; 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 }
%"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.Eigen::CwiseNullaryOp" = type { %"class.Eigen::internal::variable_if_dynamic", [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%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.Eigen::Transpose.122" = type { ptr }
%"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.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.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 }

@.str.11 = external hidden unnamed_addr constant [1 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [3 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: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 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 #2 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 #1 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 @_ZNK17RigidBodyDynamics5Model11GetBodyNameB5cxx11Ej(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(872), i32 noundef) #2 align 2

; 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 #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 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: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #2 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)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics5Utils27GetNamedBodyOriginsOverviewB5cxx11ERNS_5ModelE(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8 %0, ptr noundef nonnull align 8 dereferenceable(872) %1) #2 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 %"class.Eigen::Matrix.75", align 8
  %11 = alloca %"class.Eigen::CwiseNullaryOp", align 8
  %12 = alloca i32, align 4
  %13 = alloca i32, align 4
  %14 = alloca %"class.std::__cxx11::basic_string", align 8
  %15 = alloca %class.Vector3_t, align 8
  %16 = alloca %class.Vector3_t, align 8
  %17 = alloca double, align 8
  %18 = alloca double, align 8
  %19 = alloca double, align 8
  %20 = alloca %"class.Eigen::Transpose.122", 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) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %6) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %7) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #6
  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 %21 unwind label %41

21:                                               ; preds = %2
  %22 = invoke noundef i32 @_ZStorSt13_Ios_OpenmodeS_(i32 noundef 16, i32 noundef 8)
          to label %23 unwind label %45

23:                                               ; preds = %21
  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 %22)
          to label %24 unwind label %45

24:                                               ; preds = %23
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %7) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %6) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %10) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %11) #6
  %25 = load ptr, ptr %4, align 8, !tbaa !5
  %26 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %25, i32 0, i32 3
  %27 = load i32, ptr %26, align 8, !tbaa !9
  %28 = zext i32 %27 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp") align 8 %11, i64 noundef %28)
          to label %29 unwind label %50

29:                                               ; preds = %24
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %10, ptr noundef nonnull align 8 dereferenceable(24) %11)
          to label %30 unwind label %50

30:                                               ; preds = %29
  call void @llvm.lifetime.end.p0(i64 24, ptr %11) #6
  %31 = load ptr, ptr %4, align 8, !tbaa !5
  invoke void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872) %31, ptr noundef %10, ptr noundef null, ptr noundef null)
          to label %32 unwind label %54

32:                                               ; preds = %30
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #6
  store i32 0, ptr %12, align 4, !tbaa !89
  br label %33

33:                                               ; preds = %89, %32
  %34 = load i32, ptr %12, align 4, !tbaa !89
  %35 = zext i32 %34 to i64
  %36 = load ptr, ptr %4, align 8, !tbaa !5
  %37 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %36, i32 0, i32 38
  %38 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %37) #6
  %39 = icmp ult i64 %35, %38
  br i1 %39, label %58, label %40

40:                                               ; preds = %33
  store i32 2, ptr %13, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #6
  br label %106

41:                                               ; preds = %2
  %42 = landingpad { ptr, i32 }
          cleanup
  %43 = extractvalue { ptr, i32 } %42, 0
  store ptr %43, ptr %8, align 8
  %44 = extractvalue { ptr, i32 } %42, 1
  store i32 %44, ptr %9, align 4
  br label %49

45:                                               ; preds = %23, %21
  %46 = landingpad { ptr, i32 }
          cleanup
  %47 = extractvalue { ptr, i32 } %46, 0
  store ptr %47, ptr %8, align 8
  %48 = extractvalue { ptr, i32 } %46, 1
  store i32 %48, ptr %9, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #6
  br label %49

49:                                               ; preds = %45, %41
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %7) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %6) #6
  br label %110

50:                                               ; preds = %29, %24
  %51 = landingpad { ptr, i32 }
          cleanup
  %52 = extractvalue { ptr, i32 } %51, 0
  store ptr %52, ptr %8, align 8
  %53 = extractvalue { ptr, i32 } %51, 1
  store i32 %53, ptr %9, align 4
  call void @llvm.lifetime.end.p0(i64 24, ptr %11) #6
  br label %109

54:                                               ; preds = %106, %30
  %55 = landingpad { ptr, i32 }
          cleanup
  %56 = extractvalue { ptr, i32 } %55, 0
  store ptr %56, ptr %8, align 8
  %57 = extractvalue { ptr, i32 } %55, 1
  store i32 %57, ptr %9, align 4
  br label %108

58:                                               ; preds = %33
  call void @llvm.lifetime.start.p0(i64 32, ptr %14) #6
  %59 = load ptr, ptr %4, align 8, !tbaa !5
  %60 = load i32, ptr %12, align 4, !tbaa !89
  invoke void @_ZNK17RigidBodyDynamics5Model11GetBodyNameB5cxx11Ej(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %14, ptr noundef nonnull align 8 dereferenceable(872) %59, i32 noundef %60)
          to label %61 unwind label %65

61:                                               ; preds = %58
  %62 = call noundef i64 @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(32) %14) #6
  %63 = icmp eq i64 %62, 0
  br i1 %63, label %64, label %69

64:                                               ; preds = %61
  store i32 4, ptr %13, align 4
  br label %86

65:                                               ; preds = %58
  %66 = landingpad { ptr, i32 }
          cleanup
  %67 = extractvalue { ptr, i32 } %66, 0
  store ptr %67, ptr %8, align 8
  %68 = extractvalue { ptr, i32 } %66, 1
  store i32 %68, ptr %9, align 4
  br label %105

69:                                               ; preds = %61
  call void @llvm.lifetime.start.p0(i64 24, ptr %15) #6
  %70 = load ptr, ptr %4, align 8, !tbaa !5
  %71 = load i32, ptr %12, align 4, !tbaa !89
  call void @llvm.lifetime.start.p0(i64 24, ptr %16) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #6
  store double 0.000000e+00, ptr %17, align 8, !tbaa !90
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #6
  store double 0.000000e+00, ptr %18, align 8, !tbaa !90
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #6
  store double 0.000000e+00, ptr %19, align 8, !tbaa !90
  invoke void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %16, ptr noundef nonnull align 8 dereferenceable(8) %17, ptr noundef nonnull align 8 dereferenceable(8) %18, ptr noundef nonnull align 8 dereferenceable(8) %19)
          to label %72 unwind label %92

72:                                               ; preds = %69
  invoke void @_ZN17RigidBodyDynamics25CalcBodyToBaseCoordinatesERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tb(ptr dead_on_unwind writable sret(%class.Vector3_t) align 8 %15, ptr noundef nonnull align 8 dereferenceable(872) %70, ptr noundef nonnull align 8 dereferenceable(16) %10, i32 noundef %71, ptr noundef nonnull align 8 dereferenceable(24) %16, i1 noundef zeroext false)
          to label %73 unwind label %92

73:                                               ; preds = %72
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %16) #6
  %74 = getelementptr inbounds i8, ptr %5, i64 16
  %75 = 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) %74, ptr noundef nonnull align 8 dereferenceable(32) %14)
          to label %76 unwind label %96

76:                                               ; preds = %73
  %77 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %75, ptr noundef @.str.12)
          to label %78 unwind label %96

78:                                               ; preds = %76
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #6
  %79 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %15)
          to label %80 unwind label %100

80:                                               ; preds = %78
  %81 = getelementptr inbounds %"class.Eigen::Transpose.122", ptr %20, i32 0, i32 0
  store ptr %79, ptr %81, align 8
  %82 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5EigenlsINS_9TransposeINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEEEERSoS5_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(8) %77, ptr noundef nonnull align 1 dereferenceable(1) %20)
          to label %83 unwind label %100

83:                                               ; preds = %80
  %84 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %82, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %85 unwind label %100

85:                                               ; preds = %83
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %15) #6
  store i32 0, ptr %13, align 4
  br label %86

86:                                               ; preds = %85, %64
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %14) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %14) #6
  %87 = load i32, ptr %13, align 4
  switch i32 %87, label %116 [
    i32 0, label %88
    i32 4, label %89
  ]

88:                                               ; preds = %86
  br label %89

89:                                               ; preds = %88, %86
  %90 = load i32, ptr %12, align 4, !tbaa !89
  %91 = add i32 %90, 1
  store i32 %91, ptr %12, align 4, !tbaa !89
  br label %33, !llvm.loop !92

92:                                               ; preds = %72, %69
  %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
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %16) #6
  br label %104

96:                                               ; preds = %76, %73
  %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 %104

100:                                              ; preds = %83, %80, %78
  %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
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #6
  br label %104

104:                                              ; preds = %100, %96, %92
  call void @llvm.lifetime.end.p0(i64 24, ptr %15) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %14) #6
  br label %105

105:                                              ; preds = %104, %65
  call void @llvm.lifetime.end.p0(i64 32, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #6
  br label %108

106:                                              ; preds = %40
  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 %107 unwind label %54

107:                                              ; preds = %106
  store i32 1, ptr %13, align 4
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %10) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %10) #6
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %5) #6
  call void @llvm.lifetime.end.p0(i64 392, ptr %5) #6
  ret void

108:                                              ; preds = %105, %54
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %10) #6
  br label %109

109:                                              ; preds = %108, %50
  call void @llvm.lifetime.end.p0(i64 16, ptr %10) #6
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %5) #6
  br label %110

110:                                              ; preds = %109, %49
  call void @llvm.lifetime.end.p0(i64 392, ptr %5) #6
  br label %111

111:                                              ; preds = %110
  %112 = load ptr, ptr %8, align 8
  %113 = load i32, ptr %9, align 4
  %114 = insertvalue { ptr, i32 } poison, ptr %112, 0
  %115 = insertvalue { ptr, i32 } %114, i32 %113, 1
  resume { ptr, i32 } %115

116:                                              ; preds = %86
  unreachable
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp") align 8, i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare noundef i64 @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(32)) #1 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5EigenlsINS_9TransposeINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEEEERSoS5_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 1 dereferenceable(1)) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #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 uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !19, i64 72}
!10 = !{!"_ZTSN17RigidBodyDynamics5ModelE", !11, i64 0, !11, i64 24, !15, i64 48, !19, i64 72, !19, i64 76, !19, i64 80, !19, i64 84, !20, i64 88, !25, i64 112, !25, i64 136, !30, i64 160, !25, i64 184, !25, i64 208, !25, i64 232, !11, i64 256, !35, i64 280, !11, i64 304, !40, i64 328, !40, i64 352, !45, i64 376, !49, i64 400, !11, i64 424, !53, i64 448, !25, i64 472, !57, i64 496, !25, i64 520, !25, i64 544, !62, i64 568, !62, i64 584, !25, i64 600, !66, i64 624, !66, i64 648, !25, i64 672, !25, i64 696, !35, i64 720, !35, i64 744, !71, i64 768, !19, i64 792, !76, i64 800, !81, i64 824}
!11 = !{!"_ZTSSt6vectorIjSaIjEE", !12, i64 0}
!12 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !13, i64 0}
!13 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !14, i64 0}
!14 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!15 = !{!"_ZTSSt6vectorIS_IjSaIjEESaIS1_EE", !16, i64 0}
!16 = !{!"_ZTSSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE", !17, i64 0}
!17 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE12_Vector_implE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!19 = !{!"int", !7, i64 0}
!20 = !{!"_ZTS9Vector3_t", !21, i64 0}
!21 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!25 = !{!"_ZTSSt6vectorI15SpatialVector_tSaIS0_EE", !26, i64 0}
!26 = !{!"_ZTSSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !27, i64 0}
!27 = !{!"_ZTSSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !29, i64 0}
!29 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!30 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointESaIS1_EE", !31, i64 0}
!31 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !32, i64 0}
!32 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !34, i64 0}
!34 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!35 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformESaIS2_EE", !36, i64 0}
!36 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !37, i64 0}
!37 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !38, i64 0}
!38 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !39, i64 0}
!39 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!40 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEESaIS2_EE", !41, i64 0}
!41 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !42, i64 0}
!42 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !43, i64 0}
!43 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !44, i64 0}
!44 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!45 = !{!"_ZTSSt6vectorI9Matrix3_tSaIS0_EE", !46, i64 0}
!46 = !{!"_ZTSSt12_Vector_baseI9Matrix3_tSaIS0_EE", !47, i64 0}
!47 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE12_Vector_implE", !48, i64 0}
!48 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!49 = !{!"_ZTSSt6vectorI9Vector3_tSaIS0_EE", !50, i64 0}
!50 = !{!"_ZTSSt12_Vector_baseI9Vector3_tSaIS0_EE", !51, i64 0}
!51 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE12_Vector_implE", !52, i64 0}
!52 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!53 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !54, i64 0}
!54 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !55, i64 0}
!55 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE12_Vector_implE", !56, i64 0}
!56 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!57 = !{!"_ZTSSt6vectorI15SpatialMatrix_tSaIS0_EE", !58, i64 0}
!58 = !{!"_ZTSSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !59, i64 0}
!59 = !{!"_ZTSSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !60, i64 0}
!60 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !61, i64 0}
!61 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!62 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !63, i64 0}
!63 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !64, i64 0}
!64 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !65, i64 8}
!65 = !{!"long", !7, i64 0}
!66 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaESaIS2_EE", !67, i64 0}
!67 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !68, i64 0}
!68 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !69, i64 0}
!69 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !70, i64 0}
!70 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!71 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyESaIS1_EE", !72, i64 0}
!72 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !73, i64 0}
!73 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !74, i64 0}
!74 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !75, i64 0}
!75 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!76 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyESaIS1_EE", !77, i64 0}
!77 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !78, i64 0}
!78 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !79, i64 0}
!79 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !80, i64 0}
!80 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!81 = !{!"_ZTSSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjSt4lessIS5_ESaISt4pairIKS5_jEEE", !82, i64 0}
!82 = !{!"_ZTSSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE", !83, i64 0}
!83 = !{!"_ZTSNSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE13_Rb_tree_implISC_Lb1EEE", !84, i64 0, !86, i64 8}
!84 = !{!"_ZTSSt20_Rb_tree_key_compareISt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEE", !85, i64 0}
!85 = !{!"_ZTSSt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE"}
!86 = !{!"_ZTSSt15_Rb_tree_header", !87, i64 0, !65, i64 32}
!87 = !{!"_ZTSSt18_Rb_tree_node_base", !88, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!88 = !{!"_ZTSSt14_Rb_tree_color", !7, i64 0}
!89 = !{!19, !19, i64 0}
!90 = !{!91, !91, i64 0}
!91 = !{!"double", !7, i64 0}
!92 = distinct !{!92, !93}
!93 = !{!"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"

%"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.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.Eigen::CwiseNullaryOp" = type { %"class.Eigen::internal::variable_if_dynamic", [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%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.Eigen::Transpose.122" = type { ptr }

@.str.11 = external hidden unnamed_addr constant [1 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [3 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 nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 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 #2 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 #1 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 @_ZNK17RigidBodyDynamics5Model11GetBodyNameB5cxx11Ej(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 #2 align 2

; 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 #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #1 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 #1 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: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #2 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 #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics5Utils27GetNamedBodyOriginsOverviewB5cxx11ERNS_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 #2 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.Eigen::Matrix.75", align 8
  %7 = alloca %"class.Eigen::CwiseNullaryOp", align 8
  %8 = alloca %"class.std::__cxx11::basic_string", align 8
  %9 = alloca %class.Vector3_t, align 8
  %10 = alloca %class.Vector3_t, align 8
  %11 = alloca double, align 8
  %12 = alloca double, align 8
  %13 = alloca double, align 8
  %14 = alloca %"class.Eigen::Transpose.122", align 8
  call void @llvm.lifetime.start.p0(i64 392, ptr nonnull %3) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %4) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %5) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #6
  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 %15 unwind label %26

15:                                               ; preds = %2
  %16 = 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 %16)
          to label %17 unwind label %28

17:                                               ; preds = %15
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %5) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %7) #6
  %18 = getelementptr inbounds i8, ptr %1, i64 72
  %19 = load i32, ptr %18, align 8, !tbaa !5
  %20 = zext i32 %19 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp") align 8 %7, i64 noundef %20)
          to label %21 unwind label %31

21:                                               ; preds = %17
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %6, ptr noundef nonnull align 8 dereferenceable(24) %7)
          to label %22 unwind label %31

22:                                               ; preds = %21
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #6
  invoke void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872) %1, ptr noundef nonnull %6, ptr noundef null, ptr noundef null)
          to label %.preheader unwind label %33

.preheader:                                       ; preds = %22
  %23 = getelementptr inbounds i8, ptr %1, i64 800
  %24 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %23) #6
  %.not = icmp eq i64 %24, 0
  br i1 %.not, label %._crit_edge, label %.lr.ph

.lr.ph:                                           ; preds = %.preheader
  %25 = getelementptr inbounds i8, ptr %3, i64 16
  br label %35

._crit_edge:                                      ; preds = %54, %.preheader
  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 %67 unwind label %33

26:                                               ; preds = %2
  %27 = landingpad { ptr, i32 }
          cleanup
  br label %30

28:                                               ; preds = %15
  %29 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #6
  br label %30

30:                                               ; preds = %28, %26
  %.pn = phi { ptr, i32 } [ %29, %28 ], [ %27, %26 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %5) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #6
  br label %70

31:                                               ; preds = %21, %17
  %32 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #6
  br label %69

33:                                               ; preds = %._crit_edge, %22
  %34 = landingpad { ptr, i32 }
          cleanup
  br label %68

35:                                               ; preds = %.lr.ph, %54
  %.024 = phi i32 [ 0, %.lr.ph ], [ %55, %54 ]
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %8) #6
  invoke void @_ZNK17RigidBodyDynamics5Model11GetBodyNameB5cxx11Ej(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 %.024)
          to label %36 unwind label %39

36:                                               ; preds = %35
  %37 = call noundef i64 @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(32) %8) #6
  %38 = icmp eq i64 %37, 0
  br i1 %38, label %54, label %41

39:                                               ; preds = %35
  %40 = landingpad { ptr, i32 }
          cleanup
  br label %66

41:                                               ; preds = %36
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %9) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %10) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #6
  store double 0.000000e+00, ptr %11, align 8, !tbaa !88
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #6
  store double 0.000000e+00, ptr %12, align 8, !tbaa !88
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #6
  store double 0.000000e+00, ptr %13, align 8, !tbaa !88
  invoke void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %10, ptr noundef nonnull align 8 dereferenceable(8) %11, ptr noundef nonnull align 8 dereferenceable(8) %12, ptr noundef nonnull align 8 dereferenceable(8) %13)
          to label %42 unwind label %59

42:                                               ; preds = %41
  invoke void @_ZN17RigidBodyDynamics25CalcBodyToBaseCoordinatesERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tb(ptr dead_on_unwind nonnull writable sret(%class.Vector3_t) align 8 %9, ptr noundef nonnull align 8 dereferenceable(872) %1, ptr noundef nonnull align 8 dereferenceable(16) %6, i32 noundef %.024, ptr noundef nonnull align 8 dereferenceable(24) %10, i1 noundef zeroext false)
          to label %43 unwind label %59

43:                                               ; preds = %42
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #6
  %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) %25, ptr noundef nonnull align 8 dereferenceable(32) %8)
          to label %45 unwind label %61

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.12)
          to label %47 unwind label %61

47:                                               ; preds = %45
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #6
  %48 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %9)
          to label %49 unwind label %63

49:                                               ; preds = %47
  store ptr %48, ptr %14, align 8
  %50 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5EigenlsINS_9TransposeINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEEEERSoS5_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(8) %46, ptr noundef nonnull align 1 dereferenceable(1) %14)
          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 @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %9) #6
  br label %54

54:                                               ; preds = %36, %53
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #6
  %55 = add i32 %.024, 1
  %56 = zext i32 %55 to i64
  %57 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %23) #6
  %58 = icmp ugt i64 %57, %56
  br i1 %58, label %35, label %._crit_edge, !llvm.loop !90

59:                                               ; preds = %42, %41
  %60 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #6
  br label %65

61:                                               ; preds = %45, %43
  %62 = landingpad { ptr, i32 }
          cleanup
  br label %65

63:                                               ; preds = %51, %49, %47
  %64 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #6
  br label %65

65:                                               ; preds = %63, %61, %59
  %.pn18 = phi { ptr, i32 } [ %64, %63 ], [ %62, %61 ], [ %60, %59 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %9) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #6
  br label %66

66:                                               ; preds = %65, %39
  %.pn18.pn = phi { ptr, i32 } [ %.pn18, %65 ], [ %40, %39 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #6
  br label %68

67:                                               ; preds = %._crit_edge
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %6) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #6
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %3) #6
  call void @llvm.lifetime.end.p0(i64 392, ptr nonnull %3) #6
  ret void

68:                                               ; preds = %66, %33
  %.pn18.pn.pn = phi { ptr, i32 } [ %.pn18.pn, %66 ], [ %34, %33 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %6) #6
  br label %69

69:                                               ; preds = %68, %31
  %.pn18.pn.pn.pn = phi { ptr, i32 } [ %.pn18.pn.pn, %68 ], [ %32, %31 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #6
  call void @_ZNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(128) %3) #6
  br label %70

70:                                               ; preds = %69, %30
  %.pn18.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn18.pn.pn.pn, %69 ], [ %.pn, %30 ]
  call void @llvm.lifetime.end.p0(i64 392, ptr nonnull %3) #6
  resume { ptr, i32 } %.pn18.pn.pn.pn.pn
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp") align 8, i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare noundef i64 @_ZNKSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #1 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5EigenlsINS_9TransposeINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEEEERSoS5_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) 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 uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !18, i64 72}
!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 = !{!89, !89, i64 0}
!89 = !{!"double", !12, i64 0}
!90 = distinct !{!90, !91}
!91 = !{!"llvm.loop.mustprogress"}


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