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

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

%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::__cxx11::basic_stringstream" = type { %"class.std::basic_iostream.base", %"class.std::__cxx11::basic_stringbuf", %"class.std::basic_ios" }
%"class.std::basic_iostream.base" = type { %"class.std::basic_istream.base", %"class.std::basic_ostream.base" }
%"class.std::basic_istream.base" = type { ptr, i64 }
%"class.std::basic_ostream.base" = type { ptr }
%"class.std::__cxx11::basic_stringbuf" = type { %"class.std::basic_streambuf", i32, %"class.std::__cxx11::basic_string" }
%"class.std::basic_streambuf" = type { ptr, ptr, ptr, ptr, ptr, ptr, ptr, %"class.std::locale" }
%"class.std::locale" = type { ptr }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::allocator" = type { i8 }
%"struct.std::_Setfill" = type { i8 }
%"struct.std::_Setw" = type { i32 }
%"struct.RigidBodyDynamics::Model" = type { %"class.std::vector", %"class.std::vector", %"class.std::vector.11", i32, i32, i32, i32, %class.Vector3_t, %"class.std::vector.26", %"class.std::vector.26", %"class.std::vector.32", %"class.std::vector.26", %"class.std::vector.26", %"class.std::vector.26", %"class.std::vector", %"class.std::vector.39", %"class.std::vector", %"class.std::vector.46", %"class.std::vector.46", %"class.std::vector.53", %"class.std::vector.58", %"class.std::vector", %"class.std::vector.63", %"class.std::vector.26", %"class.std::vector.68", %"class.std::vector.26", %"class.std::vector.26", %"class.Eigen::Matrix.75", %"class.Eigen::Matrix.75", %"class.std::vector.26", %"class.std::vector.84", %"class.std::vector.84", %"class.std::vector.26", %"class.std::vector.26", %"class.std::vector.39", %"class.std::vector.39", %"class.std::vector.91", i32, %"class.std::vector.98", %"class.std::map" }
%"class.std::vector.11" = type { %"struct.std::_Vector_base.12" }
%"struct.std::_Vector_base.12" = 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.Vector3_t = type { %"class.Eigen::Matrix.16" }
%"class.Eigen::Matrix.16" = type { %"class.Eigen::PlainObjectBase.17" }
%"class.Eigen::PlainObjectBase.17" = type { %"class.Eigen::DenseStorage.24" }
%"class.Eigen::DenseStorage.24" = type { %"struct.Eigen::internal::plain_array.25" }
%"struct.Eigen::internal::plain_array.25" = type { [3 x double] }
%"class.std::vector.32" = type { %"class.std::vector.33" }
%"class.std::vector.33" = type { %"struct.std::_Vector_base.34" }
%"struct.std::_Vector_base.34" = 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.46" = type { %"class.std::vector.47" }
%"class.std::vector.47" = type { %"struct.std::_Vector_base.48" }
%"struct.std::_Vector_base.48" = 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.53" = type { %"struct.std::_Vector_base.54" }
%"struct.std::_Vector_base.54" = 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.58" = type { %"struct.std::_Vector_base.59" }
%"struct.std::_Vector_base.59" = 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.63" = type { %"struct.std::_Vector_base.64" }
%"struct.std::_Vector_base.64" = 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.68" = type { %"class.std::vector.69" }
%"class.std::vector.69" = type { %"struct.std::_Vector_base.70" }
%"struct.std::_Vector_base.70" = 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.75" = type { %"class.Eigen::PlainObjectBase.76" }
%"class.Eigen::PlainObjectBase.76" = type { %"class.Eigen::DenseStorage.83" }
%"class.Eigen::DenseStorage.83" = type { ptr, i64 }
%"class.std::vector.84" = type { %"class.std::vector.85" }
%"class.std::vector.85" = type { %"struct.std::_Vector_base.86" }
%"struct.std::_Vector_base.86" = 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.26" = type { %"class.std::vector.27" }
%"class.std::vector.27" = type { %"struct.std::_Vector_base.28" }
%"struct.std::_Vector_base.28" = 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.39" = type { %"class.std::vector.40" }
%"class.std::vector.40" = type { %"struct.std::_Vector_base.41" }
%"struct.std::_Vector_base.41" = 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.91" = type { %"class.std::vector.92" }
%"class.std::vector.92" = type { %"struct.std::_Vector_base.93" }
%"struct.std::_Vector_base.93" = 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.98" = type { %"class.std::vector.99" }
%"class.std::vector.99" = type { %"struct.std::_Vector_base.100" }
%"struct.std::_Vector_base.100" = 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::Joint" = type { ptr, i32, i32, i32, i32 }
%class.SpatialVector_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 { [6 x double] }

@.str.11 = external hidden unnamed_addr constant [1 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [2 x i8], align 1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics5Utils12get_dof_nameB5cxx11ERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 16 dereferenceable(48)) #0

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

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

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

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics5Utils13get_body_nameB5cxx11ERKNS_5ModelEj(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(872), i32 noundef) #0

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics5Utils19GetModelDOFOverviewB5cxx11ERKNS_5ModelE(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8 %0, ptr noundef nonnull align 8 dereferenceable(872) %1) #0 personality ptr @__gxx_personality_v0 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca %"class.std::__cxx11::basic_stringstream", align 8
  %6 = alloca %"class.std::__cxx11::basic_string", align 8
  %7 = alloca %"class.std::allocator", align 1
  %8 = alloca ptr, align 8
  %9 = alloca i32, align 4
  %10 = alloca i32, align 4
  %11 = alloca i32, align 4
  %12 = alloca i32, align 4
  %13 = alloca %"struct.std::_Setfill", align 1
  %14 = alloca %"struct.std::_Setw", align 4
  %15 = alloca %"class.std::__cxx11::basic_string", align 8
  %16 = alloca %"class.std::__cxx11::basic_string", align 8
  %17 = alloca i32, align 4
  %18 = alloca %"struct.std::_Setfill", align 1
  %19 = alloca %"struct.std::_Setw", align 4
  %20 = alloca %"class.std::__cxx11::basic_string", align 8
  %21 = alloca %"class.std::__cxx11::basic_string", align 8
  store ptr %0, ptr %3, align 8
  store ptr %1, ptr %4, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 392, ptr %5) #5
  call void @llvm.lifetime.start.p0(i64 32, ptr %6) #5
  call void @llvm.lifetime.start.p0(i64 1, ptr %7) #5
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %6, ptr noundef @.str.11, ptr noundef nonnull align 1 dereferenceable(1) %7)
          to label %22 unwind label %34

22:                                               ; preds = %2
  %23 = invoke noundef i32 @_ZStorSt13_Ios_OpenmodeS_(i32 noundef 16, i32 noundef 8)
          to label %24 unwind label %38

24:                                               ; preds = %22
  invoke void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEEC1ERKNS_12basic_stringIcS2_S3_EESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(128) %5, ptr noundef nonnull align 8 dereferenceable(32) %6, i32 noundef %23)
          to label %25 unwind label %38

25:                                               ; preds = %24
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #5
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %7) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %6) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #5
  store i32 0, ptr %10, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #5
  store i32 1, ptr %11, align 4, !tbaa !9
  br label %26

26:                                               ; preds = %201, %25
  %27 = load i32, ptr %11, align 4, !tbaa !9
  %28 = zext i32 %27 to i64
  %29 = load ptr, ptr %4, align 8, !tbaa !5
  %30 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %29, i32 0, i32 38
  %31 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %30) #5
  %32 = icmp ult i64 %28, %31
  br i1 %32, label %43, label %33

33:                                               ; preds = %26
  store i32 2, ptr %12, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #5
  br label %205

34:                                               ; preds = %2
  %35 = landingpad { ptr, i32 }
          cleanup
  %36 = extractvalue { ptr, i32 } %35, 0
  store ptr %36, ptr %8, align 8
  %37 = extractvalue { ptr, i32 } %35, 1
  store i32 %37, ptr %9, align 4
  br label %42

38:                                               ; preds = %24, %22
  %39 = landingpad { ptr, i32 }
          cleanup
  %40 = extractvalue { ptr, i32 } %39, 0
  store ptr %40, ptr %8, align 8
  %41 = extractvalue { ptr, i32 } %39, 1
  store i32 %41, ptr %9, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #5
  br label %42

42:                                               ; preds = %38, %34
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %7) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %6) #5
  br label %212

43:                                               ; preds = %26
  %44 = load ptr, ptr %4, align 8, !tbaa !5
  %45 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %44, i32 0, i32 10
  %46 = load i32, ptr %11, align 4, !tbaa !9
  %47 = zext i32 %46 to i64
  %48 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %45, i64 noundef %47) #5
  %49 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %48, i32 0, i32 2
  %50 = load i32, ptr %49, align 4, !tbaa !11
  %51 = icmp eq i32 %50, 1
  br i1 %51, label %52, label %115

52:                                               ; preds = %43
  %53 = getelementptr inbounds i8, ptr %5, i64 16
  %54 = invoke i8 @_ZSt7setfillIcESt8_SetfillIT_ES1_(i8 noundef signext 32)
          to label %55 unwind label %92

55:                                               ; preds = %52
  %56 = getelementptr inbounds %"struct.std::_Setfill", ptr %13, i32 0, i32 0
  store i8 %54, ptr %56, align 1
  %57 = getelementptr inbounds %"struct.std::_Setfill", ptr %13, i32 0, i32 0
  %58 = load i8, ptr %57, align 1
  %59 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_St8_SetfillIS3_E(ptr noundef nonnull align 8 dereferenceable(8) %53, i8 %58)
          to label %60 unwind label %92

60:                                               ; preds = %55
  %61 = invoke i32 @_ZSt4setwi(i32 noundef 3)
          to label %62 unwind label %92

62:                                               ; preds = %60
  %63 = getelementptr inbounds %"struct.std::_Setw", ptr %14, i32 0, i32 0
  store i32 %61, ptr %63, align 4
  %64 = getelementptr inbounds %"struct.std::_Setw", ptr %14, i32 0, i32 0
  %65 = load i32, ptr %64, align 4
  %66 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_St5_Setw(ptr noundef nonnull align 8 dereferenceable(8) %59, i32 %65)
          to label %67 unwind label %92

67:                                               ; preds = %62
  %68 = load i32, ptr %10, align 4, !tbaa !9
  %69 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %66, i32 noundef %68)
          to label %70 unwind label %92

70:                                               ; preds = %67
  %71 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %69, ptr noundef @.str.12)
          to label %72 unwind label %92

72:                                               ; preds = %70
  call void @llvm.lifetime.start.p0(i64 32, ptr %15) #5
  %73 = load ptr, ptr %4, align 8, !tbaa !5
  %74 = load i32, ptr %11, align 4, !tbaa !9
  invoke void @_ZN17RigidBodyDynamics5Utils13get_body_nameB5cxx11ERKNS_5ModelEj(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %15, ptr noundef nonnull align 8 dereferenceable(872) %73, i32 noundef %74)
          to label %75 unwind label %96

75:                                               ; preds = %72
  %76 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %71, ptr noundef nonnull align 8 dereferenceable(32) %15)
          to label %77 unwind label %100

77:                                               ; preds = %75
  %78 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %76, ptr noundef @.str.13)
          to label %79 unwind label %100

79:                                               ; preds = %77
  call void @llvm.lifetime.start.p0(i64 32, ptr %16) #5
  %80 = load ptr, ptr %4, align 8, !tbaa !5
  %81 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %80, i32 0, i32 11
  %82 = load i32, ptr %11, align 4, !tbaa !9
  %83 = zext i32 %82 to i64
  %84 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %81, i64 noundef %83) #5
  invoke void @_ZN17RigidBodyDynamics5Utils12get_dof_nameB5cxx11ERK15SpatialVector_t(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %16, ptr noundef nonnull align 16 dereferenceable(48) %84)
          to label %85 unwind label %104

85:                                               ; preds = %79
  %86 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %78, ptr noundef nonnull align 8 dereferenceable(32) %16)
          to label %87 unwind label %108

87:                                               ; preds = %85
  %88 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %86, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %89 unwind label %108

89:                                               ; preds = %87
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %16) #5
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %15) #5
  %90 = load i32, ptr %10, align 4, !tbaa !9
  %91 = add i32 %90, 1
  store i32 %91, ptr %10, align 4, !tbaa !9
  br label %200

92:                                               ; preds = %70, %67, %62, %60, %55, %52
  %93 = landingpad { ptr, i32 }
          cleanup
  %94 = extractvalue { ptr, i32 } %93, 0
  store ptr %94, ptr %8, align 8
  %95 = extractvalue { ptr, i32 } %93, 1
  store i32 %95, ptr %9, align 4
  br label %204

96:                                               ; preds = %72
  %97 = landingpad { ptr, i32 }
          cleanup
  %98 = extractvalue { ptr, i32 } %97, 0
  store ptr %98, ptr %8, align 8
  %99 = extractvalue { ptr, i32 } %97, 1
  store i32 %99, ptr %9, align 4
  br label %114

100:                                              ; preds = %77, %75
  %101 = landingpad { ptr, i32 }
          cleanup
  %102 = extractvalue { ptr, i32 } %101, 0
  store ptr %102, ptr %8, align 8
  %103 = extractvalue { ptr, i32 } %101, 1
  store i32 %103, ptr %9, align 4
  br label %113

104:                                              ; preds = %79
  %105 = landingpad { ptr, i32 }
          cleanup
  %106 = extractvalue { ptr, i32 } %105, 0
  store ptr %106, ptr %8, align 8
  %107 = extractvalue { ptr, i32 } %105, 1
  store i32 %107, ptr %9, align 4
  br label %112

108:                                              ; preds = %87, %85
  %109 = landingpad { ptr, i32 }
          cleanup
  %110 = extractvalue { ptr, i32 } %109, 0
  store ptr %110, ptr %8, align 8
  %111 = extractvalue { ptr, i32 } %109, 1
  store i32 %111, ptr %9, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #5
  br label %112

112:                                              ; preds = %108, %104
  call void @llvm.lifetime.end.p0(i64 32, ptr %16) #5
  br label %113

113:                                              ; preds = %112, %100
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #5
  br label %114

114:                                              ; preds = %113, %96
  call void @llvm.lifetime.end.p0(i64 32, ptr %15) #5
  br label %204

115:                                              ; preds = %43
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #5
  store i32 0, ptr %17, align 4, !tbaa !9
  br label %116

116:                                              ; preds = %172, %115
  %117 = load i32, ptr %17, align 4, !tbaa !9
  %118 = load ptr, ptr %4, align 8, !tbaa !5
  %119 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %118, i32 0, i32 10
  %120 = load i32, ptr %11, align 4, !tbaa !9
  %121 = zext i32 %120 to i64
  %122 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %119, i64 noundef %121) #5
  %123 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %122, i32 0, i32 2
  %124 = load i32, ptr %123, align 4, !tbaa !11
  %125 = icmp ult i32 %117, %124
  br i1 %125, label %127, label %126

126:                                              ; preds = %116
  store i32 5, ptr %12, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #5
  br label %199

127:                                              ; preds = %116
  %128 = getelementptr inbounds i8, ptr %5, i64 16
  %129 = invoke i8 @_ZSt7setfillIcESt8_SetfillIT_ES1_(i8 noundef signext 32)
          to label %130 unwind label %175

130:                                              ; preds = %127
  %131 = getelementptr inbounds %"struct.std::_Setfill", ptr %18, i32 0, i32 0
  store i8 %129, ptr %131, align 1
  %132 = getelementptr inbounds %"struct.std::_Setfill", ptr %18, i32 0, i32 0
  %133 = load i8, ptr %132, align 1
  %134 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_St8_SetfillIS3_E(ptr noundef nonnull align 8 dereferenceable(8) %128, i8 %133)
          to label %135 unwind label %175

135:                                              ; preds = %130
  %136 = invoke i32 @_ZSt4setwi(i32 noundef 3)
          to label %137 unwind label %175

137:                                              ; preds = %135
  %138 = getelementptr inbounds %"struct.std::_Setw", ptr %19, i32 0, i32 0
  store i32 %136, ptr %138, align 4
  %139 = getelementptr inbounds %"struct.std::_Setw", ptr %19, i32 0, i32 0
  %140 = load i32, ptr %139, align 4
  %141 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_St5_Setw(ptr noundef nonnull align 8 dereferenceable(8) %134, i32 %140)
          to label %142 unwind label %175

142:                                              ; preds = %137
  %143 = load i32, ptr %10, align 4, !tbaa !9
  %144 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %141, i32 noundef %143)
          to label %145 unwind label %175

145:                                              ; preds = %142
  %146 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %144, ptr noundef @.str.12)
          to label %147 unwind label %175

147:                                              ; preds = %145
  call void @llvm.lifetime.start.p0(i64 32, ptr %20) #5
  %148 = load ptr, ptr %4, align 8, !tbaa !5
  %149 = load i32, ptr %11, align 4, !tbaa !9
  invoke void @_ZN17RigidBodyDynamics5Utils13get_body_nameB5cxx11ERKNS_5ModelEj(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %20, ptr noundef nonnull align 8 dereferenceable(872) %148, i32 noundef %149)
          to label %150 unwind label %179

150:                                              ; preds = %147
  %151 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %146, ptr noundef nonnull align 8 dereferenceable(32) %20)
          to label %152 unwind label %183

152:                                              ; preds = %150
  %153 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %151, ptr noundef @.str.13)
          to label %154 unwind label %183

154:                                              ; preds = %152
  call void @llvm.lifetime.start.p0(i64 32, ptr %21) #5
  %155 = load ptr, ptr %4, align 8, !tbaa !5
  %156 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %155, i32 0, i32 10
  %157 = load i32, ptr %11, align 4, !tbaa !9
  %158 = zext i32 %157 to i64
  %159 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %156, i64 noundef %158) #5
  %160 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %159, i32 0, i32 0
  %161 = load ptr, ptr %160, align 8, !tbaa !14
  %162 = load i32, ptr %17, align 4, !tbaa !9
  %163 = zext i32 %162 to i64
  %164 = getelementptr inbounds %class.SpatialVector_t, ptr %161, i64 %163
  invoke void @_ZN17RigidBodyDynamics5Utils12get_dof_nameB5cxx11ERK15SpatialVector_t(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %21, ptr noundef nonnull align 16 dereferenceable(48) %164)
          to label %165 unwind label %187

165:                                              ; preds = %154
  %166 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %153, ptr noundef nonnull align 8 dereferenceable(32) %21)
          to label %167 unwind label %191

167:                                              ; preds = %165
  %168 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %166, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %169 unwind label %191

169:                                              ; preds = %167
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %21) #5
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %20) #5
  %170 = load i32, ptr %10, align 4, !tbaa !9
  %171 = add i32 %170, 1
  store i32 %171, ptr %10, align 4, !tbaa !9
  br label %172

172:                                              ; preds = %169
  %173 = load i32, ptr %17, align 4, !tbaa !9
  %174 = add i32 %173, 1
  store i32 %174, ptr %17, align 4, !tbaa !9
  br label %116, !llvm.loop !15

175:                                              ; preds = %145, %142, %137, %135, %130, %127
  %176 = landingpad { ptr, i32 }
          cleanup
  %177 = extractvalue { ptr, i32 } %176, 0
  store ptr %177, ptr %8, align 8
  %178 = extractvalue { ptr, i32 } %176, 1
  store i32 %178, ptr %9, align 4
  br label %198

179:                                              ; preds = %147
  %180 = landingpad { ptr, i32 }
          cleanup
  %181 = extractvalue { ptr, i32 } %180, 0
  store ptr %181, ptr %8, align 8
  %182 = extractvalue { ptr, i32 } %180, 1
  store i32 %182, ptr %9, align 4
  br label %197

183:                                              ; preds = %152, %150
  %184 = landingpad { ptr, i32 }
          cleanup
  %185 = extractvalue { ptr, i32 } %184, 0
  store ptr %185, ptr %8, align 8
  %186 = extractvalue { ptr, i32 } %184, 1
  store i32 %186, ptr %9, align 4
  br label %196

187:                                              ; preds = %154
  %188 = landingpad { ptr, i32 }
          cleanup
  %189 = extractvalue { ptr, i32 } %188, 0
  store ptr %189, ptr %8, align 8
  %190 = extractvalue { ptr, i32 } %188, 1
  store i32 %190, ptr %9, align 4
  br label %195

191:                                              ; preds = %167, %165
  %192 = landingpad { ptr, i32 }
          cleanup
  %193 = extractvalue { ptr, i32 } %192, 0
  store ptr %193, ptr %8, align 8
  %194 = extractvalue { ptr, i32 } %192, 1
  store i32 %194, ptr %9, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #5
  br label %195

195:                                              ; preds = %191, %187
  call void @llvm.lifetime.end.p0(i64 32, ptr %21) #5
  br label %196

196:                                              ; preds = %195, %183
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20) #5
  br label %197

197:                                              ; preds = %196, %179
  call void @llvm.lifetime.end.p0(i64 32, ptr %20) #5
  br label %198

198:                                              ; preds = %197, %175
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #5
  br label %204

199:                                              ; preds = %126
  br label %200

200:                                              ; preds = %199, %89
  br label %201

201:                                              ; preds = %200
  %202 = load i32, ptr %11, align 4, !tbaa !9
  %203 = add i32 %202, 1
  store i32 %203, ptr %11, align 4, !tbaa !9
  br label %26, !llvm.loop !17

204:                                              ; preds = %198, %114, %92
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #5
  br label %211

205:                                              ; preds = %33
  invoke void @_ZNKSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEE3strEv(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %0, ptr noundef nonnull align 8 dereferenceable(128) %5)
          to label %206 unwind label %207

206:                                              ; preds = %205
  store i32 1, ptr %12, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #5
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %5) #5
  call void @llvm.lifetime.end.p0(i64 392, ptr %5) #5
  ret void

207:                                              ; preds = %205
  %208 = landingpad { ptr, i32 }
          cleanup
  %209 = extractvalue { ptr, i32 } %208, 0
  store ptr %209, ptr %8, align 8
  %210 = extractvalue { ptr, i32 } %208, 1
  store i32 %210, ptr %9, align 4
  br label %211

211:                                              ; preds = %207, %204
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #5
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %5) #5
  br label %212

212:                                              ; preds = %211, %42
  call void @llvm.lifetime.end.p0(i64 392, ptr %5) #5
  br label %213

213:                                              ; preds = %212
  %214 = load ptr, ptr %8, align 8
  %215 = load i32, ptr %9, align 4
  %216 = insertvalue { ptr, i32 } poison, ptr %214, 0
  %217 = insertvalue { ptr, i32 } %216, i32 %215, 1
  resume { ptr, i32 } %217
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZStorSt13_Ios_OpenmodeS_(i32 noundef, i32 noundef) #4

; Function Attrs: mustprogress uwtable
declare void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEEC1ERKNS_12basic_stringIcS2_S3_EESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(128), ptr noundef nonnull align 8 dereferenceable(32), i32 noundef) unnamed_addr #0 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(32)) #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_St5_Setw(ptr noundef nonnull align 8 dereferenceable(8), i32) #4

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_St8_SetfillIS3_E(ptr noundef nonnull align 8 dereferenceable(8), i8) #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local i8 @_ZSt7setfillIcESt8_SetfillIT_ES1_(i8 noundef signext) #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local i32 @_ZSt4setwi(i32 noundef) #4

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8), i32 noundef) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #3

; Function Attrs: mustprogress uwtable
declare void @_ZNKSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEE3strEv(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(128)) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128)) unnamed_addr #2 align 2

attributes #0 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { 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 #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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, !10, i64 12}
!12 = !{!"_ZTSN17RigidBodyDynamics5JointE", !6, i64 0, !13, i64 8, !10, i64 12, !10, i64 16, !10, i64 20}
!13 = !{!"_ZTSN17RigidBodyDynamics9JointTypeE", !7, i64 0}
!14 = !{!12, !6, i64 0}
!15 = distinct !{!15, !16}
!16 = !{!"llvm.loop.mustprogress"}
!17 = distinct !{!17, !16}


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

%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::__cxx11::basic_stringstream" = type { %"class.std::basic_iostream.base", %"class.std::__cxx11::basic_stringbuf", %"class.std::basic_ios" }
%"class.std::basic_iostream.base" = type { %"class.std::basic_istream.base", %"class.std::basic_ostream.base" }
%"class.std::basic_istream.base" = type { ptr, i64 }
%"class.std::basic_ostream.base" = type { ptr }
%"class.std::__cxx11::basic_stringbuf" = type { %"class.std::basic_streambuf", i32, %"class.std::__cxx11::basic_string" }
%"class.std::basic_streambuf" = type { ptr, ptr, ptr, ptr, ptr, ptr, ptr, %"class.std::locale" }
%"class.std::locale" = type { ptr }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::allocator" = type { i8 }
%class.SpatialVector_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 { [6 x double] }

@.str.11 = external hidden unnamed_addr constant [1 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [2 x i8], align 1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics5Utils12get_dof_nameB5cxx11ERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #0

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

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

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

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics5Utils13get_body_nameB5cxx11ERKNS_5ModelEj(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(872), i32 noundef) local_unnamed_addr #0

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics5Utils19GetModelDOFOverviewB5cxx11ERKNS_5ModelE(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8 %0, ptr noundef nonnull align 8 dereferenceable(872) %1) local_unnamed_addr #0 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.std::__cxx11::basic_stringstream", align 8
  %4 = alloca %"class.std::__cxx11::basic_string", align 8
  %5 = alloca %"class.std::allocator", align 1
  %6 = alloca %"class.std::__cxx11::basic_string", align 8
  %7 = alloca %"class.std::__cxx11::basic_string", align 8
  %8 = alloca %"class.std::__cxx11::basic_string", align 8
  %9 = alloca %"class.std::__cxx11::basic_string", align 8
  call void @llvm.lifetime.start.p0(i64 392, ptr nonnull %3) #5
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %4) #5
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %5) #5
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %4, ptr noundef nonnull @.str.11, ptr noundef nonnull align 1 dereferenceable(1) %5)
          to label %10 unwind label %19

10:                                               ; preds = %2
  %11 = call noundef i32 @_ZStorSt13_Ios_OpenmodeS_(i32 noundef 16, i32 noundef 8)
  invoke void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEEC1ERKNS_12basic_stringIcS2_S3_EESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(128) %3, ptr noundef nonnull align 8 dereferenceable(32) %4, i32 noundef %11)
          to label %12 unwind label %21

12:                                               ; preds = %10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #5
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %5) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #5
  %13 = getelementptr inbounds i8, ptr %1, i64 800
  %14 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %13) #5
  %15 = icmp ugt i64 %14, 1
  br i1 %15, label %.lr.ph66, label %._crit_edge

.lr.ph66:                                         ; preds = %12
  %16 = getelementptr inbounds i8, ptr %1, i64 160
  %17 = getelementptr inbounds i8, ptr %3, i64 16
  %18 = getelementptr inbounds i8, ptr %1, i64 184
  br label %24

._crit_edge:                                      ; preds = %.loopexit, %12
  invoke void @_ZNKSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEE3strEv(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %0, ptr noundef nonnull align 8 dereferenceable(128) %3)
          to label %113 unwind label %114

19:                                               ; preds = %2
  %20 = landingpad { ptr, i32 }
          cleanup
  br label %23

21:                                               ; preds = %10
  %22 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #5
  br label %23

23:                                               ; preds = %21, %19
  %.pn = phi { ptr, i32 } [ %22, %21 ], [ %20, %19 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %5) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #5
  br label %117

24:                                               ; preds = %.lr.ph66, %.loopexit
  %25 = phi i64 [ 1, %.lr.ph66 ], [ %110, %.loopexit ]
  %.03865 = phi i32 [ 0, %.lr.ph66 ], [ %.240, %.loopexit ]
  %.04163 = phi i32 [ 1, %.lr.ph66 ], [ %109, %.loopexit ]
  %26 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %16, i64 noundef %25) #5
  %27 = getelementptr inbounds i8, ptr %26, i64 12
  %28 = load i32, ptr %27, align 4, !tbaa !5
  %29 = icmp eq i32 %28, 1
  br i1 %29, label %33, label %.preheader

.preheader:                                       ; preds = %24
  %30 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %16, i64 noundef %25) #5
  %31 = getelementptr inbounds i8, ptr %30, i64 12
  %32 = load i32, ptr %31, align 4, !tbaa !5
  %.not = icmp eq i32 %32, 0
  br i1 %.not, label %.loopexit, label %.lr.ph

33:                                               ; preds = %24
  %34 = call i8 @_ZSt7setfillIcESt8_SetfillIT_ES1_(i8 noundef signext 32)
  %35 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_St8_SetfillIS3_E(ptr noundef nonnull align 8 dereferenceable(8) %17, i8 %34)
          to label %36 unwind label %55

36:                                               ; preds = %33
  %37 = call i32 @_ZSt4setwi(i32 noundef 3)
  %38 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_St5_Setw(ptr noundef nonnull align 8 dereferenceable(8) %35, i32 %37)
  %39 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %38, i32 noundef %.03865)
          to label %40 unwind label %55

40:                                               ; preds = %36
  %41 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %39, ptr noundef nonnull @.str.12)
          to label %42 unwind label %55

42:                                               ; preds = %40
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %6) #5
  invoke void @_ZN17RigidBodyDynamics5Utils13get_body_nameB5cxx11ERKNS_5ModelEj(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %6, ptr noundef nonnull align 8 dereferenceable(872) %1, i32 noundef %.04163)
          to label %43 unwind label %57

43:                                               ; preds = %42
  %44 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %41, ptr noundef nonnull align 8 dereferenceable(32) %6)
          to label %45 unwind label %59

45:                                               ; preds = %43
  %46 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %44, ptr noundef nonnull @.str.13)
          to label %47 unwind label %59

47:                                               ; preds = %45
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %7) #5
  %48 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %18, i64 noundef %25) #5
  invoke void @_ZN17RigidBodyDynamics5Utils12get_dof_nameB5cxx11ERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %7, ptr noundef nonnull align 16 dereferenceable(48) %48)
          to label %49 unwind label %61

49:                                               ; preds = %47
  %50 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %46, ptr noundef nonnull align 8 dereferenceable(32) %7)
          to label %51 unwind label %63

51:                                               ; preds = %49
  %52 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %50, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %53 unwind label %63

53:                                               ; preds = %51
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %7) #5
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #5
  %54 = add i32 %.03865, 1
  br label %.loopexit

55:                                               ; preds = %40, %36, %33
  %56 = landingpad { ptr, i32 }
          cleanup
  br label %116

57:                                               ; preds = %42
  %58 = landingpad { ptr, i32 }
          cleanup
  br label %67

59:                                               ; preds = %45, %43
  %60 = landingpad { ptr, i32 }
          cleanup
  br label %66

61:                                               ; preds = %47
  %62 = landingpad { ptr, i32 }
          cleanup
  br label %65

63:                                               ; preds = %51, %49
  %64 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #5
  br label %65

65:                                               ; preds = %63, %61
  %.pn49 = phi { ptr, i32 } [ %64, %63 ], [ %62, %61 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %7) #5
  br label %66

66:                                               ; preds = %65, %59
  %.pn49.pn = phi { ptr, i32 } [ %.pn49, %65 ], [ %60, %59 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #5
  br label %67

67:                                               ; preds = %66, %57
  %.pn49.pn.pn = phi { ptr, i32 } [ %.pn49.pn, %66 ], [ %58, %57 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #5
  br label %116

.lr.ph:                                           ; preds = %.preheader, %89
  %indvars.iv = phi i64 [ %indvars.iv.next, %89 ], [ 0, %.preheader ]
  %.13961 = phi i32 [ %90, %89 ], [ %.03865, %.preheader ]
  %68 = call i8 @_ZSt7setfillIcESt8_SetfillIT_ES1_(i8 noundef signext 32)
  %69 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_St8_SetfillIS3_E(ptr noundef nonnull align 8 dereferenceable(8) %17, i8 %68)
          to label %70 unwind label %96

70:                                               ; preds = %.lr.ph
  %71 = call i32 @_ZSt4setwi(i32 noundef 3)
  %72 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_St5_Setw(ptr noundef nonnull align 8 dereferenceable(8) %69, i32 %71)
  %73 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %72, i32 noundef %.13961)
          to label %74 unwind label %96

74:                                               ; preds = %70
  %75 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %73, ptr noundef nonnull @.str.12)
          to label %76 unwind label %96

76:                                               ; preds = %74
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %8) #5
  invoke void @_ZN17RigidBodyDynamics5Utils13get_body_nameB5cxx11ERKNS_5ModelEj(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %8, ptr noundef nonnull align 8 dereferenceable(872) %1, i32 noundef %.04163)
          to label %77 unwind label %98

77:                                               ; preds = %76
  %78 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %75, ptr noundef nonnull align 8 dereferenceable(32) %8)
          to label %79 unwind label %100

79:                                               ; preds = %77
  %80 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %78, ptr noundef nonnull @.str.13)
          to label %81 unwind label %100

81:                                               ; preds = %79
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %9) #5
  %82 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %16, i64 noundef %25) #5
  %83 = load ptr, ptr %82, align 8, !tbaa !12
  %84 = getelementptr inbounds %class.SpatialVector_t, ptr %83, i64 %indvars.iv
  invoke void @_ZN17RigidBodyDynamics5Utils12get_dof_nameB5cxx11ERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %9, ptr noundef nonnull align 16 dereferenceable(48) %84)
          to label %85 unwind label %102

85:                                               ; preds = %81
  %86 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %80, ptr noundef nonnull align 8 dereferenceable(32) %9)
          to label %87 unwind label %104

87:                                               ; preds = %85
  %88 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %86, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %89 unwind label %104

89:                                               ; preds = %87
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %9) #5
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #5
  %90 = add i32 %.13961, 1
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %91 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %16, i64 noundef %25) #5
  %92 = getelementptr inbounds i8, ptr %91, i64 12
  %93 = load i32, ptr %92, align 4, !tbaa !5
  %94 = zext i32 %93 to i64
  %95 = icmp ult i64 %indvars.iv.next, %94
  br i1 %95, label %.lr.ph, label %.loopexit, !llvm.loop !13

96:                                               ; preds = %74, %70, %.lr.ph
  %97 = landingpad { ptr, i32 }
          cleanup
  br label %116

98:                                               ; preds = %76
  %99 = landingpad { ptr, i32 }
          cleanup
  br label %108

100:                                              ; preds = %79, %77
  %101 = landingpad { ptr, i32 }
          cleanup
  br label %107

102:                                              ; preds = %81
  %103 = landingpad { ptr, i32 }
          cleanup
  br label %106

104:                                              ; preds = %87, %85
  %105 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #5
  br label %106

106:                                              ; preds = %104, %102
  %.pn44 = phi { ptr, i32 } [ %105, %104 ], [ %103, %102 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %9) #5
  br label %107

107:                                              ; preds = %106, %100
  %.pn44.pn = phi { ptr, i32 } [ %.pn44, %106 ], [ %101, %100 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #5
  br label %108

108:                                              ; preds = %107, %98
  %.pn44.pn.pn = phi { ptr, i32 } [ %.pn44.pn, %107 ], [ %99, %98 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #5
  br label %116

.loopexit:                                        ; preds = %89, %.preheader, %53
  %.240 = phi i32 [ %54, %53 ], [ %.03865, %.preheader ], [ %90, %89 ]
  %109 = add i32 %.04163, 1
  %110 = zext i32 %109 to i64
  %111 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %13) #5
  %112 = icmp ugt i64 %111, %110
  br i1 %112, label %24, label %._crit_edge, !llvm.loop !15

113:                                              ; preds = %._crit_edge
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %3) #5
  call void @llvm.lifetime.end.p0(i64 392, ptr nonnull %3) #5
  ret void

114:                                              ; preds = %._crit_edge
  %115 = landingpad { ptr, i32 }
          cleanup
  br label %116

116:                                              ; preds = %55, %67, %108, %96, %114
  %.pn49.pn.pn.pn.pn = phi { ptr, i32 } [ %115, %114 ], [ %.pn49.pn.pn, %67 ], [ %56, %55 ], [ %.pn44.pn.pn, %108 ], [ %97, %96 ]
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %3) #5
  br label %117

117:                                              ; preds = %116, %23
  %.pn49.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn49.pn.pn.pn.pn, %116 ], [ %.pn, %23 ]
  call void @llvm.lifetime.end.p0(i64 392, ptr nonnull %3) #5
  resume { ptr, i32 } %.pn49.pn.pn.pn.pn.pn
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZStorSt13_Ios_OpenmodeS_(i32 noundef, i32 noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEEC1ERKNS_12basic_stringIcS2_S3_EESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(128), ptr noundef nonnull align 8 dereferenceable(32), i32 noundef) unnamed_addr #0 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_St5_Setw(ptr noundef nonnull align 8 dereferenceable(8), i32) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_St8_SetfillIS3_E(ptr noundef nonnull align 8 dereferenceable(8), i8) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local i8 @_ZSt7setfillIcESt8_SetfillIT_ES1_(i8 noundef signext) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local i32 @_ZSt4setwi(i32 noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8), i32 noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #3

; Function Attrs: mustprogress uwtable
declare void @_ZNKSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEE3strEv(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(128)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128)) unnamed_addr #2 align 2

attributes #0 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { 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 #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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, !11, i64 12}
!6 = !{!"_ZTSN17RigidBodyDynamics5JointE", !7, i64 0, !10, i64 8, !11, i64 12, !11, i64 16, !11, i64 20}
!7 = !{!"any pointer", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"_ZTSN17RigidBodyDynamics9JointTypeE", !8, i64 0}
!11 = !{!"int", !8, i64 0}
!12 = !{!6, !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}
!15 = distinct !{!15, !14}


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