; LLVM IR from moveit/moveit2 :: moveit_planners/chomp/chomp_motion_planner/src (chomp_parameters)

; 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::allocator" = type { i8 }
%"class.chomp::ChompParameters" = type { ptr, double, i32, i32, double, double, double, double, double, double, i8, double, i8, double, double, double, double, i8, %"class.std::__cxx11::basic_string", i8, i32 }

@_ZTVN5chomp15ChompParametersE = external dso_local unnamed_addr constant { [4 x ptr] }, align 8
@.str = external hidden unnamed_addr constant [15 x i8], align 1

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN5chomp15ChompParametersC2Ev(ptr noundef nonnull align 8 dereferenceable(176) %0) unnamed_addr #0 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca ptr, align 8
  %3 = alloca %"class.std::__cxx11::basic_string", align 8
  %4 = alloca %"class.std::allocator", align 1
  %5 = alloca ptr, align 8
  %6 = alloca i32, align 4
  store ptr %0, ptr %2, align 8, !tbaa !5
  %7 = load ptr, ptr %2, align 8
  store ptr getelementptr inbounds inrange(-16, 16) ({ [4 x ptr] }, ptr @_ZTVN5chomp15ChompParametersE, i32 0, i32 0, i32 2), ptr %7, align 8, !tbaa !9
  %8 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 18
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #3
  %9 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 1
  store double 6.000000e+00, ptr %9, align 8, !tbaa !11
  %10 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 2
  store i32 50, ptr %10, align 8, !tbaa !19
  %11 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 3
  store i32 5, ptr %11, align 4, !tbaa !20
  %12 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 4
  store double 1.000000e-01, ptr %12, align 8, !tbaa !21
  %13 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 5
  store double 1.000000e+00, ptr %13, align 8, !tbaa !22
  %14 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 6
  store double 1.000000e-02, ptr %14, align 8, !tbaa !23
  %15 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 7
  store double 0.000000e+00, ptr %15, align 8, !tbaa !24
  %16 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 8
  store double 1.000000e+00, ptr %16, align 8, !tbaa !25
  %17 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 9
  store double 0.000000e+00, ptr %17, align 8, !tbaa !26
  %18 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 11
  store double 0.000000e+00, ptr %18, align 8, !tbaa !27
  %19 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 12
  store i8 0, ptr %19, align 8, !tbaa !28
  %20 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 13
  store double 1.000000e-04, ptr %20, align 8, !tbaa !29
  %21 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 14
  store double 1.000000e-01, ptr %21, align 8, !tbaa !30
  %22 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 15
  store double 2.000000e-01, ptr %22, align 8, !tbaa !31
  %23 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 16
  store double 7.000000e-02, ptr %23, align 8, !tbaa !32
  %24 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 10
  store i8 1, ptr %24, align 8, !tbaa !33
  %25 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 17
  store i8 0, ptr %25, align 8, !tbaa !34
  call void @llvm.lifetime.start.p0(i64 32, ptr %3) #3
  call void @llvm.lifetime.start.p0(i64 1, ptr %4) #3
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #3
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %3, ptr noundef @.str, ptr noundef nonnull align 1 dereferenceable(1) %4)
          to label %26 unwind label %31

26:                                               ; preds = %1
  %27 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 18
  %28 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEOS4_(ptr noundef nonnull align 8 dereferenceable(32) %27, ptr noundef nonnull align 8 dereferenceable(32) %3) #3
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #3
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #3
  call void @llvm.lifetime.end.p0(i64 1, ptr %4) #3
  call void @llvm.lifetime.end.p0(i64 32, ptr %3) #3
  %29 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 19
  store i8 0, ptr %29, align 8, !tbaa !35
  %30 = getelementptr inbounds %"class.chomp::ChompParameters", ptr %7, i32 0, i32 20
  store i32 5, ptr %30, align 4, !tbaa !36
  ret void

31:                                               ; preds = %1
  %32 = landingpad { ptr, i32 }
          cleanup
  %33 = extractvalue { ptr, i32 } %32, 0
  store ptr %33, ptr %5, align 8
  %34 = extractvalue { ptr, i32 } %32, 1
  store i32 %34, ptr %6, align 4
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #3
  call void @llvm.lifetime.end.p0(i64 1, ptr %4) #3
  call void @llvm.lifetime.end.p0(i64 32, ptr %3) #3
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #3
  br label %35

35:                                               ; preds = %31
  %36 = load ptr, ptr %5, align 8
  %37 = load i32, ptr %6, align 4
  %38 = insertvalue { ptr, i32 } poison, ptr %36, 0
  %39 = insertvalue { ptr, i32 } %38, i32 %37, 1
  resume { ptr, i32 } %39
}

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #1 align 2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #2

; 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 #0 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEOS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) #1 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: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 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 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 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"vtable pointer", !8, i64 0}
!11 = !{!12, !13, i64 8}
!12 = !{!"_ZTSN5chomp15ChompParametersE", !13, i64 8, !14, i64 16, !14, i64 20, !13, i64 24, !13, i64 32, !13, i64 40, !13, i64 48, !13, i64 56, !13, i64 64, !15, i64 72, !13, i64 80, !15, i64 88, !13, i64 96, !13, i64 104, !13, i64 112, !13, i64 120, !15, i64 128, !16, i64 136, !15, i64 168, !14, i64 172}
!13 = !{!"double", !7, i64 0}
!14 = !{!"int", !7, i64 0}
!15 = !{!"bool", !7, i64 0}
!16 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !17, i64 0, !18, i64 8, !7, i64 16}
!17 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !6, i64 0}
!18 = !{!"long", !7, i64 0}
!19 = !{!12, !14, i64 16}
!20 = !{!12, !14, i64 20}
!21 = !{!12, !13, i64 24}
!22 = !{!12, !13, i64 32}
!23 = !{!12, !13, i64 40}
!24 = !{!12, !13, i64 48}
!25 = !{!12, !13, i64 56}
!26 = !{!12, !13, i64 64}
!27 = !{!12, !13, i64 80}
!28 = !{!12, !15, i64 88}
!29 = !{!12, !13, i64 96}
!30 = !{!12, !13, i64 104}
!31 = !{!12, !13, i64 112}
!32 = !{!12, !13, i64 120}
!33 = !{!12, !15, i64 72}
!34 = !{!12, !15, i64 128}
!35 = !{!12, !15, i64 168}
!36 = !{!12, !14, i64 172}


; 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::allocator" = type { i8 }

@_ZTVN5chomp15ChompParametersE = external dso_local unnamed_addr constant { [4 x ptr] }, align 8
@.str = external hidden unnamed_addr constant [15 x i8], align 1

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN5chomp15ChompParametersC2Ev(ptr noundef nonnull align 8 dereferenceable(176) %0) unnamed_addr #0 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca %"class.std::__cxx11::basic_string", align 8
  %3 = alloca %"class.std::allocator", align 1
  store ptr getelementptr inbounds inrange(-16, 16) (i8, ptr @_ZTVN5chomp15ChompParametersE, i64 16), ptr %0, align 8, !tbaa !5
  %4 = getelementptr inbounds i8, ptr %0, i64 136
  tail call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #3
  %5 = getelementptr inbounds i8, ptr %0, i64 8
  store double 6.000000e+00, ptr %5, align 8, !tbaa !8
  %6 = getelementptr inbounds i8, ptr %0, i64 16
  store i32 50, ptr %6, align 8, !tbaa !18
  %7 = getelementptr inbounds i8, ptr %0, i64 20
  store i32 5, ptr %7, align 4, !tbaa !19
  %8 = getelementptr inbounds i8, ptr %0, i64 24
  store <2 x double> <double 1.000000e-01, double 1.000000e+00>, ptr %8, align 8, !tbaa !20
  %9 = getelementptr inbounds i8, ptr %0, i64 40
  store <2 x double> <double 1.000000e-02, double 0.000000e+00>, ptr %9, align 8, !tbaa !20
  %10 = getelementptr inbounds i8, ptr %0, i64 56
  store <2 x double> <double 1.000000e+00, double 0.000000e+00>, ptr %10, align 8, !tbaa !20
  %11 = getelementptr inbounds i8, ptr %0, i64 80
  store double 0.000000e+00, ptr %11, align 8, !tbaa !21
  %12 = getelementptr inbounds i8, ptr %0, i64 88
  store i8 0, ptr %12, align 8, !tbaa !22
  %13 = getelementptr inbounds i8, ptr %0, i64 96
  store <2 x double> <double 1.000000e-04, double 1.000000e-01>, ptr %13, align 8, !tbaa !20
  %14 = getelementptr inbounds i8, ptr %0, i64 112
  store <2 x double> <double 2.000000e-01, double 7.000000e-02>, ptr %14, align 8, !tbaa !20
  %15 = getelementptr inbounds i8, ptr %0, i64 72
  store i8 1, ptr %15, align 8, !tbaa !23
  %16 = getelementptr inbounds i8, ptr %0, i64 128
  store i8 0, ptr %16, align 8, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %2) #3
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %3) #3
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %3) #3
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %2, ptr noundef nonnull @.str, ptr noundef nonnull align 1 dereferenceable(1) %3)
          to label %17 unwind label %21

17:                                               ; preds = %1
  %18 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEOS4_(ptr noundef nonnull align 8 dereferenceable(32) %4, ptr noundef nonnull align 8 dereferenceable(32) %2) #3
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %2) #3
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %3) #3
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %3) #3
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %2) #3
  %19 = getelementptr inbounds i8, ptr %0, i64 168
  store i8 0, ptr %19, align 8, !tbaa !25
  %20 = getelementptr inbounds i8, ptr %0, i64 172
  store i32 5, ptr %20, align 4, !tbaa !26
  ret void

21:                                               ; preds = %1
  %22 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %3) #3
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %3) #3
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %2) #3
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #3
  resume { ptr, i32 } %22
}

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #2

; 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 #0 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSEOS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #1 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 nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 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 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 nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { 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 = !{!"vtable pointer", !7, i64 0}
!7 = !{!"Simple C++ TBAA"}
!8 = !{!9, !10, i64 8}
!9 = !{!"_ZTSN5chomp15ChompParametersE", !10, i64 8, !12, i64 16, !12, i64 20, !10, i64 24, !10, i64 32, !10, i64 40, !10, i64 48, !10, i64 56, !10, i64 64, !13, i64 72, !10, i64 80, !13, i64 88, !10, i64 96, !10, i64 104, !10, i64 112, !10, i64 120, !13, i64 128, !14, i64 136, !13, i64 168, !12, i64 172}
!10 = !{!"double", !11, i64 0}
!11 = !{!"omnipotent char", !7, i64 0}
!12 = !{!"int", !11, i64 0}
!13 = !{!"bool", !11, i64 0}
!14 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !15, i64 0, !17, i64 8, !11, i64 16}
!15 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !16, i64 0}
!16 = !{!"any pointer", !11, i64 0}
!17 = !{!"long", !11, i64 0}
!18 = !{!9, !12, i64 16}
!19 = !{!9, !12, i64 20}
!20 = !{!10, !10, i64 0}
!21 = !{!9, !10, i64 80}
!22 = !{!9, !13, i64 88}
!23 = !{!9, !13, i64 72}
!24 = !{!9, !13, i64 128}
!25 = !{!9, !13, i64 168}
!26 = !{!9, !12, i64 172}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,SLPVectorizerPass,SROAPass,SimplifyCFGPass,TailCallElimPass