr %111, i64 8
  %113 = load i32, ptr %112, align 8, !tbaa !105
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIijEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.268") align 8 %21, ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 0, i64 noundef %109, i32 noundef 6, i32 noundef %113)
  %114 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %21, ptr noundef nonnull align 1 dereferenceable(1) %17)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %21) #7
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %20) #7
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %19) #7
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %18) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #7
  br label %115

115:                                              ; preds = %93, %97, %75, %85, %80
  %116 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %63) #7
  %117 = load i32, ptr %116, align 4, !tbaa !110
  %.not = icmp eq i32 %117, 0
  br i1 %.not, label %._crit_edge, label %62, !llvm.loop !111

._crit_edge:                                      ; preds = %115, %54
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %6) #7
  ret void
}

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS1_IdLi6ELi1ELi0ELi6ELi1EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEENS1_IdLi6ELi3ELi0ELi6ELi3EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_7ProductINS1_IdLi6ELi6ELi0ELi6ELi6EEES2_Li0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { 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 = { 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 #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { noreturn nounwind }
attributes #7 = { 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, !18, i64 80}
!6 = !{!"_ZTSN17RigidBodyDynamics5ModelE", !7, i64 0, !7, i64 24, !14, i64 48, !18, i64 72, !18, i64 76, !18, i64 80, !18, i64 84, !19, i64 88, !24, i64 112, !24, i64 136, !29, i64 160, !24, i64 184, !24, i64 208, !24, i64 232, !7, i64 256, !34, i64 280, !7, i64 304, !39, i64 328, !39, i64 352, !44, i64 376, !48, i64 400, !7, i64 424, !52, i64 448, !24, i64 472, !56, i64 496, !24, i64 520, !24, i64 544, !61, i64 568, !61, i64 584, !24, i64 600, !65, i64 624, !65, i64 648, !24, i64 672, !24, i64 696, !34, i64 720, !34, i64 744, !70, i64 768, !18, i64 792, !75, i64 800, !80, i64 824}
!7 = !{!"_ZTSSt6vectorIjSaIjEE", !8, i64 0}
!8 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !9, i64 0}
!9 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !10, i64 0}
!10 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!11 = !{!"any pointer", !12, i64 0}
!12 = !{!"omnipotent char", !13, i64 0}
!13 = !{!"Simple C++ TBAA"}
!14 = !{!"_ZTSSt6vectorIS_IjSaIjEESaIS1_EE", !15, i64 0}
!15 = !{!"_ZTSSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE", !16, i64 0}
!16 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE12_Vector_implE", !17, i64 0}
!17 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!18 = !{!"int", !12, i64 0}
!19 = !{!"_ZTS9Vector3_t", !20, i64 0}
!20 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !12, i64 0}
!24 = !{!"_ZTSSt6vectorI15SpatialVector_tSaIS0_EE", !25, i64 0}
!25 = !{!"_ZTSSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !26, i64 0}
!26 = !{!"_ZTSSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !27, i64 0}
!27 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!29 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointESaIS1_EE", !30, i64 0}
!30 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !31, i64 0}
!31 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !32, i64 0}
!32 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!34 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformESaIS2_EE", !35, i64 0}
!35 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !36, i64 0}
!36 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !37, i64 0}
!37 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !38, i64 0}
!38 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!39 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEESaIS2_EE", !40, i64 0}
!40 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !41, i64 0}
!41 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !42, i64 0}
!42 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !43, i64 0}
!43 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!44 = !{!"_ZTSSt6vectorI9Matrix3_tSaIS0_EE", !45, i64 0}
!45 = !{!"_ZTSSt12_Vector_baseI9Matrix3_tSaIS0_EE", !46, i64 0}
!46 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE12_Vector_implE", !47, i64 0}
!47 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!48 = !{!"_ZTSSt6vectorI9Vector3_tSaIS0_EE", !49, i64 0}
!49 = !{!"_ZTSSt12_Vector_baseI9Vector3_tSaIS0_EE", !50, i64 0}
!50 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE12_Vector_implE", !51, i64 0}
!51 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!52 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !53, i64 0}
!53 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !54, i64 0}
!54 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE12_Vector_implE", !55, i64 0}
!55 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!56 = !{!"_ZTSSt6vectorI15SpatialMatrix_tSaIS0_EE", !57, i64 0}
!57 = !{!"_ZTSSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !58, i64 0}
!58 = !{!"_ZTSSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !59, i64 0}
!59 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !60, i64 0}
!60 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!61 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !62, i64 0}
!62 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !63, i64 0}
!63 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !11, i64 0, !64, i64 8}
!64 = !{!"long", !12, i64 0}
!65 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaESaIS2_EE", !66, i64 0}
!66 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !67, i64 0}
!67 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !68, i64 0}
!68 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !69, i64 0}
!69 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!70 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyESaIS1_EE", !71, i64 0}
!71 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !72, i64 0}
!72 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !73, i64 0}
!73 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !74, i64 0}
!74 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!75 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyESaIS1_EE", !76, i64 0}
!76 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !77, i64 0}
!77 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !78, i64 0}
!78 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !79, i64 0}
!79 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!80 = !{!"_ZTSSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjSt4lessIS5_ESaISt4pairIKS5_jEEE", !81, i64 0}
!81 = !{!"_ZTSSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE", !82, i64 0}
!82 = !{!"_ZTSNSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE13_Rb_tree_implISC_Lb1EEE", !83, i64 0, !85, i64 8}
!83 = !{!"_ZTSSt20_Rb_tree_key_compareISt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEE", !84, i64 0}
!84 = !{!"_ZTSSt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE"}
!85 = !{!"_ZTSSt15_Rb_tree_header", !86, i64 0, !64, i64 32}
!86 = !{!"_ZTSSt18_Rb_tree_node_base", !87, i64 0, !11, i64 8, !11, i64 16, !11, i64 24}
!87 = !{!"_ZTSSt14_Rb_tree_color", !12, i64 0}
!88 = !{!6, !18, i64 792}
!89 = !{!90, !18, i64 104}
!90 = !{!"_ZTSN17RigidBodyDynamics9FixedBodyE", !91, i64 0, !19, i64 8, !92, i64 32, !18, i64 104, !97, i64 112, !97, i64 208}
!91 = !{!"double", !12, i64 0}
!92 = !{!"_ZTS9Matrix3_t", !93, i64 0}
!93 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !94, i64 0}
!94 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !95, i64 0}
!95 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !96, i64 0}
!96 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !12, i64 0}
!97 = !{!"_ZTSN17RigidBodyDynamics4Math16SpatialTransformE", !92, i64 0, !19, i64 72}
!98 = !{!99, !18, i64 16}
!99 = !{!"_ZTSN17RigidBodyDynamics5JointE", !11, i64 0, !100, i64 8, !18, i64 12, !18, i64 16, !18, i64 20}
!100 = !{!"_ZTSN17RigidBodyDynamics9JointTypeE", !12, i64 0}
!101 = !{!99, !100, i64 8}
!102 = !{!99, !18, i64 12}
!103 = !{!99, !18, i64 20}
!104 = !{!11, !11, i64 0}
!105 = !{!106, !18, i64 8}
!106 = !{!"_ZTSN17RigidBodyDynamics11CustomJointE", !18, i64 8, !97, i64 16, !107, i64 112, !107, i64 136, !107, i64 160, !61, i64 184, !61, i64 200}
!107 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !108, i64 0}
!108 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !109, i64 0}
!109 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !11, i64 0, !64, i64 8, !64, i64 16}
!110 = !{!18, !18, i64 0}
!111 = distinct !{!111, !112}
!112 = !{!"llvm.loop.mustprogress"}


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