; LLVM IR from whoenig/libMultiRobotPlanning :: example (a_star_epsilon)

; 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::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"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::locale" = type { ptr }
%"class.boost::program_options::options_description" = type { %"class.std::__cxx11::basic_string", i32, i32, %"class.std::vector", %"class.std::vector.3", %"class.std::vector.7" }
%"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::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<boost::shared_ptr<boost::program_options::option_description>, std::allocator<boost::shared_ptr<boost::program_options::option_description>>>::_Vector_impl" }
%"struct.std::_Vector_base<boost::shared_ptr<boost::program_options::option_description>, std::allocator<boost::shared_ptr<boost::program_options::option_description>>>::_Vector_impl" = type { %"struct.std::_Vector_base<boost::shared_ptr<boost::program_options::option_description>, std::allocator<boost::shared_ptr<boost::program_options::option_description>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<boost::shared_ptr<boost::program_options::option_description>, std::allocator<boost::shared_ptr<boost::program_options::option_description>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.3" = type { %"struct.std::_Bvector_base" }
%"struct.std::_Bvector_base" = type { %"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl" }
%"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl" = type { %"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl_data" }
%"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl_data" = type { %"struct.std::_Bit_iterator", %"struct.std::_Bit_iterator", ptr }
%"struct.std::_Bit_iterator" = type { %"struct.std::_Bit_iterator_base.base", [4 x i8] }
%"struct.std::_Bit_iterator_base.base" = type <{ ptr, i32 }>
%"class.std::vector.7" = type { %"struct.std::_Vector_base.8" }
%"struct.std::_Vector_base.8" = type { %"struct.std::_Vector_base<boost::shared_ptr<boost::program_options::options_description>, std::allocator<boost::shared_ptr<boost::program_options::options_description>>>::_Vector_impl" }
%"struct.std::_Vector_base<boost::shared_ptr<boost::program_options::options_description>, std::allocator<boost::shared_ptr<boost::program_options::options_description>>>::_Vector_impl" = type { %"struct.std::_Vector_base<boost::shared_ptr<boost::program_options::options_description>, std::allocator<boost::shared_ptr<boost::program_options::options_description>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<boost::shared_ptr<boost::program_options::options_description>, std::allocator<boost::shared_ptr<boost::program_options::options_description>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::allocator" = type { i8 }
%"class.boost::program_options::options_description_easy_init" = type { ptr }
%"class.boost::program_options::variables_map" = type { %"class.boost::program_options::abstract_variables_map", %"class.std::map", %"class.std::set", %"class.std::map.23" }
%"class.boost::program_options::abstract_variables_map" = type { 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>, boost::program_options::variable_value>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, boost::program_options::variable_value>>, 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>, boost::program_options::variable_value>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, boost::program_options::variable_value>>, 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 }
%"class.std::set" = type { %"class.std::_Rb_tree.19" }
%"class.std::_Rb_tree.19" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>, std::_Identity<std::__cxx11::basic_string<char>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>, std::_Identity<std::__cxx11::basic_string<char>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"class.std::map.23" = type { %"class.std::_Rb_tree.24" }
%"class.std::_Rb_tree.24" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>>, 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>, std::__cxx11::basic_string<char>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"class.boost::program_options::basic_parsed_options" = type <{ %"class.std::vector.28", ptr, i32, [4 x i8] }>
%"class.std::vector.28" = type { %"struct.std::_Vector_base.29" }
%"struct.std::_Vector_base.29" = type { %"struct.std::_Vector_base<boost::program_options::basic_option<char>, std::allocator<boost::program_options::basic_option<char>>>::_Vector_impl" }
%"struct.std::_Vector_base<boost::program_options::basic_option<char>, std::allocator<boost::program_options::basic_option<char>>>::_Vector_impl" = type { %"struct.std::_Vector_base<boost::program_options::basic_option<char>, std::allocator<boost::program_options::basic_option<char>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<boost::program_options::basic_option<char>, std::allocator<boost::program_options::basic_option<char>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.boost::function1.33" = type { %"class.boost::function_base" }
%"class.boost::function_base" = type { ptr, %"union.boost::detail::function::function_buffer" }
%"union.boost::detail::function::function_buffer" = type { %"union.boost::detail::function::function_buffer_members" }
%"union.boost::detail::function::function_buffer_members" = type { %"struct.boost::detail::function::function_buffer_members::bound_memfunc_ptr_t" }
%"struct.boost::detail::function::function_buffer_members::bound_memfunc_ptr_t" = type { { i64, i64 }, ptr }
%"class.std::unordered_set" = type { %"class.std::_Hashtable" }
%"class.std::_Hashtable" = type { ptr, i64, %"struct.std::__detail::_Hash_node_base", i64, %"struct.std::__detail::_Prime_rehash_policy", ptr }
%"struct.std::__detail::_Hash_node_base" = type { ptr }
%"struct.std::__detail::_Prime_rehash_policy" = type { float, i64 }
%"class.std::basic_ifstream" = type { %"class.std::basic_istream.base", %"class.std::basic_filebuf", %"class.std::basic_ios" }
%"class.std::basic_istream.base" = type { ptr, i64 }
%"class.std::basic_filebuf" = type { %"class.std::basic_streambuf", %union.pthread_mutex_t, %"class.std::__basic_file", i32, %struct.__mbstate_t, %struct.__mbstate_t, %struct.__mbstate_t, ptr, i64, i8, i8, i8, i8, ptr, ptr, i8, ptr, ptr, i64, ptr, ptr }
%"class.std::basic_streambuf" = type { ptr, ptr, ptr, ptr, ptr, ptr, ptr, %"class.std::locale" }
%union.pthread_mutex_t = type { %struct.__pthread_mutex_s }
%struct.__pthread_mutex_s = type { i32, i32, i32, i32, i32, i16, i16, %struct.__pthread_internal_list }
%struct.__pthread_internal_list = type { ptr, ptr }
%"class.std::__basic_file" = type <{ ptr, i8, [7 x i8] }>
%struct.__mbstate_t = type { i32, %union.anon.40 }
%union.anon.40 = type { i32 }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }
%struct.State = type { i32, i32 }
%"struct.std::pair" = type <{ %"struct.std::__detail::_Node_iterator", i8, [7 x i8] }>
%"struct.std::__detail::_Node_iterator" = type { %"struct.std::__detail::_Node_iterator_base" }
%"struct.std::__detail::_Node_iterator_base" = type { ptr }
%class.Environment = type { i32, i32, %"class.std::unordered_set", %struct.State }
%"class.libMultiRobotPlanning::AStarEpsilon" = type <{ ptr, float, [4 x i8] }>
%"struct.libMultiRobotPlanning::PlanResult" = type { %"class.std::vector.41", %"class.std::vector.46", i32, i32 }
%"class.std::vector.41" = type { %"struct.std::_Vector_base.42" }
%"struct.std::_Vector_base.42" = type { %"struct.std::_Vector_base<std::pair<State, int>, std::allocator<std::pair<State, int>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::pair<State, int>, std::allocator<std::pair<State, int>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::pair<State, int>, std::allocator<std::pair<State, int>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::pair<State, int>, std::allocator<std::pair<State, int>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.46" = type { %"struct.std::_Vector_base.47" }
%"struct.std::_Vector_base.47" = type { %"struct.std::_Vector_base<std::pair<Action, int>, std::allocator<std::pair<Action, int>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::pair<Action, int>, std::allocator<std::pair<Action, int>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::pair<Action, int>, std::allocator<std::pair<Action, int>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::pair<Action, int>, std::allocator<std::pair<Action, int>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::basic_ofstream" = type { %"class.std::basic_ostream.base", %"class.std::basic_filebuf", %"class.std::basic_ios" }
%"class.std::basic_ostream.base" = type { ptr }
%"struct.std::pair.51" = type { %struct.State, i32 }
%"struct.std::pair.53" = type { i32, i32 }

@.str.4 = external hidden unnamed_addr constant [16 x i8], align 1
@_ZN5boost15program_options19options_description21m_default_line_lengthE = external constant i32, align 4
@.str.5 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [21 x i8], align 1
@.str.7 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.8 = external hidden unnamed_addr constant [27 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.10 = external hidden unnamed_addr constant [27 x i8], align 1
@.str.11 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [26 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.14 = external hidden unnamed_addr constant [26 x i8], align 1
@.str.15 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.16 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [19 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [21 x i8], align 1
@_ZTIN5boost15program_options5errorE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.21 = external hidden unnamed_addr constant [2 x i8], align 1
@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@.str.22 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [34 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.27 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.28 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.29 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.30 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.31 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.32 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.33 = external hidden unnamed_addr constant [25 x i8], align 1

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZlsRSoRK6Action(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4)) #0

; 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) #1

; Function Attrs: mustprogress norecurse uwtable
define dso_local noundef i32 @main(i32 noundef %0, ptr noundef %1) #2 personality ptr @__gxx_personality_v0 {
  %3 = alloca i32, align 4
  %4 = alloca i32, align 4
  %5 = alloca ptr, align 8
  %6 = alloca %"class.boost::program_options::options_description", align 8
  %7 = alloca %"class.std::__cxx11::basic_string", align 8
  %8 = alloca %"class.std::allocator", align 1
  %9 = alloca ptr, align 8
  %10 = alloca i32, align 4
  %11 = alloca i32, align 4
  %12 = alloca i32, align 4
  %13 = alloca i32, align 4
  %14 = alloca i32, align 4
  %15 = alloca %"class.std::__cxx11::basic_string", align 8
  %16 = alloca %"class.std::__cxx11::basic_string", align 8
  %17 = alloca float, align 4
  %18 = alloca %"class.boost::program_options::options_description_easy_init", align 8
  %19 = alloca %"class.boost::program_options::variables_map", align 8
  %20 = alloca %"class.boost::program_options::basic_parsed_options", align 8
  %21 = alloca %"class.boost::function1.33", align 8
  %22 = alloca %"class.std::__cxx11::basic_string", align 8
  %23 = alloca %"class.std::allocator", align 1
  %24 = alloca i32, align 4
  %25 = alloca ptr, align 8
  %26 = alloca %"class.std::unordered_set", align 8
  %27 = alloca %"class.std::basic_ifstream", align 8
  %28 = alloca i32, align 4
  %29 = alloca i32, align 4
  %30 = alloca %"class.std::__cxx11::basic_string", align 8
  %31 = alloca i32, align 4
  %32 = alloca ptr, align 8
  %33 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %34 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %35 = alloca i8, align 1
  %36 = alloca %struct.State, align 4
  %37 = alloca %"struct.std::pair", align 8
  %38 = alloca i8, align 1
  %39 = alloca %struct.State, align 4
  %40 = alloca %struct.State, align 4
  %41 = alloca %class.Environment, align 8
  %42 = alloca %"class.std::unordered_set", align 8
  %43 = alloca %struct.State, align 4
  %44 = alloca %"class.libMultiRobotPlanning::AStarEpsilon", align 8
  %45 = alloca %"struct.libMultiRobotPlanning::PlanResult", align 8
  %46 = alloca %"class.std::basic_ofstream", align 8
  %47 = alloca i64, align 8
  %48 = alloca i64, align 8
  store i32 0, ptr %3, align 4
  store i32 %0, ptr %4, align 4, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 128, ptr %6) #11
  call void @llvm.lifetime.start.p0(i64 32, ptr %7) #11
  call void @llvm.lifetime.start.p0(i64 1, ptr %8) #11
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %8) #11
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %7, ptr noundef @.str.4, ptr noundef nonnull align 1 dereferenceable(1) %8)
          to label %49 unwind label %118

49:                                               ; preds = %2
  %50 = load i32, ptr @_ZN5boost15program_options19options_description21m_default_line_lengthE, align 4, !tbaa !5
  %51 = load i32, ptr @_ZN5boost15program_options19options_description21m_default_line_lengthE, align 4, !tbaa !5
  %52 = udiv i32 %51, 2
  invoke void @_ZN5boost15program_options19options_descriptionC1ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjj(ptr noundef nonnull align 8 dereferenceable(128) %6, ptr noundef nonnull align 8 dereferenceable(32) %7, i32 noundef %50, i32 noundef %52)
          to label %53 unwind label %122

53:                                               ; preds = %49
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #11
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %8) #11
  call void @llvm.lifetime.end.p0(i64 1, ptr %8) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr %7) #11
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #11
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #11
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #11
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #11
  call void @llvm.lifetime.start.p0(i64 32, ptr %15) #11
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #11
  call void @llvm.lifetime.start.p0(i64 32, ptr %16) #11
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #11
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #11
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #11
  %54 = invoke ptr @_ZN5boost15program_options19options_description11add_optionsEv(ptr noundef nonnull align 8 dereferenceable(128) %6)
          to label %55 unwind label %127

55:                                               ; preds = %53
  %56 = getelementptr inbounds %"class.boost::program_options::options_description_easy_init", ptr %18, i32 0, i32 0
  store ptr %54, ptr %56, align 8
  %57 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcS3_(ptr noundef nonnull align 8 dereferenceable(8) %18, ptr noundef @.str.5, ptr noundef @.str.6)
          to label %58 unwind label %127

58:                                               ; preds = %55
  %59 = invoke noundef ptr @_ZN5boost15program_options5valueIiEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef %11)
          to label %60 unwind label %127

60:                                               ; preds = %58
  %61 = invoke noundef ptr @_ZN5boost15program_options11typed_valueIicE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %59)
          to label %62 unwind label %127

62:                                               ; preds = %60
  %63 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %57, ptr noundef @.str.7, ptr noundef %61, ptr noundef @.str.8)
          to label %64 unwind label %127

64:                                               ; preds = %62
  %65 = invoke noundef ptr @_ZN5boost15program_options5valueIiEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef %12)
          to label %66 unwind label %127

66:                                               ; preds = %64
  %67 = invoke noundef ptr @_ZN5boost15program_options11typed_valueIicE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %65)
          to label %68 unwind label %127

68:                                               ; preds = %66
  %69 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %63, ptr noundef @.str.9, ptr noundef %67, ptr noundef @.str.10)
          to label %70 unwind label %127

70:                                               ; preds = %68
  %71 = invoke noundef ptr @_ZN5boost15program_options5valueIiEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef %13)
          to label %72 unwind label %127

72:                                               ; preds = %70
  %73 = invoke noundef ptr @_ZN5boost15program_options11typed_valueIicE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %71)
          to label %74 unwind label %127

74:                                               ; preds = %72
  %75 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %69, ptr noundef @.str.11, ptr noundef %73, ptr noundef @.str.12)
          to label %76 unwind label %127

76:                                               ; preds = %74
  %77 = invoke noundef ptr @_ZN5boost15program_options5valueIiEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef %14)
          to label %78 unwind label %127

78:                                               ; preds = %76
  %79 = invoke noundef ptr @_ZN5boost15program_options11typed_valueIicE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %77)
          to label %80 unwind label %127

80:                                               ; preds = %78
  %81 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %75, ptr noundef @.str.13, ptr noundef %79, ptr noundef @.str.14)
          to label %82 unwind label %127

82:                                               ; preds = %80
  %83 = invoke noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef %15)
          to label %84 unwind label %127

84:                                               ; preds = %82
  %85 = invoke noundef ptr @_ZN5boost15program_options11typed_valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %83)
          to label %86 unwind label %127

86:                                               ; preds = %84
  %87 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %81, ptr noundef @.str.15, ptr noundef %85, ptr noundef @.str.16)
          to label %88 unwind label %127

88:                                               ; preds = %86
  %89 = invoke noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef %16)
          to label %90 unwind label %127

90:                                               ; preds = %88
  %91 = invoke noundef ptr @_ZN5boost15program_options11typed_valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %89)
          to label %92 unwind label %127

92:                                               ; preds = %90
  %93 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %87, ptr noundef @.str.17, ptr noundef %91, ptr noundef @.str.18)
          to label %94 unwind label %127

94:                                               ; preds = %92
  %95 = invoke noundef ptr @_ZN5boost15program_options5valueIfEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef %17)
          to label %96 unwind label %127

96:                                               ; preds = %94
  %97 = invoke noundef ptr @_ZN5boost15program_options11typed_valueIfcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %95)
          to label %98 unwind label %127

98:                                               ; preds = %96
  %99 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %93, ptr noundef @.str.19, ptr noundef %97, ptr noundef @.str.20)
          to label %100 unwind label %127

100:                                              ; preds = %98
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #11
  call void @llvm.lifetime.start.p0(i64 160, ptr %19) #11
  invoke void @_ZN5boost15program_options13variables_mapC1Ev(ptr noundef nonnull align 8 dereferenceable(160) %19)
          to label %101 unwind label %131

101:                                              ; preds = %100
  call void @llvm.lifetime.start.p0(i64 40, ptr %20) #11
  %102 = load i32, ptr %4, align 4, !tbaa !5
  %103 = load ptr, ptr %5, align 8, !tbaa !9
  call void @llvm.memset.p0.i64(ptr align 8 %21, i8 0, i64 32, i1 false)
  invoke void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_EC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21)
          to label %104 unwind label %135

104:                                              ; preds = %101
  invoke void @_ZN5boost15program_options18parse_command_lineIcEENS0_20basic_parsed_optionsIT_EEiPKPKS3_RKNS0_19options_descriptionEiNS_9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESJ_ERKSJ_EE(ptr dead_on_unwind writable sret(%"class.boost::program_options::basic_parsed_options") align 8 %20, i32 noundef %102, ptr noundef %103, ptr noundef nonnull align 8 dereferenceable(128) %6, i32 noundef 0, ptr noundef %21)
          to label %105 unwind label %139

105:                                              ; preds = %104
  invoke void @_ZN5boost15program_options5storeERKNS0_20basic_parsed_optionsIcEERNS0_13variables_mapEb(ptr noundef nonnull align 8 dereferenceable(36) %20, ptr noundef nonnull align 8 dereferenceable(160) %19, i1 noundef zeroext false)
          to label %106 unwind label %143

106:                                              ; preds = %105
  call void @_ZN5boost15program_options20basic_parsed_optionsIcED2Ev(ptr noundef nonnull align 8 dereferenceable(36) %20) #11
  call void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #11
  call void @llvm.lifetime.end.p0(i64 40, ptr %20) #11
  invoke void @_ZN5boost15program_options6notifyERNS0_13variables_mapE(ptr noundef nonnull align 8 dereferenceable(160) %19)
          to label %107 unwind label %149

107:                                              ; preds = %106
  %108 = getelementptr inbounds i8, ptr %19, i64 16
  call void @llvm.lifetime.start.p0(i64 32, ptr %22) #11
  call void @llvm.lifetime.start.p0(i64 1, ptr %23) #11
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %23) #11
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %22, ptr noundef @.str.5, ptr noundef nonnull align 1 dereferenceable(1) %23)
          to label %109 unwind label %153

109:                                              ; preds = %107
  %110 = invoke noundef i64 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN5boost15program_options14variable_valueESt4lessIS5_ESaISt4pairIKS5_S8_EEE5countERSC_(ptr noundef nonnull align 8 dereferenceable(48) %108, ptr noundef nonnull align 8 dereferenceable(32) %22)
          to label %111 unwind label %157

111:                                              ; preds = %109
  %112 = icmp ne i64 %110, 0
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %22) #11
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %23) #11
  call void @llvm.lifetime.end.p0(i64 1, ptr %23) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr %22) #11
  br i1 %112, label %113, label %162

113:                                              ; preds = %111
  %114 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_optionslsERSoRKNS0_19options_descriptionE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull align 8 dereferenceable(128) %6)
          to label %115 unwind label %149

115:                                              ; preds = %113
  %116 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %114, ptr noundef @.str.21)
          to label %117 unwind label %149

117:                                              ; preds = %115
  store i32 0, ptr %3, align 4
  store i32 1, ptr %24, align 4
  br label %163

118:                                              ; preds = %2
  %119 = landingpad { ptr, i32 }
          cleanup
  %120 = extractvalue { ptr, i32 } %119, 0
  store ptr %120, ptr %9, align 8
  %121 = extractvalue { ptr, i32 } %119, 1
  store i32 %121, ptr %10, align 4
  br label %126

122:                                              ; preds = %49
  %123 = landingpad { ptr, i32 }
          cleanup
  %124 = extractvalue { ptr, i32 } %123, 0
  store ptr %124, ptr %9, align 8
  %125 = extractvalue { ptr, i32 } %123, 1
  store i32 %125, ptr %10, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #11
  br label %126

126:                                              ; preds = %122, %118
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %8) #11
  call void @llvm.lifetime.end.p0(i64 1, ptr %8) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr %7) #11
  br label %487

127:                                              ; preds = %98, %96, %94, %92, %90, %88, %86, %84, %82, %80, %78, %76, %74, %72, %70, %68, %66, %64, %62, %60, %58, %55, %53
  %128 = landingpad { ptr, i32 }
          cleanup
  %129 = extractvalue { ptr, i32 } %128, 0
  store ptr %129, ptr %9, align 8
  %130 = extractvalue { ptr, i32 } %128, 1
  store i32 %130, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #11
  br label %486

131:                                              ; preds = %100
  %132 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %133 = extractvalue { ptr, i32 } %132, 0
  store ptr %133, ptr %9, align 8
  %134 = extractvalue { ptr, i32 } %132, 1
  store i32 %134, ptr %10, align 4
  br label %167

135:                                              ; preds = %101
  %136 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %137 = extractvalue { ptr, i32 } %136, 0
  store ptr %137, ptr %9, align 8
  %138 = extractvalue { ptr, i32 } %136, 1
  store i32 %138, ptr %10, align 4
  br label %148

139:                                              ; preds = %104
  %140 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %141 = extractvalue { ptr, i32 } %140, 0
  store ptr %141, ptr %9, align 8
  %142 = extractvalue { ptr, i32 } %140, 1
  store i32 %142, ptr %10, align 4
  br label %147

143:                                              ; preds = %105
  %144 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %145 = extractvalue { ptr, i32 } %144, 0
  store ptr %145, ptr %9, align 8
  %146 = extractvalue { ptr, i32 } %144, 1
  store i32 %146, ptr %10, align 4
  call void @_ZN5boost15program_options20basic_parsed_optionsIcED2Ev(ptr noundef nonnull align 8 dereferenceable(36) %20) #11
  br label %147

147:                                              ; preds = %143, %139
  call void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #11
  br label %148

148:                                              ; preds = %147, %135
  call void @llvm.lifetime.end.p0(i64 40, ptr %20) #11
  br label %166

149:                                              ; preds = %115, %113, %106
  %150 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %151 = extractvalue { ptr, i32 } %150, 0
  store ptr %151, ptr %9, align 8
  %152 = extractvalue { ptr, i32 } %150, 1
  store i32 %152, ptr %10, align 4
  br label %166

153:                                              ; preds = %107
  %154 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %155 = extractvalue { ptr, i32 } %154, 0
  store ptr %155, ptr %9, align 8
  %156 = extractvalue { ptr, i32 } %154, 1
  store i32 %156, ptr %10, align 4
  br label %161

157:                                              ; preds = %109
  %158 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %159 = extractvalue { ptr, i32 } %158, 0
  store ptr %159, ptr %9, align 8
  %160 = extractvalue { ptr, i32 } %158, 1
  store i32 %160, ptr %10, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %22) #11
  br label %161

161:                                              ; preds = %157, %153
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %23) #11
  call void @llvm.lifetime.end.p0(i64 1, ptr %23) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr %22) #11
  br label %166

162:                                              ; preds = %111
  store i32 0, ptr %24, align 4
  br label %163

163:                                              ; preds = %162, %117
  call void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160) %19) #11
  call void @llvm.lifetime.end.p0(i64 160, ptr %19) #11
  %164 = load i32, ptr %24, align 4
  switch i32 %164, label %484 [
    i32 0, label %165
  ]

165:                                              ; preds = %163
  br label %201

166:                                              ; preds = %161, %149, %148
  call void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160) %19) #11
  br label %167

167:                                              ; preds = %166, %131
  call void @llvm.lifetime.end.p0(i64 160, ptr %19) #11
  br label %168

168:                                              ; preds = %167
  %169 = load i32, ptr %10, align 4
  %170 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN5boost15program_options5errorE) #11
  %171 = icmp eq i32 %169, %170
  br i1 %171, label %172, label %486

172:                                              ; preds = %168
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #11
  %173 = load ptr, ptr %9, align 8
  %174 = call ptr @__cxa_begin_catch(ptr %173) #11
  store ptr %174, ptr %25, align 8
  %175 = load ptr, ptr %25, align 8, !tbaa !9
  %176 = load ptr, ptr %175, align 8, !tbaa !11
  %177 = getelementptr inbounds ptr, ptr %176, i64 2
  %178 = load ptr, ptr %177, align 8
  %179 = call noundef ptr %178(ptr noundef nonnull align 8 dereferenceable(16) %175) #11
  %180 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef %179)
          to label %181 unwind label %190

181:                                              ; preds = %172
  %182 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %180, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %183 unwind label %190

183:                                              ; preds = %181
  %184 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %182, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %185 unwind label %190

185:                                              ; preds = %183
  %186 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_optionslsERSoRKNS0_19options_descriptionE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef nonnull align 8 dereferenceable(128) %6)
          to label %187 unwind label %190

187:                                              ; preds = %185
  %188 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %186, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %189 unwind label %190

189:                                              ; preds = %187
  store i32 1, ptr %3, align 4
  store i32 1, ptr %24, align 4
  invoke void @__cxa_end_catch()
          to label %194 unwind label %195

190:                                              ; preds = %187, %185, %183, %181, %172
  %191 = landingpad { ptr, i32 }
          cleanup
  %192 = extractvalue { ptr, i32 } %191, 0
  store ptr %192, ptr %9, align 8
  %193 = extractvalue { ptr, i32 } %191, 1
  store i32 %193, ptr %10, align 4
  invoke void @__cxa_end_catch()
          to label %199 unwind label %493

194:                                              ; preds = %189
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #11
  br label %484

195:                                              ; preds = %189
  %196 = landingpad { ptr, i32 }
          cleanup
  %197 = extractvalue { ptr, i32 } %196, 0
  store ptr %197, ptr %9, align 8
  %198 = extractvalue { ptr, i32 } %196, 1
  store i32 %198, ptr %10, align 4
  br label %200

199:                                              ; preds = %190
  br label %200

200:                                              ; preds = %199, %195
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #11
  br label %486

201:                                              ; preds = %165
  call void @llvm.lifetime.start.p0(i64 56, ptr %26) #11
  call void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(56) %26) #11
  call void @llvm.lifetime.start.p0(i64 520, ptr %27) #11
  invoke void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(256) %27, ptr noundef nonnull align 8 dereferenceable(32) %15, i32 noundef 8)
          to label %202 unwind label %222

202:                                              ; preds = %201
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #11
  store i32 0, ptr %28, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #11
  store i32 0, ptr %29, align 4, !tbaa !5
  br label %203

203:                                              ; preds = %261, %202
  %204 = load ptr, ptr %27, align 8, !tbaa !11
  %205 = getelementptr i8, ptr %204, i64 -24
  %206 = load i64, ptr %205, align 8
  %207 = getelementptr inbounds i8, ptr %27, i64 %206
  %208 = invoke noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEE4goodEv(ptr noundef nonnull align 8 dereferenceable(264) %207)
          to label %209 unwind label %226

209:                                              ; preds = %203
  br i1 %208, label %210, label %271

210:                                              ; preds = %209
  call void @llvm.lifetime.start.p0(i64 32, ptr %30) #11
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %30) #11
  %211 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZSt7getlineIcSt11char_traitsIcESaIcEERSt13basic_istreamIT_T0_ES7_RNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(16) %27, ptr noundef nonnull align 8 dereferenceable(32) %30)
          to label %212 unwind label %230

212:                                              ; preds = %210
  call void @llvm.lifetime.start.p0(i64 4, ptr %31) #11
  store i32 0, ptr %31, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #11
  store ptr %30, ptr %32, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #11
  %213 = load ptr, ptr %32, align 8, !tbaa !9
  %214 = call ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5beginEv(ptr noundef nonnull align 8 dereferenceable(32) %213) #11
  %215 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %33, i32 0, i32 0
  store ptr %214, ptr %215, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #11
  %216 = load ptr, ptr %32, align 8, !tbaa !9
  %217 = call ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE3endEv(ptr noundef nonnull align 8 dereferenceable(32) %216) #11
  %218 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %34, i32 0, i32 0
  store ptr %217, ptr %218, align 8
  br label %219

219:                                              ; preds = %257, %212
  %220 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %33, ptr noundef nonnull align 8 dereferenceable(8) %34) #11
  br i1 %220, label %234, label %221

221:                                              ; preds = %219
  store i32 4, ptr %24, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #11
  br label %259

222:                                              ; preds = %201
  %223 = landingpad { ptr, i32 }
          cleanup
  %224 = extractvalue { ptr, i32 } %223, 0
  store ptr %224, ptr %9, align 8
  %225 = extractvalue { ptr, i32 } %223, 1
  store i32 %225, ptr %10, align 4
  br label %483

226:                                              ; preds = %279, %276, %274, %271, %203
  %227 = landingpad { ptr, i32 }
          cleanup
  %228 = extractvalue { ptr, i32 } %227, 0
  store ptr %228, ptr %9, align 8
  %229 = extractvalue { ptr, i32 } %227, 1
  store i32 %229, ptr %10, align 4
  br label %482

230:                                              ; preds = %210
  %231 = landingpad { ptr, i32 }
          cleanup
  %232 = extractvalue { ptr, i32 } %231, 0
  store ptr %232, ptr %9, align 8
  %233 = extractvalue { ptr, i32 } %231, 1
  store i32 %233, ptr %10, align 4
  br label %270

234:                                              ; preds = %219
  call void @llvm.lifetime.start.p0(i64 1, ptr %35) #11
  %235 = call noundef nonnull align 1 dereferenceable(1) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %33) #11
  %236 = load i8, ptr %235, align 1, !tbaa !13
  store i8 %236, ptr %35, align 1, !tbaa !13
  %237 = load i8, ptr %35, align 1, !tbaa !13
  %238 = sext i8 %237 to i32
  %239 = icmp eq i32 %238, 35
  br i1 %239, label %240, label %254

240:                                              ; preds = %234
  call void @llvm.lifetime.start.p0(i64 8, ptr %36) #11
  %241 = load i32, ptr %31, align 4, !tbaa !5
  %242 = load i32, ptr %29, align 4, !tbaa !5
  invoke void @_ZN5StateC2Eii(ptr noundef nonnull align 4 dereferenceable(8) %36, i32 noundef %241, i32 noundef %242)
          to label %243 unwind label %250

243:                                              ; preds = %240
  %244 = invoke { ptr, i8 } @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EE6insertEOS0_(ptr noundef nonnull align 8 dereferenceable(56) %26, ptr noundef nonnull align 4 dereferenceable(8) %36)
          to label %245 unwind label %250

245:                                              ; preds = %243
  %246 = getelementptr inbounds { ptr, i8 }, ptr %37, i32 0, i32 0
  %247 = extractvalue { ptr, i8 } %244, 0
  store ptr %247, ptr %246, align 8
  %248 = getelementptr inbounds { ptr, i8 }, ptr %37, i32 0, i32 1
  %249 = extractvalue { ptr, i8 } %244, 1
  store i8 %249, ptr %248, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #11
  br label %254

250:                                              ; preds = %243, %240
  %251 = landingpad { ptr, i32 }
          cleanup
  %252 = extractvalue { ptr, i32 } %251, 0
  store ptr %252, ptr %9, align 8
  %253 = extractvalue { ptr, i32 } %251, 1
  store i32 %253, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #11
  call void @llvm.lifetime.end.p0(i64 1, ptr %35) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #11
  br label %269

254:                                              ; preds = %245, %234
  %255 = load i32, ptr %31, align 4, !tbaa !5
  %256 = add nsw i32 %255, 1
  store i32 %256, ptr %31, align 4, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 1, ptr %35) #11
  br label %257

257:                                              ; preds = %254
  %258 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %33) #11
  br label %219

259:                                              ; preds = %221
  %260 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIiERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4) %28, ptr noundef nonnull align 4 dereferenceable(4) %31)
          to label %261 unwind label %265

261:                                              ; preds = %259
  %262 = load i32, ptr %260, align 4, !tbaa !5
  store i32 %262, ptr %28, align 4, !tbaa !5
  %263 = load i32, ptr %29, align 4, !tbaa !5
  %264 = add nsw i32 %263, 1
  store i32 %264, ptr %29, align 4, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 4, ptr %31) #11
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %30) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr %30) #11
  br label %203, !llvm.loop !14

265:                                              ; preds = %259
  %266 = landingpad { ptr, i32 }
          cleanup
  %267 = extractvalue { ptr, i32 } %266, 0
  store ptr %267, ptr %9, align 8
  %268 = extractvalue { ptr, i32 } %266, 1
  store i32 %268, ptr %10, align 4
  br label %269

269:                                              ; preds = %265, %250
  call void @llvm.lifetime.end.p0(i64 4, ptr %31) #11
  br label %270

270:                                              ; preds = %269, %230
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %30) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr %30) #11
  br label %482

271:                                              ; preds = %209
  %272 = load i32, ptr %28, align 4, !tbaa !5
  %273 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 noundef %272)
          to label %274 unwind label %226

274:                                              ; preds = %271
  %275 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %273, ptr noundef @.str.22)
          to label %276 unwind label %226

276:                                              ; preds = %274
  %277 = load i32, ptr %29, align 4, !tbaa !5
  %278 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %275, i32 noundef %277)
          to label %279 unwind label %226

279:                                              ; preds = %276
  %280 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %278, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %281 unwind label %226

281:                                              ; preds = %279
  call void @llvm.lifetime.start.p0(i64 1, ptr %38) #11
  store i8 0, ptr %38, align 1, !tbaa !16
  call void @llvm.lifetime.start.p0(i64 8, ptr %39) #11
  %282 = load i32, ptr %13, align 4, !tbaa !5
  %283 = load i32, ptr %14, align 4, !tbaa !5
  invoke void @_ZN5StateC2Eii(ptr noundef nonnull align 4 dereferenceable(8) %39, i32 noundef %282, i32 noundef %283)
          to label %284 unwind label %304

284:                                              ; preds = %281
  call void @llvm.lifetime.start.p0(i64 8, ptr %40) #11
  %285 = load i32, ptr %11, align 4, !tbaa !5
  %286 = load i32, ptr %12, align 4, !tbaa !5
  invoke void @_ZN5StateC2Eii(ptr noundef nonnull align 4 dereferenceable(8) %40, i32 noundef %285, i32 noundef %286)
          to label %287 unwind label %308

287:                                              ; preds = %284
  call void @llvm.lifetime.start.p0(i64 72, ptr %41) #11
  %288 = load i32, ptr %28, align 4, !tbaa !5
  %289 = sext i32 %288 to i64
  %290 = load i32, ptr %29, align 4, !tbaa !5
  %291 = sub nsw i32 %290, 1
  %292 = sext i32 %291 to i64
  invoke void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EEC2ERKS6_(ptr noundef nonnull align 8 dereferenceable(56) %42, ptr noundef nonnull align 8 dereferenceable(56) %26)
          to label %293 unwind label %312

293:                                              ; preds = %287
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %43, ptr align 4 %39, i64 8, i1 false), !tbaa.struct !18
  %294 = load i64, ptr %43, align 4
  invoke void @_ZN11EnvironmentC2EmmSt13unordered_setI5StateSt4hashIS1_ESt8equal_toIS1_ESaIS1_EES1_(ptr noundef nonnull align 8 dereferenceable(72) %41, i64 noundef %289, i64 noundef %292, ptr noundef %42, i64 %294)
          to label %295 unwind label %316

295:                                              ; preds = %293
  call void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %42) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %44) #11
  %296 = load float, ptr %17, align 4, !tbaa !19
  invoke void @_ZN21libMultiRobotPlanning12AStarEpsilonI5State6Actioni11EnvironmentSt4hashIS1_EEC2ERS3_f(ptr noundef nonnull align 8 dereferenceable(12) %44, ptr noundef nonnull align 8 dereferenceable(72) %41, float noundef %296)
          to label %297 unwind label %320

297:                                              ; preds = %295
  call void @llvm.lifetime.start.p0(i64 56, ptr %45) #11
  call void @_ZN21libMultiRobotPlanning10PlanResultI5State6ActioniEC2Ev(ptr noundef nonnull align 8 dereferenceable(56) %45) #11
  %298 = invoke noundef zeroext i1 @_ZN11Environment10stateValidERK5State(ptr noundef nonnull align 8 dereferenceable(72) %41, ptr noundef nonnull align 4 dereferenceable(8) %40)
          to label %299 unwind label %324

299:                                              ; preds = %297
  br i1 %298, label %300, label %328

300:                                              ; preds = %299
  %301 = invoke noundef zeroext i1 @_ZN21libMultiRobotPlanning12AStarEpsilonI5State6Actioni11EnvironmentSt4hashIS1_EE6searchERKS1_RNS_10PlanResultIS1_S2_iEE(ptr noundef nonnull align 8 dereferenceable(12) %44, ptr noundef nonnull align 4 dereferenceable(8) %40, ptr noundef nonnull align 8 dereferenceable(56) %45)
          to label %302 unwind label %324

302:                                              ; preds = %300
  %303 = zext i1 %301 to i8
  store i8 %303, ptr %38, align 1, !tbaa !16
  br label %328

304:                                              ; preds = %281
  %305 = landingpad { ptr, i32 }
          cleanup
  %306 = extractvalue { ptr, i32 } %305, 0
  store ptr %306, ptr %9, align 8
  %307 = extractvalue { ptr, i32 } %305, 1
  store i32 %307, ptr %10, align 4
  br label %481

308:                                              ; preds = %284
  %309 = landingpad { ptr, i32 }
          cleanup
  %310 = extractvalue { ptr, i32 } %309, 0
  store ptr %310, ptr %9, align 8
  %311 = extractvalue { ptr, i32 } %309, 1
  store i32 %311, ptr %10, align 4
  br label %480

312:                                              ; preds = %287
  %313 = landingpad { ptr, i32 }
          cleanup
  %314 = extractvalue { ptr, i32 } %313, 0
  store ptr %314, ptr %9, align 8
  %315 = extractvalue { ptr, i32 } %313, 1
  store i32 %315, ptr %10, align 4
  br label %479

316:                                              ; preds = %293
  %317 = landingpad { ptr, i32 }
          cleanup
  %318 = extractvalue { ptr, i32 } %317, 0
  store ptr %318, ptr %9, align 8
  %319 = extractvalue { ptr, i32 } %317, 1
  store i32 %319, ptr %10, align 4
  call void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %42) #11
  br label %479

320:                                              ; preds = %295
  %321 = landingpad { ptr, i32 }
          cleanup
  %322 = extractvalue { ptr, i32 } %321, 0
  store ptr %322, ptr %9, align 8
  %323 = extractvalue { ptr, i32 } %321, 1
  store i32 %323, ptr %10, align 4
  br label %478

324:                                              ; preds = %300, %297
  %325 = landingpad { ptr, i32 }
          cleanup
  %326 = extractvalue { ptr, i32 } %325, 0
  store ptr %326, ptr %9, align 8
  %327 = extractvalue { ptr, i32 } %325, 1
  store i32 %327, ptr %10, align 4
  br label %477

328:                                              ; preds = %302, %299
  call void @llvm.lifetime.start.p0(i64 512, ptr %46) #11
  invoke void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248) %46, ptr noundef nonnull align 8 dereferenceable(32) %16, i32 noundef 16)
          to label %329 unwind label %347

329:                                              ; preds = %328
  %330 = load i8, ptr %38, align 1, !tbaa !16, !range !21, !noundef !22
  %331 = trunc i8 %330 to i1
  br i1 %331, label %332, label %469

332:                                              ; preds = %329
  %333 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.23)
          to label %334 unwind label %351

334:                                              ; preds = %332
  %335 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %45, i32 0, i32 2
  %336 = load i32, ptr %335, align 8, !tbaa !23
  %337 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %333, i32 noundef %336)
          to label %338 unwind label %351

338:                                              ; preds = %334
  %339 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %337, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %340 unwind label %351

340:                                              ; preds = %338
  call void @llvm.lifetime.start.p0(i64 8, ptr %47) #11
  store i64 0, ptr %47, align 8, !tbaa !33
  br label %341

341:                                              ; preds = %392, %340
  %342 = load i64, ptr %47, align 8, !tbaa !33
  %343 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %45, i32 0, i32 1
  %344 = call noundef i64 @_ZNKSt6vectorISt4pairI6ActioniESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %343) #11
  %345 = icmp ult i64 %342, %344
  br i1 %345, label %355, label %346

346:                                              ; preds = %341
  store i32 6, ptr %24, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #11
  br label %399

347:                                              ; preds = %328
  %348 = landingpad { ptr, i32 }
          cleanup
  %349 = extractvalue { ptr, i32 } %348, 0
  store ptr %349, ptr %9, align 8
  %350 = extractvalue { ptr, i32 } %348, 1
  store i32 %350, ptr %10, align 4
  br label %476

351:                                              ; preds = %471, %469, %420, %418, %416, %414, %412, %407, %405, %399, %338, %334, %332
  %352 = landingpad { ptr, i32 }
          cleanup
  %353 = extractvalue { ptr, i32 } %352, 0
  store ptr %353, ptr %9, align 8
  %354 = extractvalue { ptr, i32 } %352, 1
  store i32 %354, ptr %10, align 4
  br label %475

355:                                              ; preds = %341
  %356 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %45, i32 0, i32 0
  %357 = load i64, ptr %47, align 8, !tbaa !33
  %358 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %356, i64 noundef %357) #11
  %359 = getelementptr inbounds %"struct.std::pair.51", ptr %358, i32 0, i32 1
  %360 = load i32, ptr %359, align 4, !tbaa !35
  %361 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 noundef %360)
          to label %362 unwind label %395

362:                                              ; preds = %355
  %363 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %361, ptr noundef @.str.24)
          to label %364 unwind label %395

364:                                              ; preds = %362
  %365 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %45, i32 0, i32 0
  %366 = load i64, ptr %47, align 8, !tbaa !33
  %367 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %365, i64 noundef %366) #11
  %368 = getelementptr inbounds %"struct.std::pair.51", ptr %367, i32 0, i32 0
  %369 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZlsRSoRK5State(ptr noundef nonnull align 8 dereferenceable(8) %363, ptr noundef nonnull align 4 dereferenceable(8) %368)
          to label %370 unwind label %395

370:                                              ; preds = %364
  %371 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %369, ptr noundef @.str.25)
          to label %372 unwind label %395

372:                                              ; preds = %370
  %373 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %45, i32 0, i32 1
  %374 = load i64, ptr %47, align 8, !tbaa !33
  %375 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNSt6vectorISt4pairI6ActioniESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %373, i64 noundef %374) #11
  %376 = getelementptr inbounds %"struct.std::pair.53", ptr %375, i32 0, i32 0
  %377 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZlsRSoRK6Action(ptr noundef nonnull align 8 dereferenceable(8) %371, ptr noundef nonnull align 4 dereferenceable(4) %376)
          to label %378 unwind label %395

378:                                              ; preds = %372
  %379 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %377, ptr noundef @.str.26)
          to label %380 unwind label %395

380:                                              ; preds = %378
  %381 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %45, i32 0, i32 1
  %382 = load i64, ptr %47, align 8, !tbaa !33
  %383 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNSt6vectorISt4pairI6ActioniESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %381, i64 noundef %382) #11
  %384 = getelementptr inbounds %"struct.std::pair.53", ptr %383, i32 0, i32 1
  %385 = load i32, ptr %384, align 4, !tbaa !38
  %386 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %379, i32 noundef %385)
          to label %387 unwind label %395

387:                                              ; preds = %380
  %388 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %386, ptr noundef @.str.27)
          to label %389 unwind label %395

389:                                              ; preds = %387
  %390 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %388, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %391 unwind label %395

391:                                              ; preds = %389
  br label %392

392:                                              ; preds = %391
  %393 = load i64, ptr %47, align 8, !tbaa !33
  %394 = add i64 %393, 1
  store i64 %394, ptr %47, align 8, !tbaa !33
  br label %341, !llvm.loop !41

395:                                              ; preds = %389, %387, %380, %378, %372, %370, %364, %362, %355
  %396 = landingpad { ptr, i32 }
          cleanup
  %397 = extractvalue { ptr, i32 } %396, 0
  store ptr %397, ptr %9, align 8
  %398 = extractvalue { ptr, i32 } %396, 1
  store i32 %398, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #11
  br label %475

399:                                              ; preds = %346
  %400 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %45, i32 0, i32 0
  %401 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EE4backEv(ptr noundef nonnull align 8 dereferenceable(24) %400) #11
  %402 = getelementptr inbounds %"struct.std::pair.51", ptr %401, i32 0, i32 1
  %403 = load i32, ptr %402, align 4, !tbaa !35
  %404 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 noundef %403)
          to label %405 unwind label %351

405:                                              ; preds = %399
  %406 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %404, ptr noundef @.str.24)
          to label %407 unwind label %351

407:                                              ; preds = %405
  %408 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %45, i32 0, i32 0
  %409 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EE4backEv(ptr noundef nonnull align 8 dereferenceable(24) %408) #11
  %410 = getelementptr inbounds %"struct.std::pair.51", ptr %409, i32 0, i32 0
  %411 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZlsRSoRK5State(ptr noundef nonnull align 8 dereferenceable(8) %406, ptr noundef nonnull align 4 dereferenceable(8) %410)
          to label %412 unwind label %351

412:                                              ; preds = %407
  %413 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %411, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %414 unwind label %351

414:                                              ; preds = %412
  %415 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %46, ptr noundef @.str.28)
          to label %416 unwind label %351

416:                                              ; preds = %414
  %417 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %415, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %418 unwind label %351

418:                                              ; preds = %416
  %419 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %46, ptr noundef @.str.29)
          to label %420 unwind label %351

420:                                              ; preds = %418
  %421 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %419, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %422 unwind label %351

422:                                              ; preds = %420
  call void @llvm.lifetime.start.p0(i64 8, ptr %48) #11
  store i64 0, ptr %48, align 8, !tbaa !33
  br label %423

423:                                              ; preds = %461, %422
  %424 = load i64, ptr %48, align 8, !tbaa !33
  %425 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %45, i32 0, i32 0
  %426 = call noundef i64 @_ZNKSt6vectorISt4pairI5StateiESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %425) #11
  %427 = icmp ult i64 %424, %426
  br i1 %427, label %429, label %428

428:                                              ; preds = %423
  store i32 9, ptr %24, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #11
  br label %468

429:                                              ; preds = %423
  %430 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %46, ptr noundef @.str.30)
          to label %431 unwind label %464

431:                                              ; preds = %429
  %432 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %45, i32 0, i32 0
  %433 = load i64, ptr %48, align 8, !tbaa !33
  %434 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %432, i64 noundef %433) #11
  %435 = getelementptr inbounds %"struct.std::pair.51", ptr %434, i32 0, i32 0
  %436 = getelementptr inbounds %struct.State, ptr %435, i32 0, i32 0
  %437 = load i32, ptr %436, align 4, !tbaa !42
  %438 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %430, i32 noundef %437)
          to label %439 unwind label %464

439:                                              ; preds = %431
  %440 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %438, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %441 unwind label %464

441:                                              ; preds = %439
  %442 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %440, ptr noundef @.str.31)
          to label %443 unwind label %464

443:                                              ; preds = %441
  %444 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %45, i32 0, i32 0
  %445 = load i64, ptr %48, align 8, !tbaa !33
  %446 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %444, i64 noundef %445) #11
  %447 = getelementptr inbounds %"struct.std::pair.51", ptr %446, i32 0, i32 0
  %448 = getelementptr inbounds %struct.State, ptr %447, i32 0, i32 1
  %449 = load i32, ptr %448, align 4, !tbaa !43
  %450 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %442, i32 noundef %449)
          to label %451 unwind label %464

451:                                              ; preds = %443
  %452 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %450, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %453 unwind label %464

453:                                              ; preds = %451
  %454 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %452, ptr noundef @.str.32)
          to label %455 unwind label %464

455:                                              ; preds = %453
  %456 = load i64, ptr %48, align 8, !tbaa !33
  %457 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %454, i64 noundef %456)
          to label %458 unwind label %464

458:                                              ; preds = %455
  %459 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %457, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %460 unwind label %464

460:                                              ; preds = %458
  br label %461

461:                                              ; preds = %460
  %462 = load i64, ptr %48, align 8, !tbaa !33
  %463 = add i64 %462, 1
  store i64 %463, ptr %48, align 8, !tbaa !33
  br label %423, !llvm.loop !44

464:                                              ; preds = %458, %455, %453, %451, %443, %441, %439, %431, %429
  %465 = landingpad { ptr, i32 }
          cleanup
  %466 = extractvalue { ptr, i32 } %465, 0
  store ptr %466, ptr %9, align 8
  %467 = extractvalue { ptr, i32 } %465, 1
  store i32 %467, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #11
  br label %475

468:                                              ; preds = %428
  br label %474

469:                                              ; preds = %329
  %470 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.33)
          to label %471 unwind label %351

471:                                              ; preds = %469
  %472 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %470, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %473 unwind label %351

473:                                              ; preds = %471
  br label %474

474:                                              ; preds = %473, %468
  store i32 0, ptr %3, align 4
  store i32 1, ptr %24, align 4
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %46) #11
  call void @llvm.lifetime.end.p0(i64 512, ptr %46) #11
  call void @_ZN21libMultiRobotPlanning10PlanResultI5State6ActioniED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %45) #11
  call void @llvm.lifetime.end.p0(i64 56, ptr %45) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %44) #11
  call void @_ZN11EnvironmentD2Ev(ptr noundef nonnull align 8 dereferenceable(72) %41) #11
  call void @llvm.lifetime.end.p0(i64 72, ptr %41) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %40) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #11
  call void @llvm.lifetime.end.p0(i64 1, ptr %38) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #11
  call void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(256) %27) #11
  call void @llvm.lifetime.end.p0(i64 520, ptr %27) #11
  call void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %26) #11
  call void @llvm.lifetime.end.p0(i64 56, ptr %26) #11
  br label %484

475:                                              ; preds = %464, %395, %351
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %46) #11
  br label %476

476:                                              ; preds = %475, %347
  call void @llvm.lifetime.end.p0(i64 512, ptr %46) #11
  br label %477

477:                                              ; preds = %476, %324
  call void @_ZN21libMultiRobotPlanning10PlanResultI5State6ActioniED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %45) #11
  call void @llvm.lifetime.end.p0(i64 56, ptr %45) #11
  br label %478

478:                                              ; preds = %477, %320
  call void @llvm.lifetime.end.p0(i64 16, ptr %44) #11
  call void @_ZN11EnvironmentD2Ev(ptr noundef nonnull align 8 dereferenceable(72) %41) #11
  br label %479

479:                                              ; preds = %478, %316, %312
  call void @llvm.lifetime.end.p0(i64 72, ptr %41) #11
  br label %480

480:                                              ; preds = %479, %308
  call void @llvm.lifetime.end.p0(i64 8, ptr %40) #11
  br label %481

481:                                              ; preds = %480, %304
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #11
  call void @llvm.lifetime.end.p0(i64 1, ptr %38) #11
  br label %482

482:                                              ; preds = %481, %270, %226
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #11
  call void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(256) %27) #11
  br label %483

483:                                              ; preds = %482, %222
  call void @llvm.lifetime.end.p0(i64 520, ptr %27) #11
  call void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %26) #11
  call void @llvm.lifetime.end.p0(i64 56, ptr %26) #11
  br label %486

484:                                              ; preds = %474, %194, %163
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #11
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr %16) #11
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr %15) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #11
  call void @_ZN5boost15program_options19options_descriptionD2Ev(ptr noundef nonnull align 8 dereferenceable(128) %6) #11
  call void @llvm.lifetime.end.p0(i64 128, ptr %6) #11
  %485 = load i32, ptr %3, align 4
  ret i32 %485

486:                                              ; preds = %483, %200, %168, %127
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #11
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr %16) #11
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr %15) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #11
  call void @_ZN5boost15program_options19options_descriptionD2Ev(ptr noundef nonnull align 8 dereferenceable(128) %6) #11
  br label %487

487:                                              ; preds = %486, %126
  call void @llvm.lifetime.end.p0(i64 128, ptr %6) #11
  br label %488

488:                                              ; preds = %487
  %489 = load ptr, ptr %9, align 8
  %490 = load i32, ptr %10, align 4
  %491 = insertvalue { ptr, i32 } poison, ptr %489, 0
  %492 = insertvalue { ptr, i32 } %491, i32 %490, 1
  resume { ptr, i32 } %492

493:                                              ; preds = %190
  %494 = landingpad { ptr, i32 }
          catch ptr null
  %495 = extractvalue { ptr, i32 } %494, 0
  call void @__clang_call_terminate(ptr %495) #12
  unreachable
}

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #3

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 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(...)

declare void @_ZN5boost15program_options19options_descriptionC1ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjj(ptr noundef nonnull align 8 dereferenceable(128), ptr noundef nonnull align 8 dereferenceable(32), i32 noundef, i32 noundef) unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #4 align 2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #3

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #4 align 2

declare ptr @_ZN5boost15program_options19options_description11add_optionsEv(ptr noundef nonnull align 8 dereferenceable(128)) #5

declare noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcS3_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef, ptr noundef) #5

declare noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef, ptr noundef, ptr noundef) #5

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN5boost15program_options5valueIiEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef) #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN5boost15program_options11typed_valueIicE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176)) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef) #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN5boost15program_options11typed_valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176)) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN5boost15program_options5valueIfEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef) #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN5boost15program_options11typed_valueIfcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176)) #4 align 2

declare void @_ZN5boost15program_options13variables_mapC1Ev(ptr noundef nonnull align 8 dereferenceable(160)) unnamed_addr #5

declare void @_ZN5boost15program_options5storeERKNS0_20basic_parsed_optionsIcEERNS0_13variables_mapEb(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef nonnull align 8 dereferenceable(160), i1 noundef zeroext) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5boost15program_options18parse_command_lineIcEENS0_20basic_parsed_optionsIT_EEiPKPKS3_RKNS0_19options_descriptionEiNS_9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESJ_ERKSJ_EE(ptr dead_on_unwind noalias writable sret(%"class.boost::program_options::basic_parsed_options") align 8, i32 noundef, ptr noundef, ptr noundef nonnull align 8 dereferenceable(128), i32 noundef, ptr noundef) #0

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #6

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_EC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5boost15program_options20basic_parsed_optionsIcED2Ev(ptr noundef nonnull align 8 dereferenceable(36)) unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #4 align 2

declare void @_ZN5boost15program_options6notifyERNS0_13variables_mapE(ptr noundef nonnull align 8 dereferenceable(160)) #5

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN5boost15program_options14variable_valueESt4lessIS5_ESaISt4pairIKS5_S8_EEE5countERSC_(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef nonnull align 8 dereferenceable(32)) #0 align 2

declare noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_optionslsERSoRKNS0_19options_descriptionE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(128)) #5

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160)) unnamed_addr #7 align 2

; Function Attrs: nounwind memory(none)
declare i32 @llvm.eh.typeid.for.p0(ptr) #8

declare ptr @__cxa_begin_catch(ptr)

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

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #1

declare void @__cxa_end_catch()

; Function Attrs: noinline noreturn nounwind uwtable
declare hidden void @__clang_call_terminate(ptr noundef) #9

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(56)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(256), ptr noundef nonnull align 8 dereferenceable(32), i32 noundef) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEE4goodEv(ptr noundef nonnull align 8 dereferenceable(264)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(16) ptr @_ZSt7getlineIcSt11char_traitsIcESaIcEERSt13basic_istreamIT_T0_ES7_RNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(32)) #1

; Function Attrs: mustprogress nounwind uwtable
declare ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5beginEv(ptr noundef nonnull align 8 dereferenceable(32)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE3endEv(ptr noundef nonnull align 8 dereferenceable(32)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #7

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 1 dereferenceable(1) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local { ptr, i8 } @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EE6insertEOS0_(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 4 dereferenceable(8)) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5StateC2Eii(ptr noundef nonnull align 4 dereferenceable(8), i32 noundef, i32 noundef) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIiERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) #7

declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8), i32 noundef) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EEC2ERKS6_(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 8 dereferenceable(56)) unnamed_addr #0 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #10

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN11EnvironmentC2EmmSt13unordered_setI5StateSt4hashIS1_ESt8equal_toIS1_ESaIS1_EES1_(ptr noundef nonnull align 8 dereferenceable(72), i64 noundef, i64 noundef, ptr noundef, i64) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(56)) unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN21libMultiRobotPlanning12AStarEpsilonI5State6Actioni11EnvironmentSt4hashIS1_EEC2ERS3_f(ptr noundef nonnull align 8 dereferenceable(12), ptr noundef nonnull align 8 dereferenceable(72), float noundef) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN21libMultiRobotPlanning10PlanResultI5State6ActioniEC2Ev(ptr noundef nonnull align 8 dereferenceable(56)) unnamed_addr #7 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN11Environment10stateValidERK5State(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 4 dereferenceable(8)) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN21libMultiRobotPlanning12AStarEpsilonI5State6Actioni11EnvironmentSt4hashIS1_EE6searchERKS1_RNS_10PlanResultIS1_S2_iEE(ptr noundef nonnull align 8 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(56)) #0 align 2

; Function Attrs: mustprogress uwtable
declare void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248), ptr noundef nonnull align 8 dereferenceable(32), i32 noundef) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorISt4pairI6ActioniESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZlsRSoRK5State(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(8) ptr @_ZNSt6vectorISt4pairI6ActioniESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EE4backEv(ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorISt4pairI5StateiESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN21libMultiRobotPlanning10PlanResultI5State6ActioniED2Ev(ptr noundef nonnull align 8 dereferenceable(56)) unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN11EnvironmentD2Ev(ptr noundef nonnull align 8 dereferenceable(72)) unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(256)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5boost15program_options19options_descriptionD2Ev(ptr noundef nonnull align 8 dereferenceable(128)) unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 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 = { 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 #2 = { mustprogress norecurse 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 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { 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 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #7 = { 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 #8 = { nounwind memory(none) }
attributes #9 = { noinline noreturn nounwind uwtable "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 #10 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #11 = { nounwind }
attributes #12 = { noreturn nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"int", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"any pointer", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"vtable pointer", !8, i64 0}
!13 = !{!7, !7, i64 0}
!14 = distinct !{!14, !15}
!15 = !{!"llvm.loop.mustprogress"}
!16 = !{!17, !17, i64 0}
!17 = !{!"bool", !7, i64 0}
!18 = !{i64 0, i64 4, !5, i64 4, i64 4, !5}
!19 = !{!20, !20, i64 0}
!20 = !{!"float", !7, i64 0}
!21 = !{i8 0, i8 2}
!22 = !{}
!23 = !{!24, !6, i64 48}
!24 = !{!"_ZTSN21libMultiRobotPlanning10PlanResultI5State6ActioniEE", !25, i64 0, !29, i64 24, !6, i64 48, !6, i64 52}
!25 = !{!"_ZTSSt6vectorISt4pairI5StateiESaIS2_EE", !26, i64 0}
!26 = !{!"_ZTSSt12_Vector_baseISt4pairI5StateiESaIS2_EE", !27, i64 0}
!27 = !{!"_ZTSNSt12_Vector_baseISt4pairI5StateiESaIS2_EE12_Vector_implE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseISt4pairI5StateiESaIS2_EE17_Vector_impl_dataE", !10, i64 0, !10, i64 8, !10, i64 16}
!29 = !{!"_ZTSSt6vectorISt4pairI6ActioniESaIS2_EE", !30, i64 0}
!30 = !{!"_ZTSSt12_Vector_baseISt4pairI6ActioniESaIS2_EE", !31, i64 0}
!31 = !{!"_ZTSNSt12_Vector_baseISt4pairI6ActioniESaIS2_EE12_Vector_implE", !32, i64 0}
!32 = !{!"_ZTSNSt12_Vector_baseISt4pairI6ActioniESaIS2_EE17_Vector_impl_dataE", !10, i64 0, !10, i64 8, !10, i64 16}
!33 = !{!34, !34, i64 0}
!34 = !{!"long", !7, i64 0}
!35 = !{!36, !6, i64 8}
!36 = !{!"_ZTSSt4pairI5StateiE", !37, i64 0, !6, i64 8}
!37 = !{!"_ZTS5State", !6, i64 0, !6, i64 4}
!38 = !{!39, !6, i64 4}
!39 = !{!"_ZTSSt4pairI6ActioniE", !40, i64 0, !6, i64 4}
!40 = !{!"_ZTS6Action", !7, i64 0}
!41 = distinct !{!41, !15}
!42 = !{!36, !6, i64 0}
!43 = !{!36, !6, i64 4}
!44 = distinct !{!44, !15}


; 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::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"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::locale" = type { ptr }
%"class.boost::program_options::options_description" = type { %"class.std::__cxx11::basic_string", i32, i32, %"class.std::vector", %"class.std::vector.3", %"class.std::vector.7" }
%"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::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<boost::shared_ptr<boost::program_options::option_description>, std::allocator<boost::shared_ptr<boost::program_options::option_description>>>::_Vector_impl" }
%"struct.std::_Vector_base<boost::shared_ptr<boost::program_options::option_description>, std::allocator<boost::shared_ptr<boost::program_options::option_description>>>::_Vector_impl" = type { %"struct.std::_Vector_base<boost::shared_ptr<boost::program_options::option_description>, std::allocator<boost::shared_ptr<boost::program_options::option_description>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<boost::shared_ptr<boost::program_options::option_description>, std::allocator<boost::shared_ptr<boost::program_options::option_description>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.3" = type { %"struct.std::_Bvector_base" }
%"struct.std::_Bvector_base" = type { %"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl" }
%"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl" = type { %"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl_data" }
%"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl_data" = type { %"struct.std::_Bit_iterator", %"struct.std::_Bit_iterator", ptr }
%"struct.std::_Bit_iterator" = type { %"struct.std::_Bit_iterator_base.base", [4 x i8] }
%"struct.std::_Bit_iterator_base.base" = type <{ ptr, i32 }>
%"class.std::vector.7" = type { %"struct.std::_Vector_base.8" }
%"struct.std::_Vector_base.8" = type { %"struct.std::_Vector_base<boost::shared_ptr<boost::program_options::options_description>, std::allocator<boost::shared_ptr<boost::program_options::options_description>>>::_Vector_impl" }
%"struct.std::_Vector_base<boost::shared_ptr<boost::program_options::options_description>, std::allocator<boost::shared_ptr<boost::program_options::options_description>>>::_Vector_impl" = type { %"struct.std::_Vector_base<boost::shared_ptr<boost::program_options::options_description>, std::allocator<boost::shared_ptr<boost::program_options::options_description>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<boost::shared_ptr<boost::program_options::options_description>, std::allocator<boost::shared_ptr<boost::program_options::options_description>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::allocator" = type { i8 }
%"class.boost::program_options::options_description_easy_init" = type { ptr }
%"class.boost::program_options::variables_map" = type { %"class.boost::program_options::abstract_variables_map", %"class.std::map", %"class.std::set", %"class.std::map.23" }
%"class.boost::program_options::abstract_variables_map" = type { 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>, boost::program_options::variable_value>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, boost::program_options::variable_value>>, 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>, boost::program_options::variable_value>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, boost::program_options::variable_value>>, 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 }
%"class.std::set" = type { %"class.std::_Rb_tree.19" }
%"class.std::_Rb_tree.19" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>, std::_Identity<std::__cxx11::basic_string<char>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>, std::_Identity<std::__cxx11::basic_string<char>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"class.std::map.23" = type { %"class.std::_Rb_tree.24" }
%"class.std::_Rb_tree.24" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>>, 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>, std::__cxx11::basic_string<char>>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"class.boost::program_options::basic_parsed_options" = type <{ %"class.std::vector.28", ptr, i32, [4 x i8] }>
%"class.std::vector.28" = type { %"struct.std::_Vector_base.29" }
%"struct.std::_Vector_base.29" = type { %"struct.std::_Vector_base<boost::program_options::basic_option<char>, std::allocator<boost::program_options::basic_option<char>>>::_Vector_impl" }
%"struct.std::_Vector_base<boost::program_options::basic_option<char>, std::allocator<boost::program_options::basic_option<char>>>::_Vector_impl" = type { %"struct.std::_Vector_base<boost::program_options::basic_option<char>, std::allocator<boost::program_options::basic_option<char>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<boost::program_options::basic_option<char>, std::allocator<boost::program_options::basic_option<char>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.boost::function1.33" = type { %"class.boost::function_base" }
%"class.boost::function_base" = type { ptr, %"union.boost::detail::function::function_buffer" }
%"union.boost::detail::function::function_buffer" = type { %"union.boost::detail::function::function_buffer_members" }
%"union.boost::detail::function::function_buffer_members" = type { %"struct.boost::detail::function::function_buffer_members::bound_memfunc_ptr_t" }
%"struct.boost::detail::function::function_buffer_members::bound_memfunc_ptr_t" = type { { i64, i64 }, ptr }
%"class.std::unordered_set" = type { %"class.std::_Hashtable" }
%"class.std::_Hashtable" = type { ptr, i64, %"struct.std::__detail::_Hash_node_base", i64, %"struct.std::__detail::_Prime_rehash_policy", ptr }
%"struct.std::__detail::_Hash_node_base" = type { ptr }
%"struct.std::__detail::_Prime_rehash_policy" = type { float, i64 }
%"class.std::basic_ifstream" = type { %"class.std::basic_istream.base", %"class.std::basic_filebuf", %"class.std::basic_ios" }
%"class.std::basic_istream.base" = type { ptr, i64 }
%"class.std::basic_filebuf" = type { %"class.std::basic_streambuf", %union.pthread_mutex_t, %"class.std::__basic_file", i32, %struct.__mbstate_t, %struct.__mbstate_t, %struct.__mbstate_t, ptr, i64, i8, i8, i8, i8, ptr, ptr, i8, ptr, ptr, i64, ptr, ptr }
%"class.std::basic_streambuf" = type { ptr, ptr, ptr, ptr, ptr, ptr, ptr, %"class.std::locale" }
%union.pthread_mutex_t = type { %struct.__pthread_mutex_s }
%struct.__pthread_mutex_s = type { i32, i32, i32, i32, i32, i16, i16, %struct.__pthread_internal_list }
%struct.__pthread_internal_list = type { ptr, ptr }
%"class.std::__basic_file" = type <{ ptr, i8, [7 x i8] }>
%struct.__mbstate_t = type { i32, %union.anon.40 }
%union.anon.40 = type { i32 }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }
%struct.State = type { i32, i32 }
%class.Environment = type { i32, i32, %"class.std::unordered_set", %struct.State }
%"class.libMultiRobotPlanning::AStarEpsilon" = type <{ ptr, float, [4 x i8] }>
%"struct.libMultiRobotPlanning::PlanResult" = type { %"class.std::vector.41", %"class.std::vector.46", i32, i32 }
%"class.std::vector.41" = type { %"struct.std::_Vector_base.42" }
%"struct.std::_Vector_base.42" = type { %"struct.std::_Vector_base<std::pair<State, int>, std::allocator<std::pair<State, int>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::pair<State, int>, std::allocator<std::pair<State, int>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::pair<State, int>, std::allocator<std::pair<State, int>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::pair<State, int>, std::allocator<std::pair<State, int>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.46" = type { %"struct.std::_Vector_base.47" }
%"struct.std::_Vector_base.47" = type { %"struct.std::_Vector_base<std::pair<Action, int>, std::allocator<std::pair<Action, int>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::pair<Action, int>, std::allocator<std::pair<Action, int>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::pair<Action, int>, std::allocator<std::pair<Action, int>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::pair<Action, int>, std::allocator<std::pair<Action, int>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::basic_ofstream" = type { %"class.std::basic_ostream.base", %"class.std::basic_filebuf", %"class.std::basic_ios" }
%"class.std::basic_ostream.base" = type { ptr }

@.str.4 = external hidden unnamed_addr constant [16 x i8], align 1
@_ZN5boost15program_options19options_description21m_default_line_lengthE = external local_unnamed_addr constant i32, align 4
@.str.5 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [21 x i8], align 1
@.str.7 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.8 = external hidden unnamed_addr constant [27 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.10 = external hidden unnamed_addr constant [27 x i8], align 1
@.str.11 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [26 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.14 = external hidden unnamed_addr constant [26 x i8], align 1
@.str.15 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.16 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [19 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [21 x i8], align 1
@_ZTIN5boost15program_options5errorE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.21 = external hidden unnamed_addr constant [2 x i8], align 1
@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@.str.22 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [34 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.27 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.28 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.29 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.30 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.31 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.32 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.33 = external hidden unnamed_addr constant [25 x i8], align 1

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZlsRSoRK6Action(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #0

; 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 #1

; Function Attrs: mustprogress norecurse uwtable
define dso_local noundef range(i32 0, 2) i32 @main(i32 noundef %0, ptr noundef %1) local_unnamed_addr #2 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.boost::program_options::options_description", align 8
  %4 = alloca %"class.std::__cxx11::basic_string", align 8
  %5 = alloca %"class.std::allocator", align 1
  %6 = alloca i32, align 4
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca i32, align 4
  %10 = alloca %"class.std::__cxx11::basic_string", align 8
  %11 = alloca %"class.std::__cxx11::basic_string", align 8
  %12 = alloca float, align 4
  %13 = alloca %"class.boost::program_options::options_description_easy_init", align 8
  %14 = alloca %"class.boost::program_options::variables_map", align 8
  %15 = alloca %"class.boost::program_options::basic_parsed_options", align 8
  %16 = alloca %"class.boost::function1.33", align 8
  %17 = alloca %"class.std::__cxx11::basic_string", align 8
  %18 = alloca %"class.std::allocator", align 1
  %19 = alloca %"class.std::unordered_set", align 8
  %20 = alloca %"class.std::basic_ifstream", align 8
  %21 = alloca i32, align 4
  %22 = alloca %"class.std::__cxx11::basic_string", align 8
  %23 = alloca i32, align 4
  %24 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %25 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %26 = alloca %struct.State, align 4
  %27 = alloca %struct.State, align 8
  %28 = alloca %struct.State, align 4
  %29 = alloca %class.Environment, align 8
  %30 = alloca %"class.std::unordered_set", align 8
  %31 = alloca %"class.libMultiRobotPlanning::AStarEpsilon", align 8
  %32 = alloca %"struct.libMultiRobotPlanning::PlanResult", align 8
  %33 = alloca %"class.std::basic_ofstream", align 8
  call void @llvm.lifetime.start.p0(i64 128, ptr nonnull %3) #10
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %4) #10
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %5) #10
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #10
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %4, ptr noundef nonnull @.str.4, ptr noundef nonnull align 1 dereferenceable(1) %5)
          to label %34 unwind label %90

34:                                               ; preds = %2
  %35 = load i32, ptr @_ZN5boost15program_options19options_description21m_default_line_lengthE, align 4, !tbaa !5
  %36 = lshr i32 %35, 1
  invoke void @_ZN5boost15program_options19options_descriptionC1ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjj(ptr noundef nonnull align 8 dereferenceable(128) %3, ptr noundef nonnull align 8 dereferenceable(32) %4, i32 noundef %35, i32 noundef %36)
          to label %37 unwind label %92

37:                                               ; preds = %34
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #10
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #10
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %5) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #10
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %6) #10
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %7) #10
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %8) #10
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %9) #10
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %10) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #10
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %11) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #10
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %12) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #10
  %38 = invoke ptr @_ZN5boost15program_options19options_description11add_optionsEv(ptr noundef nonnull align 8 dereferenceable(128) %3)
          to label %39 unwind label %95

39:                                               ; preds = %37
  store ptr %38, ptr %13, align 8
  %40 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcS3_(ptr noundef nonnull align 8 dereferenceable(8) %13, ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.6)
          to label %41 unwind label %95

41:                                               ; preds = %39
  %42 = invoke noundef ptr @_ZN5boost15program_options5valueIiEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef nonnull %6)
          to label %43 unwind label %95

43:                                               ; preds = %41
  %44 = call noundef ptr @_ZN5boost15program_options11typed_valueIicE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %42)
  %45 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %40, ptr noundef nonnull @.str.7, ptr noundef %44, ptr noundef nonnull @.str.8)
          to label %46 unwind label %95

46:                                               ; preds = %43
  %47 = invoke noundef ptr @_ZN5boost15program_options5valueIiEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef nonnull %7)
          to label %48 unwind label %95

48:                                               ; preds = %46
  %49 = call noundef ptr @_ZN5boost15program_options11typed_valueIicE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %47)
  %50 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %45, ptr noundef nonnull @.str.9, ptr noundef %49, ptr noundef nonnull @.str.10)
          to label %51 unwind label %95

51:                                               ; preds = %48
  %52 = invoke noundef ptr @_ZN5boost15program_options5valueIiEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef nonnull %8)
          to label %53 unwind label %95

53:                                               ; preds = %51
  %54 = call noundef ptr @_ZN5boost15program_options11typed_valueIicE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %52)
  %55 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %50, ptr noundef nonnull @.str.11, ptr noundef %54, ptr noundef nonnull @.str.12)
          to label %56 unwind label %95

56:                                               ; preds = %53
  %57 = invoke noundef ptr @_ZN5boost15program_options5valueIiEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef nonnull %9)
          to label %58 unwind label %95

58:                                               ; preds = %56
  %59 = call noundef ptr @_ZN5boost15program_options11typed_valueIicE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %57)
  %60 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %55, ptr noundef nonnull @.str.13, ptr noundef %59, ptr noundef nonnull @.str.14)
          to label %61 unwind label %95

61:                                               ; preds = %58
  %62 = invoke noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef nonnull %10)
          to label %63 unwind label %95

63:                                               ; preds = %61
  %64 = call noundef ptr @_ZN5boost15program_options11typed_valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %62)
  %65 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %60, ptr noundef nonnull @.str.15, ptr noundef %64, ptr noundef nonnull @.str.16)
          to label %66 unwind label %95

66:                                               ; preds = %63
  %67 = invoke noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef nonnull %11)
          to label %68 unwind label %95

68:                                               ; preds = %66
  %69 = call noundef ptr @_ZN5boost15program_options11typed_valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %67)
  %70 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %65, ptr noundef nonnull @.str.17, ptr noundef %69, ptr noundef nonnull @.str.18)
          to label %71 unwind label %95

71:                                               ; preds = %68
  %72 = invoke noundef ptr @_ZN5boost15program_options5valueIfEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef nonnull %12)
          to label %73 unwind label %95

73:                                               ; preds = %71
  %74 = call noundef ptr @_ZN5boost15program_options11typed_valueIfcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %72)
  %75 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %70, ptr noundef nonnull @.str.19, ptr noundef %74, ptr noundef nonnull @.str.20)
          to label %76 unwind label %95

76:                                               ; preds = %73
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #10
  call void @llvm.lifetime.start.p0(i64 160, ptr nonnull %14) #10
  invoke void @_ZN5boost15program_options13variables_mapC1Ev(ptr noundef nonnull align 8 dereferenceable(160) %14)
          to label %77 unwind label %99

77:                                               ; preds = %76
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %15) #10
  call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(32) %16, i8 0, i64 32, i1 false)
  invoke void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_EC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16)
          to label %78 unwind label %101

78:                                               ; preds = %77
  invoke void @_ZN5boost15program_options18parse_command_lineIcEENS0_20basic_parsed_optionsIT_EEiPKPKS3_RKNS0_19options_descriptionEiNS_9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESJ_ERKSJ_EE(ptr dead_on_unwind nonnull writable sret(%"class.boost::program_options::basic_parsed_options") align 8 %15, i32 noundef %0, ptr noundef %1, ptr noundef nonnull align 8 dereferenceable(128) %3, i32 noundef 0, ptr noundef nonnull %16)
          to label %79 unwind label %103

79:                                               ; preds = %78
  invoke void @_ZN5boost15program_options5storeERKNS0_20basic_parsed_optionsIcEERNS0_13variables_mapEb(ptr noundef nonnull align 8 dereferenceable(36) %15, ptr noundef nonnull align 8 dereferenceable(160) %14, i1 noundef zeroext false)
          to label %80 unwind label %105

80:                                               ; preds = %79
  call void @_ZN5boost15program_options20basic_parsed_optionsIcED2Ev(ptr noundef nonnull align 8 dereferenceable(36) %15) #10
  call void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #10
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %15) #10
  invoke void @_ZN5boost15program_options6notifyERNS0_13variables_mapE(ptr noundef nonnull align 8 dereferenceable(160) %14)
          to label %81 unwind label %109

81:                                               ; preds = %80
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %17) #10
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %18) #10
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %18) #10
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %17, ptr noundef nonnull @.str.5, ptr noundef nonnull align 1 dereferenceable(1) %18)
          to label %82 unwind label %111

82:                                               ; preds = %81
  %83 = getelementptr inbounds i8, ptr %14, i64 16
  %84 = invoke noundef i64 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN5boost15program_options14variable_valueESt4lessIS5_ESaISt4pairIKS5_S8_EEE5countERSC_(ptr noundef nonnull align 8 dereferenceable(48) %83, ptr noundef nonnull align 8 dereferenceable(32) %17)
          to label %85 unwind label %113

85:                                               ; preds = %82
  %.not = icmp eq i64 %84, 0
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %17) #10
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %18) #10
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %18) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %17) #10
  br i1 %.not, label %142, label %86

86:                                               ; preds = %85
  %87 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_optionslsERSoRKNS0_19options_descriptionE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull align 8 dereferenceable(128) %3)
          to label %88 unwind label %109

88:                                               ; preds = %86
  %89 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %87, ptr noundef nonnull @.str.21)
          to label %116 unwind label %109

90:                                               ; preds = %2
  %91 = landingpad { ptr, i32 }
          cleanup
  br label %94

92:                                               ; preds = %34
  %93 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #10
  br label %94

94:                                               ; preds = %92, %90
  %.pn = phi { ptr, i32 } [ %93, %92 ], [ %91, %90 ]
  %.031 = extractvalue { ptr, i32 } %.pn, 0
  %.033 = extractvalue { ptr, i32 } %.pn, 1
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #10
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %5) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #10
  br label %317

95:                                               ; preds = %73, %71, %68, %66, %63, %61, %58, %56, %53, %51, %48, %46, %43, %41, %39, %37
  %96 = landingpad { ptr, i32 }
          cleanup
  %97 = extractvalue { ptr, i32 } %96, 0
  %98 = extractvalue { ptr, i32 } %96, 1
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #10
  br label %316

99:                                               ; preds = %76
  %100 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %118

101:                                              ; preds = %77
  %102 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %108

103:                                              ; preds = %78
  %104 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %107

105:                                              ; preds = %79
  %106 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  call void @_ZN5boost15program_options20basic_parsed_optionsIcED2Ev(ptr noundef nonnull align 8 dereferenceable(36) %15) #10
  br label %107

107:                                              ; preds = %105, %103
  %.pn52 = phi { ptr, i32 } [ %106, %105 ], [ %104, %103 ]
  call void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #10
  br label %108

108:                                              ; preds = %107, %101
  %.pn52.pn = phi { ptr, i32 } [ %.pn52, %107 ], [ %102, %101 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %15) #10
  br label %117

109:                                              ; preds = %88, %86, %80
  %110 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %117

111:                                              ; preds = %81
  %112 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %115

113:                                              ; preds = %82
  %114 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %17) #10
  br label %115

115:                                              ; preds = %113, %111
  %.pn55 = phi { ptr, i32 } [ %114, %113 ], [ %112, %111 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %18) #10
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %18) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %17) #10
  br label %117

116:                                              ; preds = %88
  call void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160) %14) #10
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %14) #10
  br label %315

117:                                              ; preds = %115, %109, %108
  %.pn57 = phi { ptr, i32 } [ %110, %109 ], [ %.pn55, %115 ], [ %.pn52.pn, %108 ]
  call void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160) %14) #10
  br label %118

118:                                              ; preds = %117, %99
  %.pn57.pn = phi { ptr, i32 } [ %.pn57, %117 ], [ %100, %99 ]
  %.5 = extractvalue { ptr, i32 } %.pn57.pn, 0
  %.538 = extractvalue { ptr, i32 } %.pn57.pn, 1
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %14) #10
  %119 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN5boost15program_options5errorE) #10
  %120 = icmp eq i32 %.538, %119
  br i1 %120, label %121, label %316

121:                                              ; preds = %118
  %122 = call ptr @__cxa_begin_catch(ptr %.5) #10
  %123 = load ptr, ptr %122, align 8, !tbaa !9
  %124 = getelementptr inbounds i8, ptr %123, i64 16
  %125 = load ptr, ptr %124, align 8
  %126 = call noundef ptr %125(ptr noundef nonnull align 8 dereferenceable(16) %122) #10
  %127 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef %126)
          to label %128 unwind label %137

128:                                              ; preds = %121
  %129 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %127, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %130 unwind label %137

130:                                              ; preds = %128
  %131 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %129, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %132 unwind label %137

132:                                              ; preds = %130
  %133 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_optionslsERSoRKNS0_19options_descriptionE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef nonnull align 8 dereferenceable(128) %3)
          to label %134 unwind label %137

134:                                              ; preds = %132
  %135 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %133, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %136 unwind label %137

136:                                              ; preds = %134
  invoke void @__cxa_end_catch()
          to label %315 unwind label %139

137:                                              ; preds = %134, %132, %130, %128, %121
  %138 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %141 unwind label %320

139:                                              ; preds = %136
  %140 = landingpad { ptr, i32 }
          cleanup
  br label %141

141:                                              ; preds = %137, %139
  %.pn60 = phi { ptr, i32 } [ %140, %139 ], [ %138, %137 ]
  %.6 = extractvalue { ptr, i32 } %.pn60, 0
  %.639 = extractvalue { ptr, i32 } %.pn60, 1
  br label %316

142:                                              ; preds = %85
  call void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160) %14) #10
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %14) #10
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %19) #10
  call void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(56) %19) #10
  call void @llvm.lifetime.start.p0(i64 520, ptr nonnull %20) #10
  invoke void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(256) %20, ptr noundef nonnull align 8 dereferenceable(32) %10, i32 noundef 8)
          to label %143 unwind label %162

143:                                              ; preds = %142
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %21) #10
  store i32 0, ptr %21, align 4, !tbaa !5
  %144 = load ptr, ptr %20, align 8, !tbaa !9
  %145 = getelementptr i8, ptr %144, i64 -24
  %146 = load i64, ptr %145, align 8
  %147 = getelementptr inbounds i8, ptr %20, i64 %146
  %148 = call noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEE4goodEv(ptr noundef nonnull align 8 dereferenceable(264) %147)
  br i1 %148, label %.lr.ph76, label %._crit_edge77

.lr.ph76:                                         ; preds = %143, %._crit_edge
  %.05074 = phi i32 [ %156, %._crit_edge ], [ 0, %143 ]
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %22) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %22) #10
  %149 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZSt7getlineIcSt11char_traitsIcESaIcEERSt13basic_istreamIT_T0_ES7_RNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(16) %20, ptr noundef nonnull align 8 dereferenceable(32) %22)
          to label %150 unwind label %166

150:                                              ; preds = %.lr.ph76
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %23) #10
  store i32 0, ptr %23, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %24) #10
  %151 = call ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5beginEv(ptr noundef nonnull align 8 dereferenceable(32) %22) #10
  store ptr %151, ptr %24, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %25) #10
  %152 = call ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE3endEv(ptr noundef nonnull align 8 dereferenceable(32) %22) #10
  store ptr %152, ptr %25, align 8
  %153 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %24, ptr noundef nonnull align 8 dereferenceable(8) %25) #10
  br i1 %153, label %.lr.ph, label %._crit_edge

._crit_edge:                                      ; preds = %177, %150
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %24) #10
  %154 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIiERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4) %21, ptr noundef nonnull align 4 dereferenceable(4) %23)
  %155 = load i32, ptr %154, align 4, !tbaa !5
  store i32 %155, ptr %21, align 4, !tbaa !5
  %156 = add nuw nsw i32 %.05074, 1
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %23) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %22) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %22) #10
  %157 = load ptr, ptr %20, align 8, !tbaa !9
  %158 = getelementptr i8, ptr %157, i64 -24
  %159 = load i64, ptr %158, align 8
  %160 = getelementptr inbounds i8, ptr %20, i64 %159
  %161 = call noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEE4goodEv(ptr noundef nonnull align 8 dereferenceable(264) %160)
  br i1 %161, label %.lr.ph76, label %._crit_edge77, !llvm.loop !11

162:                                              ; preds = %142
  %163 = landingpad { ptr, i32 }
          cleanup
  br label %314

164:                                              ; preds = %189, %187, %185, %._crit_edge77
  %165 = landingpad { ptr, i32 }
          cleanup
  br label %313

166:                                              ; preds = %.lr.ph76
  %167 = landingpad { ptr, i32 }
          cleanup
  br label %182

.lr.ph:                                           ; preds = %150, %177
  %168 = call noundef nonnull align 1 dereferenceable(1) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %24) #10
  %169 = load i8, ptr %168, align 1, !tbaa !13
  %170 = icmp eq i8 %169, 35
  br i1 %170, label %171, label %177

171:                                              ; preds = %.lr.ph
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %26) #10
  %172 = load i32, ptr %23, align 4, !tbaa !5
  call void @_ZN5StateC2Eii(ptr noundef nonnull align 4 dereferenceable(8) %26, i32 noundef %172, i32 noundef %.05074)
  %173 = invoke { ptr, i8 } @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EE6insertEOS0_(ptr noundef nonnull align 8 dereferenceable(56) %19, ptr noundef nonnull align 4 dereferenceable(8) %26)
          to label %174 unwind label %175

174:                                              ; preds = %171
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #10
  br label %177

175:                                              ; preds = %171
  %176 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %24) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %23) #10
  br label %182

177:                                              ; preds = %174, %.lr.ph
  %178 = load i32, ptr %23, align 4, !tbaa !5
  %179 = add nsw i32 %178, 1
  store i32 %179, ptr %23, align 4, !tbaa !5
  %180 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %24) #10
  %181 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %24, ptr noundef nonnull align 8 dereferenceable(8) %25) #10
  br i1 %181, label %.lr.ph, label %._crit_edge

182:                                              ; preds = %175, %166
  %.pn67 = phi { ptr, i32 } [ %176, %175 ], [ %167, %166 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %22) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %22) #10
  br label %313

._crit_edge77:                                    ; preds = %._crit_edge, %143
  %.050.lcssa = phi i32 [ 0, %143 ], [ %156, %._crit_edge ]
  %183 = load i32, ptr %21, align 4, !tbaa !5
  %184 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 noundef %183)
          to label %185 unwind label %164

185:                                              ; preds = %._crit_edge77
  %186 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %184, ptr noundef nonnull @.str.22)
          to label %187 unwind label %164

187:                                              ; preds = %185
  %188 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %186, i32 noundef %.050.lcssa)
          to label %189 unwind label %164

189:                                              ; preds = %187
  %190 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %188, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %191 unwind label %164

191:                                              ; preds = %189
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %27) #10
  %192 = load i32, ptr %8, align 4, !tbaa !5
  %193 = load i32, ptr %9, align 4, !tbaa !5
  call void @_ZN5StateC2Eii(ptr noundef nonnull align 4 dereferenceable(8) %27, i32 noundef %192, i32 noundef %193)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %28) #10
  %194 = load i32, ptr %6, align 4, !tbaa !5
  %195 = load i32, ptr %7, align 4, !tbaa !5
  call void @_ZN5StateC2Eii(ptr noundef nonnull align 4 dereferenceable(8) %28, i32 noundef %194, i32 noundef %195)
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %29) #10
  %196 = load i32, ptr %21, align 4, !tbaa !5
  invoke void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EEC2ERKS6_(ptr noundef nonnull align 8 dereferenceable(56) %30, ptr noundef nonnull align 8 dereferenceable(56) %19)
          to label %197 unwind label %206

197:                                              ; preds = %191
  %198 = add nsw i32 %.050.lcssa, -1
  %199 = sext i32 %198 to i64
  %200 = sext i32 %196 to i64
  %.sroa.0.0.copyload = load i64, ptr %27, align 8
  call void @_ZN11EnvironmentC2EmmSt13unordered_setI5StateSt4hashIS1_ESt8equal_toIS1_ESaIS1_EES1_(ptr noundef nonnull align 8 dereferenceable(72) %29, i64 noundef %200, i64 noundef %199, ptr noundef nonnull %30, i64 %.sroa.0.0.copyload)
  call void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %30) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %31) #10
  %201 = load float, ptr %12, align 4, !tbaa !14
  call void @_ZN21libMultiRobotPlanning12AStarEpsilonI5State6Actioni11EnvironmentSt4hashIS1_EEC2ERS3_f(ptr noundef nonnull align 8 dereferenceable(12) %31, ptr noundef nonnull align 8 dereferenceable(72) %29, float noundef %201)
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %32) #10
  call void @_ZN21libMultiRobotPlanning10PlanResultI5State6ActioniEC2Ev(ptr noundef nonnull align 8 dereferenceable(56) %32) #10
  %202 = invoke noundef zeroext i1 @_ZN11Environment10stateValidERK5State(ptr noundef nonnull align 8 dereferenceable(72) %29, ptr noundef nonnull align 4 dereferenceable(8) %28)
          to label %203 unwind label %208

203:                                              ; preds = %197
  br i1 %202, label %204, label %210

204:                                              ; preds = %203
  %205 = invoke noundef zeroext i1 @_ZN21libMultiRobotPlanning12AStarEpsilonI5State6Actioni11EnvironmentSt4hashIS1_EE6searchERKS1_RNS_10PlanResultIS1_S2_iEE(ptr noundef nonnull align 8 dereferenceable(12) %31, ptr noundef nonnull align 4 dereferenceable(8) %28, ptr noundef nonnull align 8 dereferenceable(56) %32)
          to label %210 unwind label %208

206:                                              ; preds = %191
  %207 = landingpad { ptr, i32 }
          cleanup
  br label %312

208:                                              ; preds = %204, %197
  %209 = landingpad { ptr, i32 }
          cleanup
  br label %311

210:                                              ; preds = %204, %203
  %.030 = phi i1 [ false, %203 ], [ %205, %204 ]
  call void @llvm.lifetime.start.p0(i64 512, ptr nonnull %33) #10
  invoke void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248) %33, ptr noundef nonnull align 8 dereferenceable(32) %11, i32 noundef 16)
          to label %211 unwind label %226

211:                                              ; preds = %210
  br i1 %.030, label %212, label %305

212:                                              ; preds = %211
  %213 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.23)
          to label %214 unwind label %228

214:                                              ; preds = %212
  %215 = getelementptr inbounds i8, ptr %32, i64 48
  %216 = load i32, ptr %215, align 8, !tbaa !16
  %217 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %213, i32 noundef %216)
          to label %218 unwind label %228

218:                                              ; preds = %214
  %219 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %217, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %.preheader71 unwind label %228

.preheader71:                                     ; preds = %218
  %220 = getelementptr inbounds i8, ptr %32, i64 24
  %221 = call noundef i64 @_ZNKSt6vectorISt4pairI6ActioniESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %220) #10
  %.not83 = icmp eq i64 %221, 0
  br i1 %.not83, label %._crit_edge80, label %.lr.ph79

._crit_edge80:                                    ; preds = %255, %.preheader71
  %222 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EE4backEv(ptr noundef nonnull align 8 dereferenceable(24) %32) #10
  %223 = getelementptr inbounds i8, ptr %222, i64 8
  %224 = load i32, ptr %223, align 4, !tbaa !27
  %225 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 noundef %224)
          to label %261 unwind label %228

226:                                              ; preds = %210
  %227 = landingpad { ptr, i32 }
          cleanup
  br label %310

228:                                              ; preds = %307, %305, %274, %272, %270, %268, %266, %263, %261, %._crit_edge80, %218, %214, %212
  %229 = landingpad { ptr, i32 }
          cleanup
  br label %309

.lr.ph79:                                         ; preds = %.preheader71, %255
  %.02878 = phi i64 [ %256, %255 ], [ 0, %.preheader71 ]
  %230 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %32, i64 noundef %.02878) #10
  %231 = getelementptr inbounds i8, ptr %230, i64 8
  %232 = load i32, ptr %231, align 4, !tbaa !27
  %233 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 noundef %232)
          to label %234 unwind label %259

234:                                              ; preds = %.lr.ph79
  %235 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %233, ptr noundef nonnull @.str.24)
          to label %236 unwind label %259

236:                                              ; preds = %234
  %237 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %32, i64 noundef %.02878) #10
  %238 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZlsRSoRK5State(ptr noundef nonnull align 8 dereferenceable(8) %235, ptr noundef nonnull align 4 dereferenceable(8) %237)
          to label %239 unwind label %259

239:                                              ; preds = %236
  %240 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %238, ptr noundef nonnull @.str.25)
          to label %241 unwind label %259

241:                                              ; preds = %239
  %242 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNSt6vectorISt4pairI6ActioniESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %220, i64 noundef %.02878) #10
  %243 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZlsRSoRK6Action(ptr noundef nonnull align 8 dereferenceable(8) %240, ptr noundef nonnull align 4 dereferenceable(4) %242)
          to label %244 unwind label %259

244:                                              ; preds = %241
  %245 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %243, ptr noundef nonnull @.str.26)
          to label %246 unwind label %259

246:                                              ; preds = %244
  %247 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNSt6vectorISt4pairI6ActioniESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %220, i64 noundef %.02878) #10
  %248 = getelementptr inbounds i8, ptr %247, i64 4
  %249 = load i32, ptr %248, align 4, !tbaa !30
  %250 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %245, i32 noundef %249)
          to label %251 unwind label %259

251:                                              ; preds = %246
  %252 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %250, ptr noundef nonnull @.str.27)
          to label %253 unwind label %259

253:                                              ; preds = %251
  %254 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %252, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %255 unwind label %259

255:                                              ; preds = %253
  %256 = add nuw i64 %.02878, 1
  %257 = call noundef i64 @_ZNKSt6vectorISt4pairI6ActioniESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %220) #10
  %258 = icmp ult i64 %256, %257
  br i1 %258, label %.lr.ph79, label %._crit_edge80, !llvm.loop !33

259:                                              ; preds = %253, %251, %246, %244, %241, %239, %236, %234, %.lr.ph79
  %260 = landingpad { ptr, i32 }
          cleanup
  br label %309

261:                                              ; preds = %._crit_edge80
  %262 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %225, ptr noundef nonnull @.str.24)
          to label %263 unwind label %228

263:                                              ; preds = %261
  %264 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EE4backEv(ptr noundef nonnull align 8 dereferenceable(24) %32) #10
  %265 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZlsRSoRK5State(ptr noundef nonnull align 8 dereferenceable(8) %262, ptr noundef nonnull align 4 dereferenceable(8) %264)
          to label %266 unwind label %228

266:                                              ; preds = %263
  %267 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %265, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %268 unwind label %228

268:                                              ; preds = %266
  %269 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %33, ptr noundef nonnull @.str.28)
          to label %270 unwind label %228

270:                                              ; preds = %268
  %271 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %269, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %272 unwind label %228

272:                                              ; preds = %270
  %273 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %33, ptr noundef nonnull @.str.29)
          to label %274 unwind label %228

274:                                              ; preds = %272
  %275 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %273, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %.preheader unwind label %228

.preheader:                                       ; preds = %274
  %276 = call noundef i64 @_ZNKSt6vectorISt4pairI5StateiESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %32) #10
  %.not84 = icmp eq i64 %276, 0
  br i1 %.not84, label %.loopexit, label %.lr.ph82

.lr.ph82:                                         ; preds = %.preheader, %299
  %.081 = phi i64 [ %300, %299 ], [ 0, %.preheader ]
  %277 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %33, ptr noundef nonnull @.str.30)
          to label %278 unwind label %303

278:                                              ; preds = %.lr.ph82
  %279 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %32, i64 noundef %.081) #10
  %280 = load i32, ptr %279, align 4, !tbaa !34
  %281 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %277, i32 noundef %280)
          to label %282 unwind label %303

282:                                              ; preds = %278
  %283 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %281, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %284 unwind label %303

284:                                              ; preds = %282
  %285 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %283, ptr noundef nonnull @.str.31)
          to label %286 unwind label %303

286:                                              ; preds = %284
  %287 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %32, i64 noundef %.081) #10
  %288 = getelementptr inbounds i8, ptr %287, i64 4
  %289 = load i32, ptr %288, align 4, !tbaa !35
  %290 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %285, i32 noundef %289)
          to label %291 unwind label %303

291:                                              ; preds = %286
  %292 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %290, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %293 unwind label %303

293:                                              ; preds = %291
  %294 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %292, ptr noundef nonnull @.str.32)
          to label %295 unwind label %303

295:                                              ; preds = %293
  %296 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %294, i64 noundef %.081)
          to label %297 unwind label %303

297:                                              ; preds = %295
  %298 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %296, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %299 unwind label %303

299:                                              ; preds = %297
  %300 = add nuw i64 %.081, 1
  %301 = call noundef i64 @_ZNKSt6vectorISt4pairI5StateiESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %32) #10
  %302 = icmp ult i64 %300, %301
  br i1 %302, label %.lr.ph82, label %.loopexit, !llvm.loop !36

303:                                              ; preds = %297, %295, %293, %291, %286, %284, %282, %278, %.lr.ph82
  %304 = landingpad { ptr, i32 }
          cleanup
  br label %309

305:                                              ; preds = %211
  %306 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.33)
          to label %307 unwind label %228

307:                                              ; preds = %305
  %308 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %306, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %.loopexit unwind label %228

.loopexit:                                        ; preds = %299, %.preheader, %307
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %33) #10
  call void @llvm.lifetime.end.p0(i64 512, ptr nonnull %33) #10
  call void @_ZN21libMultiRobotPlanning10PlanResultI5State6ActioniED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %32) #10
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %32) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %31) #10
  call void @_ZN11EnvironmentD2Ev(ptr noundef nonnull align 8 dereferenceable(72) %29) #10
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %29) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %27) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %21) #10
  call void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(256) %20) #10
  call void @llvm.lifetime.end.p0(i64 520, ptr nonnull %20) #10
  call void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %19) #10
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %19) #10
  br label %315

309:                                              ; preds = %303, %259, %228
  %.pn62 = phi { ptr, i32 } [ %260, %259 ], [ %304, %303 ], [ %229, %228 ]
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %33) #10
  br label %310

310:                                              ; preds = %309, %226
  %.pn62.pn = phi { ptr, i32 } [ %.pn62, %309 ], [ %227, %226 ]
  call void @llvm.lifetime.end.p0(i64 512, ptr nonnull %33) #10
  br label %311

311:                                              ; preds = %310, %208
  %.pn62.pn.pn = phi { ptr, i32 } [ %.pn62.pn, %310 ], [ %209, %208 ]
  call void @_ZN21libMultiRobotPlanning10PlanResultI5State6ActioniED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %32) #10
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %32) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %31) #10
  call void @_ZN11EnvironmentD2Ev(ptr noundef nonnull align 8 dereferenceable(72) %29) #10
  br label %312

312:                                              ; preds = %311, %206
  %.pn62.pn.pn.pn = phi { ptr, i32 } [ %.pn62.pn.pn, %311 ], [ %207, %206 ]
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %29) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %27) #10
  br label %313

313:                                              ; preds = %312, %182, %164
  %.pn67.pn = phi { ptr, i32 } [ %.pn67, %182 ], [ %.pn62.pn.pn.pn, %312 ], [ %165, %164 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %21) #10
  call void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(256) %20) #10
  br label %314

314:                                              ; preds = %313, %162
  %.pn67.pn.pn = phi { ptr, i32 } [ %.pn67.pn, %313 ], [ %163, %162 ]
  %.13 = extractvalue { ptr, i32 } %.pn67.pn.pn, 0
  %.1346 = extractvalue { ptr, i32 } %.pn67.pn.pn, 1
  call void @llvm.lifetime.end.p0(i64 520, ptr nonnull %20) #10
  call void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %19) #10
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %19) #10
  br label %316

315:                                              ; preds = %116, %136, %.loopexit
  %.1 = phi i32 [ 0, %.loopexit ], [ 0, %116 ], [ 1, %136 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %12) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %11) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %10) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %9) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %8) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %7) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %6) #10
  call void @_ZN5boost15program_options19options_descriptionD2Ev(ptr noundef nonnull align 8 dereferenceable(128) %3) #10
  call void @llvm.lifetime.end.p0(i64 128, ptr nonnull %3) #10
  ret i32 %.1

316:                                              ; preds = %314, %141, %118, %95
  %.1447 = phi i32 [ %.1346, %314 ], [ %.639, %141 ], [ %.538, %118 ], [ %98, %95 ]
  %.14 = phi ptr [ %.13, %314 ], [ %.6, %141 ], [ %.5, %118 ], [ %97, %95 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %12) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %11) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %10) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %9) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %8) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %7) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %6) #10
  call void @_ZN5boost15program_options19options_descriptionD2Ev(ptr noundef nonnull align 8 dereferenceable(128) %3) #10
  br label %317

317:                                              ; preds = %316, %94
  %.1548 = phi i32 [ %.1447, %316 ], [ %.033, %94 ]
  %.15 = phi ptr [ %.14, %316 ], [ %.031, %94 ]
  call void @llvm.lifetime.end.p0(i64 128, ptr nonnull %3) #10
  %318 = insertvalue { ptr, i32 } poison, ptr %.15, 0
  %319 = insertvalue { ptr, i32 } %318, i32 %.1548, 1
  resume { ptr, i32 } %319

320:                                              ; preds = %137
  %321 = landingpad { ptr, i32 }
          catch ptr null
  %322 = extractvalue { ptr, i32 } %321, 0
  call void @__clang_call_terminate(ptr %322) #11
  unreachable
}

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #3

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 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(...)

declare void @_ZN5boost15program_options19options_descriptionC1ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjj(ptr noundef nonnull align 8 dereferenceable(128), ptr noundef nonnull align 8 dereferenceable(32), i32 noundef, i32 noundef) unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #3

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #4 align 2

declare ptr @_ZN5boost15program_options19options_description11add_optionsEv(ptr noundef nonnull align 8 dereferenceable(128)) local_unnamed_addr #5

declare noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcS3_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef, ptr noundef) local_unnamed_addr #5

declare noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN5boost15program_options5valueIiEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef) local_unnamed_addr #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN5boost15program_options11typed_valueIicE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef) local_unnamed_addr #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN5boost15program_options11typed_valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN5boost15program_options5valueIfEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef) local_unnamed_addr #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN5boost15program_options11typed_valueIfcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176)) local_unnamed_addr #4 align 2

declare void @_ZN5boost15program_options13variables_mapC1Ev(ptr noundef nonnull align 8 dereferenceable(160)) unnamed_addr #5

declare void @_ZN5boost15program_options5storeERKNS0_20basic_parsed_optionsIcEERNS0_13variables_mapEb(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef nonnull align 8 dereferenceable(160), i1 noundef zeroext) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5boost15program_options18parse_command_lineIcEENS0_20basic_parsed_optionsIT_EEiPKPKS3_RKNS0_19options_descriptionEiNS_9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESJ_ERKSJ_EE(ptr dead_on_unwind noalias writable sret(%"class.boost::program_options::basic_parsed_options") align 8, i32 noundef, ptr noundef, ptr noundef nonnull align 8 dereferenceable(128), i32 noundef, ptr noundef) local_unnamed_addr #0

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #6

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_EC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5boost15program_options20basic_parsed_optionsIcED2Ev(ptr noundef nonnull align 8 dereferenceable(36)) unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #4 align 2

declare void @_ZN5boost15program_options6notifyERNS0_13variables_mapE(ptr noundef nonnull align 8 dereferenceable(160)) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN5boost15program_options14variable_valueESt4lessIS5_ESaISt4pairIKS5_S8_EEE5countERSC_(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #0 align 2

declare noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_optionslsERSoRKNS0_19options_descriptionE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(128)) local_unnamed_addr #5

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160)) unnamed_addr #7 align 2

; Function Attrs: nofree nosync nounwind memory(none)
declare i32 @llvm.eh.typeid.for.p0(ptr) #8

declare ptr @__cxa_begin_catch(ptr) local_unnamed_addr

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

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #1

declare void @__cxa_end_catch() local_unnamed_addr

; Function Attrs: noinline noreturn nounwind uwtable
declare hidden void @__clang_call_terminate(ptr noundef) local_unnamed_addr #9

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(56)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(256), ptr noundef nonnull align 8 dereferenceable(32), i32 noundef) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEE4goodEv(ptr noundef nonnull align 8 dereferenceable(264)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(16) ptr @_ZSt7getlineIcSt11char_traitsIcESaIcEERSt13basic_istreamIT_T0_ES7_RNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #1

; Function Attrs: mustprogress nounwind uwtable
declare ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5beginEv(ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE3endEv(ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #7

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 1 dereferenceable(1) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local { ptr, i8 } @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EE6insertEOS0_(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5StateC2Eii(ptr noundef nonnull align 4 dereferenceable(8), i32 noundef, i32 noundef) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIiERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #7

declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8), i32 noundef) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EEC2ERKS6_(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 8 dereferenceable(56)) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN11EnvironmentC2EmmSt13unordered_setI5StateSt4hashIS1_ESt8equal_toIS1_ESaIS1_EES1_(ptr noundef nonnull align 8 dereferenceable(72), i64 noundef, i64 noundef, ptr noundef, i64) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(56)) unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN21libMultiRobotPlanning12AStarEpsilonI5State6Actioni11EnvironmentSt4hashIS1_EEC2ERS3_f(ptr noundef nonnull align 8 dereferenceable(12), ptr noundef nonnull align 8 dereferenceable(72), float noundef) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN21libMultiRobotPlanning10PlanResultI5State6ActioniEC2Ev(ptr noundef nonnull align 8 dereferenceable(56)) unnamed_addr #7 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN11Environment10stateValidERK5State(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN21libMultiRobotPlanning12AStarEpsilonI5State6Actioni11EnvironmentSt4hashIS1_EE6searchERKS1_RNS_10PlanResultIS1_S2_iEE(ptr noundef nonnull align 8 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(56)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248), ptr noundef nonnull align 8 dereferenceable(32), i32 noundef) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorISt4pairI6ActioniESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZlsRSoRK5State(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(8) ptr @_ZNSt6vectorISt4pairI6ActioniESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EE4backEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorISt4pairI5StateiESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN21libMultiRobotPlanning10PlanResultI5State6ActioniED2Ev(ptr noundef nonnull align 8 dereferenceable(56)) unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN11EnvironmentD2Ev(ptr noundef nonnull align 8 dereferenceable(72)) unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(256)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5boost15program_options19options_descriptionD2Ev(ptr noundef nonnull align 8 dereferenceable(128)) unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 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 = { 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 #2 = { mustprogress norecurse uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { 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 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #7 = { 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 #8 = { nofree nosync nounwind memory(none) }
attributes #9 = { noinline noreturn nounwind uwtable "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 #10 = { nounwind }
attributes #11 = { noreturn nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"int", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"vtable pointer", !8, i64 0}
!11 = distinct !{!11, !12}
!12 = !{!"llvm.loop.mustprogress"}
!13 = !{!7, !7, i64 0}
!14 = !{!15, !15, i64 0}
!15 = !{!"float", !7, i64 0}
!16 = !{!17, !6, i64 48}
!17 = !{!"_ZTSN21libMultiRobotPlanning10PlanResultI5State6ActioniEE", !18, i64 0, !23, i64 24, !6, i64 48, !6, i64 52}
!18 = !{!"_ZTSSt6vectorISt4pairI5StateiESaIS2_EE", !19, i64 0}
!19 = !{!"_ZTSSt12_Vector_baseISt4pairI5StateiESaIS2_EE", !20, i64 0}
!20 = !{!"_ZTSNSt12_Vector_baseISt4pairI5StateiESaIS2_EE12_Vector_implE", !21, i64 0}
!21 = !{!"_ZTSNSt12_Vector_baseISt4pairI5StateiESaIS2_EE17_Vector_impl_dataE", !22, i64 0, !22, i64 8, !22, i64 16}
!22 = !{!"any pointer", !7, i64 0}
!23 = !{!"_ZTSSt6vectorISt4pairI6ActioniESaIS2_EE", !24, i64 0}
!24 = !{!"_ZTSSt12_Vector_baseISt4pairI6ActioniESaIS2_EE", !25, i64 0}
!25 = !{!"_ZTSNSt12_Vector_baseISt4pairI6ActioniESaIS2_EE12_Vector_implE", !26, i64 0}
!26 = !{!"_ZTSNSt12_Vector_baseISt4pairI6ActioniESaIS2_EE17_Vector_impl_dataE", !22, i64 0, !22, i64 8, !22, i64 16}
!27 = !{!28, !6, i64 8}
!28 = !{!"_ZTSSt4pairI5StateiE", !29, i64 0, !6, i64 8}
!29 = !{!"_ZTS5State", !6, i64 0, !6, i64 4}
!30 = !{!31, !6, i64 4}
!31 = !{!"_ZTSSt4pairI6ActioniE", !32, i64 0, !6, i64 4}
!32 = !{!"_ZTS6Action", !7, i64 0}
!33 = distinct !{!33, !12}
!34 = !{!28, !6, i64 0}
!35 = !{!28, !6, i64 4}
!36 = distinct !{!36, !12}


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