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

; 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.21" }
%"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.17" }
%"class.std::_Rb_tree.17" = 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.21" = type { %"class.std::_Rb_tree.22" }
%"class.std::_Rb_tree.22" = 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.26", ptr, i32, [4 x i8] }>
%"class.std::vector.26" = type { %"struct.std::_Vector_base.27" }
%"struct.std::_Vector_base.27" = 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::function1.31" = 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.38 }
%union.anon.38 = 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::AStar" = type { ptr }
%"struct.libMultiRobotPlanning::PlanResult" = type { %"class.std::vector.39", %"class.std::vector.44", i32, i32 }
%"class.std::vector.39" = type { %"struct.std::_Vector_base.40" }
%"struct.std::_Vector_base.40" = 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.44" = type { %"struct.std::_Vector_base.45" }
%"struct.std::_Vector_base.45" = 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.49" = type { %struct.State, i32 }
%"struct.std::pair.51" = 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
@_ZTIN5boost15program_options5errorE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.19 = external hidden unnamed_addr constant [2 x i8], align 1
@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@.str.20 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [34 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.27 = external hidden unnamed_addr constant [10 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 [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 %"class.boost::program_options::options_description_easy_init", align 8
  %18 = alloca %"class.boost::program_options::variables_map", align 8
  %19 = alloca %"class.boost::program_options::basic_parsed_options", align 8
  %20 = alloca %"class.boost::function1.31", align 8
  %21 = alloca %"class.std::__cxx11::basic_string", align 8
  %22 = alloca %"class.std::allocator", align 1
  %23 = alloca i32, align 4
  %24 = alloca ptr, align 8
  %25 = alloca %"class.std::unordered_set", align 8
  %26 = alloca %"class.std::basic_ifstream", align 8
  %27 = alloca i32, align 4
  %28 = alloca i32, align 4
  %29 = alloca %"class.std::__cxx11::basic_string", align 8
  %30 = alloca i32, align 4
  %31 = alloca ptr, align 8
  %32 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %33 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %34 = alloca i8, align 1
  %35 = alloca %struct.State, align 4
  %36 = alloca %"struct.std::pair", align 8
  %37 = alloca i8, align 1
  %38 = alloca %struct.State, align 4
  %39 = alloca %struct.State, align 4
  %40 = alloca %class.Environment, align 8
  %41 = alloca %"class.std::unordered_set", align 8
  %42 = alloca %struct.State, align 4
  %43 = alloca %"class.libMultiRobotPlanning::AStar", align 8
  %44 = alloca %"struct.libMultiRobotPlanning::PlanResult", align 8
  %45 = alloca %"class.std::basic_ofstream", align 8
  %46 = alloca i64, align 8
  %47 = 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 %48 unwind label %111

48:                                               ; preds = %2
  %49 = load i32, ptr @_ZN5boost15program_options19options_description21m_default_line_lengthE, align 4, !tbaa !5
  %50 = load i32, ptr @_ZN5boost15program_options19options_description21m_default_line_lengthE, align 4, !tbaa !5
  %51 = udiv i32 %50, 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 %49, i32 noundef %51)
          to label %52 unwind label %115

52:                                               ; preds = %48
  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 8, ptr %17) #11
  %53 = invoke ptr @_ZN5boost15program_options19options_description11add_optionsEv(ptr noundef nonnull align 8 dereferenceable(128) %6)
          to label %54 unwind label %120

54:                                               ; preds = %52
  %55 = getelementptr inbounds %"class.boost::program_options::options_description_easy_init", ptr %17, i32 0, i32 0
  store ptr %53, ptr %55, align 8
  %56 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcS3_(ptr noundef nonnull align 8 dereferenceable(8) %17, ptr noundef @.str.5, ptr noundef @.str.6)
          to label %57 unwind label %120

57:                                               ; preds = %54
  %58 = invoke noundef ptr @_ZN5boost15program_options5valueIiEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef %11)
          to label %59 unwind label %120

59:                                               ; preds = %57
  %60 = invoke noundef ptr @_ZN5boost15program_options11typed_valueIicE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %58)
          to label %61 unwind label %120

61:                                               ; preds = %59
  %62 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %56, ptr noundef @.str.7, ptr noundef %60, ptr noundef @.str.8)
          to label %63 unwind label %120

63:                                               ; preds = %61
  %64 = invoke noundef ptr @_ZN5boost15program_options5valueIiEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef %12)
          to label %65 unwind label %120

65:                                               ; preds = %63
  %66 = invoke noundef ptr @_ZN5boost15program_options11typed_valueIicE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %64)
          to label %67 unwind label %120

67:                                               ; preds = %65
  %68 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %62, ptr noundef @.str.9, ptr noundef %66, ptr noundef @.str.10)
          to label %69 unwind label %120

69:                                               ; preds = %67
  %70 = invoke noundef ptr @_ZN5boost15program_options5valueIiEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef %13)
          to label %71 unwind label %120

71:                                               ; preds = %69
  %72 = invoke noundef ptr @_ZN5boost15program_options11typed_valueIicE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %70)
          to label %73 unwind label %120

73:                                               ; preds = %71
  %74 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %68, ptr noundef @.str.11, ptr noundef %72, ptr noundef @.str.12)
          to label %75 unwind label %120

75:                                               ; preds = %73
  %76 = invoke noundef ptr @_ZN5boost15program_options5valueIiEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef %14)
          to label %77 unwind label %120

77:                                               ; preds = %75
  %78 = invoke noundef ptr @_ZN5boost15program_options11typed_valueIicE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %76)
          to label %79 unwind label %120

79:                                               ; preds = %77
  %80 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %74, ptr noundef @.str.13, ptr noundef %78, ptr noundef @.str.14)
          to label %81 unwind label %120

81:                                               ; preds = %79
  %82 = invoke noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef %15)
          to label %83 unwind label %120

83:                                               ; preds = %81
  %84 = invoke noundef ptr @_ZN5boost15program_options11typed_valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %82)
          to label %85 unwind label %120

85:                                               ; preds = %83
  %86 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %80, ptr noundef @.str.15, ptr noundef %84, ptr noundef @.str.16)
          to label %87 unwind label %120

87:                                               ; preds = %85
  %88 = invoke noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef %16)
          to label %89 unwind label %120

89:                                               ; preds = %87
  %90 = invoke noundef ptr @_ZN5boost15program_options11typed_valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %88)
          to label %91 unwind label %120

91:                                               ; preds = %89
  %92 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %86, ptr noundef @.str.17, ptr noundef %90, ptr noundef @.str.18)
          to label %93 unwind label %120

93:                                               ; preds = %91
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #11
  call void @llvm.lifetime.start.p0(i64 160, ptr %18) #11
  invoke void @_ZN5boost15program_options13variables_mapC1Ev(ptr noundef nonnull align 8 dereferenceable(160) %18)
          to label %94 unwind label %124

94:                                               ; preds = %93
  call void @llvm.lifetime.start.p0(i64 40, ptr %19) #11
  %95 = load i32, ptr %4, align 4, !tbaa !5
  %96 = load ptr, ptr %5, align 8, !tbaa !9
  call void @llvm.memset.p0.i64(ptr align 8 %20, i8 0, i64 32, i1 false)
  invoke void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_EC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20)
          to label %97 unwind label %128

97:                                               ; preds = %94
  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 %19, i32 noundef %95, ptr noundef %96, ptr noundef nonnull align 8 dereferenceable(128) %6, i32 noundef 0, ptr noundef %20)
          to label %98 unwind label %132

98:                                               ; preds = %97
  invoke void @_ZN5boost15program_options5storeERKNS0_20basic_parsed_optionsIcEERNS0_13variables_mapEb(ptr noundef nonnull align 8 dereferenceable(36) %19, ptr noundef nonnull align 8 dereferenceable(160) %18, i1 noundef zeroext false)
          to label %99 unwind label %136

99:                                               ; preds = %98
  call void @_ZN5boost15program_options20basic_parsed_optionsIcED2Ev(ptr noundef nonnull align 8 dereferenceable(36) %19) #11
  call void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20) #11
  call void @llvm.lifetime.end.p0(i64 40, ptr %19) #11
  invoke void @_ZN5boost15program_options6notifyERNS0_13variables_mapE(ptr noundef nonnull align 8 dereferenceable(160) %18)
          to label %100 unwind label %142

100:                                              ; preds = %99
  %101 = getelementptr inbounds i8, ptr %18, i64 16
  call void @llvm.lifetime.start.p0(i64 32, ptr %21) #11
  call void @llvm.lifetime.start.p0(i64 1, ptr %22) #11
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %22) #11
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %21, ptr noundef @.str.5, ptr noundef nonnull align 1 dereferenceable(1) %22)
          to label %102 unwind label %146

102:                                              ; preds = %100
  %103 = invoke noundef i64 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN5boost15program_options14variable_valueESt4lessIS5_ESaISt4pairIKS5_S8_EEE5countERSC_(ptr noundef nonnull align 8 dereferenceable(48) %101, ptr noundef nonnull align 8 dereferenceable(32) %21)
          to label %104 unwind label %150

104:                                              ; preds = %102
  %105 = icmp ne i64 %103, 0
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #11
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %22) #11
  call void @llvm.lifetime.end.p0(i64 1, ptr %22) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr %21) #11
  br i1 %105, label %106, label %155

106:                                              ; preds = %104
  %107 = 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 %108 unwind label %142

108:                                              ; preds = %106
  %109 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %107, ptr noundef @.str.19)
          to label %110 unwind label %142

110:                                              ; preds = %108
  store i32 0, ptr %3, align 4
  store i32 1, ptr %23, align 4
  br label %156

111:                                              ; preds = %2
  %112 = landingpad { ptr, i32 }
          cleanup
  %113 = extractvalue { ptr, i32 } %112, 0
  store ptr %113, ptr %9, align 8
  %114 = extractvalue { ptr, i32 } %112, 1
  store i32 %114, ptr %10, align 4
  br label %119

115:                                              ; preds = %48
  %116 = landingpad { ptr, i32 }
          cleanup
  %117 = extractvalue { ptr, i32 } %116, 0
  store ptr %117, ptr %9, align 8
  %118 = extractvalue { ptr, i32 } %116, 1
  store i32 %118, ptr %10, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #11
  br label %119

119:                                              ; preds = %115, %111
  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 %479

120:                                              ; preds = %91, %89, %87, %85, %83, %81, %79, %77, %75, %73, %71, %69, %67, %65, %63, %61, %59, %57, %54, %52
  %121 = landingpad { ptr, i32 }
          cleanup
  %122 = extractvalue { ptr, i32 } %121, 0
  store ptr %122, ptr %9, align 8
  %123 = extractvalue { ptr, i32 } %121, 1
  store i32 %123, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #11
  br label %478

124:                                              ; preds = %93
  %125 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %126 = extractvalue { ptr, i32 } %125, 0
  store ptr %126, ptr %9, align 8
  %127 = extractvalue { ptr, i32 } %125, 1
  store i32 %127, ptr %10, align 4
  br label %160

128:                                              ; preds = %94
  %129 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %130 = extractvalue { ptr, i32 } %129, 0
  store ptr %130, ptr %9, align 8
  %131 = extractvalue { ptr, i32 } %129, 1
  store i32 %131, ptr %10, align 4
  br label %141

132:                                              ; preds = %97
  %133 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %134 = extractvalue { ptr, i32 } %133, 0
  store ptr %134, ptr %9, align 8
  %135 = extractvalue { ptr, i32 } %133, 1
  store i32 %135, ptr %10, align 4
  br label %140

136:                                              ; preds = %98
  %137 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %138 = extractvalue { ptr, i32 } %137, 0
  store ptr %138, ptr %9, align 8
  %139 = extractvalue { ptr, i32 } %137, 1
  store i32 %139, ptr %10, align 4
  call void @_ZN5boost15program_options20basic_parsed_optionsIcED2Ev(ptr noundef nonnull align 8 dereferenceable(36) %19) #11
  br label %140

140:                                              ; preds = %136, %132
  call void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20) #11
  br label %141

141:                                              ; preds = %140, %128
  call void @llvm.lifetime.end.p0(i64 40, ptr %19) #11
  br label %159

142:                                              ; preds = %108, %106, %99
  %143 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %144 = extractvalue { ptr, i32 } %143, 0
  store ptr %144, ptr %9, align 8
  %145 = extractvalue { ptr, i32 } %143, 1
  store i32 %145, ptr %10, align 4
  br label %159

146:                                              ; preds = %100
  %147 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %148 = extractvalue { ptr, i32 } %147, 0
  store ptr %148, ptr %9, align 8
  %149 = extractvalue { ptr, i32 } %147, 1
  store i32 %149, ptr %10, align 4
  br label %154

150:                                              ; preds = %102
  %151 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %152 = extractvalue { ptr, i32 } %151, 0
  store ptr %152, ptr %9, align 8
  %153 = extractvalue { ptr, i32 } %151, 1
  store i32 %153, ptr %10, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #11
  br label %154

154:                                              ; preds = %150, %146
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %22) #11
  call void @llvm.lifetime.end.p0(i64 1, ptr %22) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr %21) #11
  br label %159

155:                                              ; preds = %104
  store i32 0, ptr %23, align 4
  br label %156

156:                                              ; preds = %155, %110
  call void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160) %18) #11
  call void @llvm.lifetime.end.p0(i64 160, ptr %18) #11
  %157 = load i32, ptr %23, align 4
  switch i32 %157, label %476 [
    i32 0, label %158
  ]

158:                                              ; preds = %156
  br label %194

159:                                              ; preds = %154, %142, %141
  call void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160) %18) #11
  br label %160

160:                                              ; preds = %159, %124
  call void @llvm.lifetime.end.p0(i64 160, ptr %18) #11
  br label %161

161:                                              ; preds = %160
  %162 = load i32, ptr %10, align 4
  %163 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN5boost15program_options5errorE) #11
  %164 = icmp eq i32 %162, %163
  br i1 %164, label %165, label %478

165:                                              ; preds = %161
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #11
  %166 = load ptr, ptr %9, align 8
  %167 = call ptr @__cxa_begin_catch(ptr %166) #11
  store ptr %167, ptr %24, align 8
  %168 = load ptr, ptr %24, align 8, !tbaa !9
  %169 = load ptr, ptr %168, align 8, !tbaa !11
  %170 = getelementptr inbounds ptr, ptr %169, i64 2
  %171 = load ptr, ptr %170, align 8
  %172 = call noundef ptr %171(ptr noundef nonnull align 8 dereferenceable(16) %168) #11
  %173 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef %172)
          to label %174 unwind label %183

174:                                              ; preds = %165
  %175 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %173, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %176 unwind label %183

176:                                              ; preds = %174
  %177 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %175, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %178 unwind label %183

178:                                              ; preds = %176
  %179 = 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 %180 unwind label %183

180:                                              ; preds = %178
  %181 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %179, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %182 unwind label %183

182:                                              ; preds = %180
  store i32 1, ptr %3, align 4
  store i32 1, ptr %23, align 4
  invoke void @__cxa_end_catch()
          to label %187 unwind label %188

183:                                              ; preds = %180, %178, %176, %174, %165
  %184 = landingpad { ptr, i32 }
          cleanup
  %185 = extractvalue { ptr, i32 } %184, 0
  store ptr %185, ptr %9, align 8
  %186 = extractvalue { ptr, i32 } %184, 1
  store i32 %186, ptr %10, align 4
  invoke void @__cxa_end_catch()
          to label %192 unwind label %485

187:                                              ; preds = %182
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #11
  br label %476

188:                                              ; preds = %182
  %189 = landingpad { ptr, i32 }
          cleanup
  %190 = extractvalue { ptr, i32 } %189, 0
  store ptr %190, ptr %9, align 8
  %191 = extractvalue { ptr, i32 } %189, 1
  store i32 %191, ptr %10, align 4
  br label %193

192:                                              ; preds = %183
  br label %193

193:                                              ; preds = %192, %188
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #11
  br label %478

194:                                              ; preds = %158
  call void @llvm.lifetime.start.p0(i64 56, ptr %25) #11
  call void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(56) %25) #11
  call void @llvm.lifetime.start.p0(i64 520, ptr %26) #11
  invoke void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(256) %26, ptr noundef nonnull align 8 dereferenceable(32) %15, i32 noundef 8)
          to label %195 unwind label %215

195:                                              ; preds = %194
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #11
  store i32 0, ptr %27, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #11
  store i32 0, ptr %28, align 4, !tbaa !5
  br label %196

196:                                              ; preds = %254, %195
  %197 = load ptr, ptr %26, align 8, !tbaa !11
  %198 = getelementptr i8, ptr %197, i64 -24
  %199 = load i64, ptr %198, align 8
  %200 = getelementptr inbounds i8, ptr %26, i64 %199
  %201 = invoke noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEE4goodEv(ptr noundef nonnull align 8 dereferenceable(264) %200)
          to label %202 unwind label %219

202:                                              ; preds = %196
  br i1 %201, label %203, label %264

203:                                              ; preds = %202
  call void @llvm.lifetime.start.p0(i64 32, ptr %29) #11
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %29) #11
  %204 = 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) %26, ptr noundef nonnull align 8 dereferenceable(32) %29)
          to label %205 unwind label %223

205:                                              ; preds = %203
  call void @llvm.lifetime.start.p0(i64 4, ptr %30) #11
  store i32 0, ptr %30, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #11
  store ptr %29, ptr %31, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #11
  %206 = load ptr, ptr %31, align 8, !tbaa !9
  %207 = call ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5beginEv(ptr noundef nonnull align 8 dereferenceable(32) %206) #11
  %208 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %32, i32 0, i32 0
  store ptr %207, ptr %208, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #11
  %209 = load ptr, ptr %31, align 8, !tbaa !9
  %210 = call ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE3endEv(ptr noundef nonnull align 8 dereferenceable(32) %209) #11
  %211 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %33, i32 0, i32 0
  store ptr %210, ptr %211, align 8
  br label %212

212:                                              ; preds = %250, %205
  %213 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %32, ptr noundef nonnull align 8 dereferenceable(8) %33) #11
  br i1 %213, label %227, label %214

214:                                              ; preds = %212
  store i32 4, ptr %23, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #11
  br label %252

215:                                              ; preds = %194
  %216 = landingpad { ptr, i32 }
          cleanup
  %217 = extractvalue { ptr, i32 } %216, 0
  store ptr %217, ptr %9, align 8
  %218 = extractvalue { ptr, i32 } %216, 1
  store i32 %218, ptr %10, align 4
  br label %475

219:                                              ; preds = %272, %269, %267, %264, %196
  %220 = landingpad { ptr, i32 }
          cleanup
  %221 = extractvalue { ptr, i32 } %220, 0
  store ptr %221, ptr %9, align 8
  %222 = extractvalue { ptr, i32 } %220, 1
  store i32 %222, ptr %10, align 4
  br label %474

223:                                              ; preds = %203
  %224 = landingpad { ptr, i32 }
          cleanup
  %225 = extractvalue { ptr, i32 } %224, 0
  store ptr %225, ptr %9, align 8
  %226 = extractvalue { ptr, i32 } %224, 1
  store i32 %226, ptr %10, align 4
  br label %263

227:                                              ; preds = %212
  call void @llvm.lifetime.start.p0(i64 1, ptr %34) #11
  %228 = call noundef nonnull align 1 dereferenceable(1) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %32) #11
  %229 = load i8, ptr %228, align 1, !tbaa !13
  store i8 %229, ptr %34, align 1, !tbaa !13
  %230 = load i8, ptr %34, align 1, !tbaa !13
  %231 = sext i8 %230 to i32
  %232 = icmp eq i32 %231, 35
  br i1 %232, label %233, label %247

233:                                              ; preds = %227
  call void @llvm.lifetime.start.p0(i64 8, ptr %35) #11
  %234 = load i32, ptr %30, align 4, !tbaa !5
  %235 = load i32, ptr %28, align 4, !tbaa !5
  invoke void @_ZN5StateC2Eii(ptr noundef nonnull align 4 dereferenceable(8) %35, i32 noundef %234, i32 noundef %235)
          to label %236 unwind label %243

236:                                              ; preds = %233
  %237 = invoke { ptr, i8 } @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EE6insertEOS0_(ptr noundef nonnull align 8 dereferenceable(56) %25, ptr noundef nonnull align 4 dereferenceable(8) %35)
          to label %238 unwind label %243

238:                                              ; preds = %236
  %239 = getelementptr inbounds { ptr, i8 }, ptr %36, i32 0, i32 0
  %240 = extractvalue { ptr, i8 } %237, 0
  store ptr %240, ptr %239, align 8
  %241 = getelementptr inbounds { ptr, i8 }, ptr %36, i32 0, i32 1
  %242 = extractvalue { ptr, i8 } %237, 1
  store i8 %242, ptr %241, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #11
  br label %247

243:                                              ; preds = %236, %233
  %244 = landingpad { ptr, i32 }
          cleanup
  %245 = extractvalue { ptr, i32 } %244, 0
  store ptr %245, ptr %9, align 8
  %246 = extractvalue { ptr, i32 } %244, 1
  store i32 %246, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #11
  call void @llvm.lifetime.end.p0(i64 1, 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
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #11
  br label %262

247:                                              ; preds = %238, %227
  %248 = load i32, ptr %30, align 4, !tbaa !5
  %249 = add nsw i32 %248, 1
  store i32 %249, ptr %30, align 4, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 1, ptr %34) #11
  br label %250

250:                                              ; preds = %247
  %251 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %32) #11
  br label %212

252:                                              ; preds = %214
  %253 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIiERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4) %27, ptr noundef nonnull align 4 dereferenceable(4) %30)
          to label %254 unwind label %258

254:                                              ; preds = %252
  %255 = load i32, ptr %253, align 4, !tbaa !5
  store i32 %255, ptr %27, align 4, !tbaa !5
  %256 = load i32, ptr %28, align 4, !tbaa !5
  %257 = add nsw i32 %256, 1
  store i32 %257, ptr %28, align 4, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 4, ptr %30) #11
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %29) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr %29) #11
  br label %196, !llvm.loop !14

258:                                              ; preds = %252
  %259 = landingpad { ptr, i32 }
          cleanup
  %260 = extractvalue { ptr, i32 } %259, 0
  store ptr %260, ptr %9, align 8
  %261 = extractvalue { ptr, i32 } %259, 1
  store i32 %261, ptr %10, align 4
  br label %262

262:                                              ; preds = %258, %243
  call void @llvm.lifetime.end.p0(i64 4, ptr %30) #11
  br label %263

263:                                              ; preds = %262, %223
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %29) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr %29) #11
  br label %474

264:                                              ; preds = %202
  %265 = load i32, ptr %27, align 4, !tbaa !5
  %266 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 noundef %265)
          to label %267 unwind label %219

267:                                              ; preds = %264
  %268 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %266, ptr noundef @.str.20)
          to label %269 unwind label %219

269:                                              ; preds = %267
  %270 = load i32, ptr %28, align 4, !tbaa !5
  %271 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %268, i32 noundef %270)
          to label %272 unwind label %219

272:                                              ; preds = %269
  %273 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %271, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %274 unwind label %219

274:                                              ; preds = %272
  call void @llvm.lifetime.start.p0(i64 1, ptr %37) #11
  store i8 0, ptr %37, align 1, !tbaa !16
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #11
  %275 = load i32, ptr %13, align 4, !tbaa !5
  %276 = load i32, ptr %14, align 4, !tbaa !5
  invoke void @_ZN5StateC2Eii(ptr noundef nonnull align 4 dereferenceable(8) %38, i32 noundef %275, i32 noundef %276)
          to label %277 unwind label %296

277:                                              ; preds = %274
  call void @llvm.lifetime.start.p0(i64 8, ptr %39) #11
  %278 = load i32, ptr %11, align 4, !tbaa !5
  %279 = load i32, ptr %12, align 4, !tbaa !5
  invoke void @_ZN5StateC2Eii(ptr noundef nonnull align 4 dereferenceable(8) %39, i32 noundef %278, i32 noundef %279)
          to label %280 unwind label %300

280:                                              ; preds = %277
  call void @llvm.lifetime.start.p0(i64 72, ptr %40) #11
  %281 = load i32, ptr %27, align 4, !tbaa !5
  %282 = sext i32 %281 to i64
  %283 = load i32, ptr %28, align 4, !tbaa !5
  %284 = sub nsw i32 %283, 1
  %285 = sext i32 %284 to i64
  invoke void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EEC2ERKS6_(ptr noundef nonnull align 8 dereferenceable(56) %41, ptr noundef nonnull align 8 dereferenceable(56) %25)
          to label %286 unwind label %304

286:                                              ; preds = %280
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %42, ptr align 4 %38, i64 8, i1 false), !tbaa.struct !18
  %287 = load i64, ptr %42, align 4
  invoke void @_ZN11EnvironmentC2EmmSt13unordered_setI5StateSt4hashIS1_ESt8equal_toIS1_ESaIS1_EES1_(ptr noundef nonnull align 8 dereferenceable(72) %40, i64 noundef %282, i64 noundef %285, ptr noundef %41, i64 %287)
          to label %288 unwind label %308

288:                                              ; preds = %286
  call void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %41) #11
  call void @llvm.lifetime.start.p0(i64 8, ptr %43) #11
  invoke void @_ZN21libMultiRobotPlanning5AStarI5State6Actioni11EnvironmentSt4hashIS1_EEC2ERS3_(ptr noundef nonnull align 8 dereferenceable(8) %43, ptr noundef nonnull align 8 dereferenceable(72) %40)
          to label %289 unwind label %312

289:                                              ; preds = %288
  call void @llvm.lifetime.start.p0(i64 56, ptr %44) #11
  call void @_ZN21libMultiRobotPlanning10PlanResultI5State6ActioniEC2Ev(ptr noundef nonnull align 8 dereferenceable(56) %44) #11
  %290 = invoke noundef zeroext i1 @_ZN11Environment10stateValidERK5State(ptr noundef nonnull align 8 dereferenceable(72) %40, ptr noundef nonnull align 4 dereferenceable(8) %39)
          to label %291 unwind label %316

291:                                              ; preds = %289
  br i1 %290, label %292, label %320

292:                                              ; preds = %291
  %293 = invoke noundef zeroext i1 @_ZN21libMultiRobotPlanning5AStarI5State6Actioni11EnvironmentSt4hashIS1_EE6searchERKS1_RNS_10PlanResultIS1_S2_iEEi(ptr noundef nonnull align 8 dereferenceable(8) %43, ptr noundef nonnull align 4 dereferenceable(8) %39, ptr noundef nonnull align 8 dereferenceable(56) %44, i32 noundef 0)
          to label %294 unwind label %316

294:                                              ; preds = %292
  %295 = zext i1 %293 to i8
  store i8 %295, ptr %37, align 1, !tbaa !16
  br label %320

296:                                              ; preds = %274
  %297 = landingpad { ptr, i32 }
          cleanup
  %298 = extractvalue { ptr, i32 } %297, 0
  store ptr %298, ptr %9, align 8
  %299 = extractvalue { ptr, i32 } %297, 1
  store i32 %299, ptr %10, align 4
  br label %473

300:                                              ; preds = %277
  %301 = landingpad { ptr, i32 }
          cleanup
  %302 = extractvalue { ptr, i32 } %301, 0
  store ptr %302, ptr %9, align 8
  %303 = extractvalue { ptr, i32 } %301, 1
  store i32 %303, ptr %10, align 4
  br label %472

304:                                              ; preds = %280
  %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 %471

308:                                              ; preds = %286
  %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
  call void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %41) #11
  br label %471

312:                                              ; preds = %288
  %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 %470

316:                                              ; preds = %292, %289
  %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
  br label %469

320:                                              ; preds = %294, %291
  call void @llvm.lifetime.start.p0(i64 512, ptr %45) #11
  invoke void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248) %45, ptr noundef nonnull align 8 dereferenceable(32) %16, i32 noundef 16)
          to label %321 unwind label %339

321:                                              ; preds = %320
  %322 = load i8, ptr %37, align 1, !tbaa !16, !range !19, !noundef !20
  %323 = trunc i8 %322 to i1
  br i1 %323, label %324, label %461

324:                                              ; preds = %321
  %325 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.21)
          to label %326 unwind label %343

326:                                              ; preds = %324
  %327 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %44, i32 0, i32 2
  %328 = load i32, ptr %327, align 8, !tbaa !21
  %329 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %325, i32 noundef %328)
          to label %330 unwind label %343

330:                                              ; preds = %326
  %331 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %329, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %332 unwind label %343

332:                                              ; preds = %330
  call void @llvm.lifetime.start.p0(i64 8, ptr %46) #11
  store i64 0, ptr %46, align 8, !tbaa !31
  br label %333

333:                                              ; preds = %384, %332
  %334 = load i64, ptr %46, align 8, !tbaa !31
  %335 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %44, i32 0, i32 1
  %336 = call noundef i64 @_ZNKSt6vectorISt4pairI6ActioniESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %335) #11
  %337 = icmp ult i64 %334, %336
  br i1 %337, label %347, label %338

338:                                              ; preds = %333
  store i32 6, ptr %23, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #11
  br label %391

339:                                              ; preds = %320
  %340 = landingpad { ptr, i32 }
          cleanup
  %341 = extractvalue { ptr, i32 } %340, 0
  store ptr %341, ptr %9, align 8
  %342 = extractvalue { ptr, i32 } %340, 1
  store i32 %342, ptr %10, align 4
  br label %468

343:                                              ; preds = %463, %461, %412, %410, %408, %406, %404, %399, %397, %391, %330, %326, %324
  %344 = landingpad { ptr, i32 }
          cleanup
  %345 = extractvalue { ptr, i32 } %344, 0
  store ptr %345, ptr %9, align 8
  %346 = extractvalue { ptr, i32 } %344, 1
  store i32 %346, ptr %10, align 4
  br label %467

347:                                              ; preds = %333
  %348 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %44, i32 0, i32 0
  %349 = load i64, ptr %46, align 8, !tbaa !31
  %350 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %348, i64 noundef %349) #11
  %351 = getelementptr inbounds %"struct.std::pair.49", ptr %350, i32 0, i32 1
  %352 = load i32, ptr %351, align 4, !tbaa !33
  %353 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 noundef %352)
          to label %354 unwind label %387

354:                                              ; preds = %347
  %355 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %353, ptr noundef @.str.22)
          to label %356 unwind label %387

356:                                              ; preds = %354
  %357 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %44, i32 0, i32 0
  %358 = load i64, ptr %46, align 8, !tbaa !31
  %359 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %357, i64 noundef %358) #11
  %360 = getelementptr inbounds %"struct.std::pair.49", ptr %359, i32 0, i32 0
  %361 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZlsRSoRK5State(ptr noundef nonnull align 8 dereferenceable(8) %355, ptr noundef nonnull align 4 dereferenceable(8) %360)
          to label %362 unwind label %387

362:                                              ; preds = %356
  %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.23)
          to label %364 unwind label %387

364:                                              ; preds = %362
  %365 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %44, i32 0, i32 1
  %366 = load i64, ptr %46, align 8, !tbaa !31
  %367 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNSt6vectorISt4pairI6ActioniESaIS2_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 @_ZlsRSoRK6Action(ptr noundef nonnull align 8 dereferenceable(8) %363, ptr noundef nonnull align 4 dereferenceable(4) %368)
          to label %370 unwind label %387

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.24)
          to label %372 unwind label %387

372:                                              ; preds = %370
  %373 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %44, i32 0, i32 1
  %374 = load i64, ptr %46, align 8, !tbaa !31
  %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.51", ptr %375, i32 0, i32 1
  %377 = load i32, ptr %376, align 4, !tbaa !36
  %378 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %371, i32 noundef %377)
          to label %379 unwind label %387

379:                                              ; preds = %372
  %380 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %378, ptr noundef @.str.25)
          to label %381 unwind label %387

381:                                              ; preds = %379
  %382 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %380, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %383 unwind label %387

383:                                              ; preds = %381
  br label %384

384:                                              ; preds = %383
  %385 = load i64, ptr %46, align 8, !tbaa !31
  %386 = add i64 %385, 1
  store i64 %386, ptr %46, align 8, !tbaa !31
  br label %333, !llvm.loop !39

387:                                              ; preds = %381, %379, %372, %370, %364, %362, %356, %354, %347
  %388 = landingpad { ptr, i32 }
          cleanup
  %389 = extractvalue { ptr, i32 } %388, 0
  store ptr %389, ptr %9, align 8
  %390 = extractvalue { ptr, i32 } %388, 1
  store i32 %390, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #11
  br label %467

391:                                              ; preds = %338
  %392 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %44, i32 0, i32 0
  %393 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EE4backEv(ptr noundef nonnull align 8 dereferenceable(24) %392) #11
  %394 = getelementptr inbounds %"struct.std::pair.49", ptr %393, i32 0, i32 1
  %395 = load i32, ptr %394, align 4, !tbaa !33
  %396 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 noundef %395)
          to label %397 unwind label %343

397:                                              ; preds = %391
  %398 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %396, ptr noundef @.str.22)
          to label %399 unwind label %343

399:                                              ; preds = %397
  %400 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %44, 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.49", ptr %401, i32 0, i32 0
  %403 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZlsRSoRK5State(ptr noundef nonnull align 8 dereferenceable(8) %398, ptr noundef nonnull align 4 dereferenceable(8) %402)
          to label %404 unwind label %343

404:                                              ; preds = %399
  %405 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %403, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %406 unwind label %343

406:                                              ; preds = %404
  %407 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %45, ptr noundef @.str.26)
          to label %408 unwind label %343

408:                                              ; preds = %406
  %409 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %407, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %410 unwind label %343

410:                                              ; preds = %408
  %411 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %45, ptr noundef @.str.27)
          to label %412 unwind label %343

412:                                              ; preds = %410
  %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 %343

414:                                              ; preds = %412
  call void @llvm.lifetime.start.p0(i64 8, ptr %47) #11
  store i64 0, ptr %47, align 8, !tbaa !31
  br label %415

415:                                              ; preds = %453, %414
  %416 = load i64, ptr %47, align 8, !tbaa !31
  %417 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %44, i32 0, i32 0
  %418 = call noundef i64 @_ZNKSt6vectorISt4pairI5StateiESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %417) #11
  %419 = icmp ult i64 %416, %418
  br i1 %419, label %421, label %420

420:                                              ; preds = %415
  store i32 9, ptr %23, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #11
  br label %460

421:                                              ; preds = %415
  %422 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %45, ptr noundef @.str.28)
          to label %423 unwind label %456

423:                                              ; preds = %421
  %424 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %44, i32 0, i32 0
  %425 = load i64, ptr %47, align 8, !tbaa !31
  %426 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %424, i64 noundef %425) #11
  %427 = getelementptr inbounds %"struct.std::pair.49", ptr %426, i32 0, i32 0
  %428 = getelementptr inbounds %struct.State, ptr %427, i32 0, i32 0
  %429 = load i32, ptr %428, align 4, !tbaa !40
  %430 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %422, i32 noundef %429)
          to label %431 unwind label %456

431:                                              ; preds = %423
  %432 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %430, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %433 unwind label %456

433:                                              ; preds = %431
  %434 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %432, ptr noundef @.str.29)
          to label %435 unwind label %456

435:                                              ; preds = %433
  %436 = getelementptr inbounds %"struct.libMultiRobotPlanning::PlanResult", ptr %44, i32 0, i32 0
  %437 = load i64, ptr %47, align 8, !tbaa !31
  %438 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %436, i64 noundef %437) #11
  %439 = getelementptr inbounds %"struct.std::pair.49", ptr %438, i32 0, i32 0
  %440 = getelementptr inbounds %struct.State, ptr %439, i32 0, i32 1
  %441 = load i32, ptr %440, align 4, !tbaa !41
  %442 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %434, i32 noundef %441)
          to label %443 unwind label %456

443:                                              ; preds = %435
  %444 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %442, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %445 unwind label %456

445:                                              ; preds = %443
  %446 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %444, ptr noundef @.str.30)
          to label %447 unwind label %456

447:                                              ; preds = %445
  %448 = load i64, ptr %47, align 8, !tbaa !31
  %449 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %446, i64 noundef %448)
          to label %450 unwind label %456

450:                                              ; preds = %447
  %451 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %449, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %452 unwind label %456

452:                                              ; preds = %450
  br label %453

453:                                              ; preds = %452
  %454 = load i64, ptr %47, align 8, !tbaa !31
  %455 = add i64 %454, 1
  store i64 %455, ptr %47, align 8, !tbaa !31
  br label %415, !llvm.loop !42

456:                                              ; preds = %450, %447, %445, %443, %435, %433, %431, %423, %421
  %457 = landingpad { ptr, i32 }
          cleanup
  %458 = extractvalue { ptr, i32 } %457, 0
  store ptr %458, ptr %9, align 8
  %459 = extractvalue { ptr, i32 } %457, 1
  store i32 %459, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #11
  br label %467

460:                                              ; preds = %420
  br label %466

461:                                              ; preds = %321
  %462 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.31)
          to label %463 unwind label %343

463:                                              ; preds = %461
  %464 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %462, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %465 unwind label %343

465:                                              ; preds = %463
  br label %466

466:                                              ; preds = %465, %460
  store i32 0, ptr %3, align 4
  store i32 1, ptr %23, align 4
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %45) #11
  call void @llvm.lifetime.end.p0(i64 512, ptr %45) #11
  call void @_ZN21libMultiRobotPlanning10PlanResultI5State6ActioniED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %44) #11
  call void @llvm.lifetime.end.p0(i64 56, ptr %44) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #11
  call void @_ZN11EnvironmentD2Ev(ptr noundef nonnull align 8 dereferenceable(72) %40) #11
  call void @llvm.lifetime.end.p0(i64 72, ptr %40) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #11
  call void @llvm.lifetime.end.p0(i64 1, ptr %37) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #11
  call void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(256) %26) #11
  call void @llvm.lifetime.end.p0(i64 520, ptr %26) #11
  call void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %25) #11
  call void @llvm.lifetime.end.p0(i64 56, ptr %25) #11
  br label %476

467:                                              ; preds = %456, %387, %343
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %45) #11
  br label %468

468:                                              ; preds = %467, %339
  call void @llvm.lifetime.end.p0(i64 512, ptr %45) #11
  br label %469

469:                                              ; preds = %468, %316
  call void @_ZN21libMultiRobotPlanning10PlanResultI5State6ActioniED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %44) #11
  call void @llvm.lifetime.end.p0(i64 56, ptr %44) #11
  br label %470

470:                                              ; preds = %469, %312
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #11
  call void @_ZN11EnvironmentD2Ev(ptr noundef nonnull align 8 dereferenceable(72) %40) #11
  br label %471

471:                                              ; preds = %470, %308, %304
  call void @llvm.lifetime.end.p0(i64 72, ptr %40) #11
  br label %472

472:                                              ; preds = %471, %300
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #11
  br label %473

473:                                              ; preds = %472, %296
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #11
  call void @llvm.lifetime.end.p0(i64 1, ptr %37) #11
  br label %474

474:                                              ; preds = %473, %263, %219
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #11
  call void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(256) %26) #11
  br label %475

475:                                              ; preds = %474, %215
  call void @llvm.lifetime.end.p0(i64 520, ptr %26) #11
  call void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %25) #11
  call void @llvm.lifetime.end.p0(i64 56, ptr %25) #11
  br label %478

476:                                              ; preds = %466, %187, %156
  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
  %477 = load i32, ptr %3, align 4
  ret i32 %477

478:                                              ; preds = %475, %193, %161, %120
  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 %479

479:                                              ; preds = %478, %119
  call void @llvm.lifetime.end.p0(i64 128, ptr %6) #11
  br label %480

480:                                              ; preds = %479
  %481 = load ptr, ptr %9, align 8
  %482 = load i32, ptr %10, align 4
  %483 = insertvalue { ptr, i32 } poison, ptr %481, 0
  %484 = insertvalue { ptr, i32 } %483, i32 %482, 1
  resume { ptr, i32 } %484

485:                                              ; preds = %183
  %486 = landingpad { ptr, i32 }
          catch ptr null
  %487 = extractvalue { ptr, i32 } %486, 0
  call void @__clang_call_terminate(ptr %487) #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

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 @_ZN21libMultiRobotPlanning5AStarI5State6Actioni11EnvironmentSt4hashIS1_EEC2ERS3_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(72)) 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 @_ZN21libMultiRobotPlanning5AStarI5State6Actioni11EnvironmentSt4hashIS1_EE6searchERKS1_RNS_10PlanResultIS1_S2_iEEi(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(56), i32 noundef) #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 = !{i8 0, i8 2}
!20 = !{}
!21 = !{!22, !6, i64 48}
!22 = !{!"_ZTSN21libMultiRobotPlanning10PlanResultI5State6ActioniEE", !23, i64 0, !27, i64 24, !6, i64 48, !6, i64 52}
!23 = !{!"_ZTSSt6vectorISt4pairI5StateiESaIS2_EE", !24, i64 0}
!24 = !{!"_ZTSSt12_Vector_baseISt4pairI5StateiESaIS2_EE", !25, i64 0}
!25 = !{!"_ZTSNSt12_Vector_baseISt4pairI5StateiESaIS2_EE12_Vector_implE", !26, i64 0}
!26 = !{!"_ZTSNSt12_Vector_baseISt4pairI5StateiESaIS2_EE17_Vector_impl_dataE", !10, i64 0, !10, i64 8, !10, i64 16}
!27 = !{!"_ZTSSt6vectorISt4pairI6ActioniESaIS2_EE", !28, i64 0}
!28 = !{!"_ZTSSt12_Vector_baseISt4pairI6ActioniESaIS2_EE", !29, i64 0}
!29 = !{!"_ZTSNSt12_Vector_baseISt4pairI6ActioniESaIS2_EE12_Vector_implE", !30, i64 0}
!30 = !{!"_ZTSNSt12_Vector_baseISt4pairI6ActioniESaIS2_EE17_Vector_impl_dataE", !10, i64 0, !10, i64 8, !10, i64 16}
!31 = !{!32, !32, i64 0}
!32 = !{!"long", !7, i64 0}
!33 = !{!34, !6, i64 8}
!34 = !{!"_ZTSSt4pairI5StateiE", !35, i64 0, !6, i64 8}
!35 = !{!"_ZTS5State", !6, i64 0, !6, i64 4}
!36 = !{!37, !6, i64 4}
!37 = !{!"_ZTSSt4pairI6ActioniE", !38, i64 0, !6, i64 4}
!38 = !{!"_ZTS6Action", !7, i64 0}
!39 = distinct !{!39, !15}
!40 = !{!34, !6, i64 0}
!41 = !{!34, !6, i64 4}
!42 = distinct !{!42, !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.21" }
%"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.17" }
%"class.std::_Rb_tree.17" = 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.21" = type { %"class.std::_Rb_tree.22" }
%"class.std::_Rb_tree.22" = 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.26", ptr, i32, [4 x i8] }>
%"class.std::vector.26" = type { %"struct.std::_Vector_base.27" }
%"struct.std::_Vector_base.27" = 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::function1.31" = 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.38 }
%union.anon.38 = 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::AStar" = type { ptr }
%"struct.libMultiRobotPlanning::PlanResult" = type { %"class.std::vector.39", %"class.std::vector.44", i32, i32 }
%"class.std::vector.39" = type { %"struct.std::_Vector_base.40" }
%"struct.std::_Vector_base.40" = 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.44" = type { %"struct.std::_Vector_base.45" }
%"struct.std::_Vector_base.45" = 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
@_ZTIN5boost15program_options5errorE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.19 = external hidden unnamed_addr constant [2 x i8], align 1
@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@.str.20 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [34 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.27 = external hidden unnamed_addr constant [10 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 [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 %"class.boost::program_options::options_description_easy_init", align 8
  %13 = alloca %"class.boost::program_options::variables_map", align 8
  %14 = alloca %"class.boost::program_options::basic_parsed_options", align 8
  %15 = alloca %"class.boost::function1.31", align 8
  %16 = alloca %"class.std::__cxx11::basic_string", align 8
  %17 = alloca %"class.std::allocator", align 1
  %18 = alloca %"class.std::unordered_set", align 8
  %19 = alloca %"class.std::basic_ifstream", align 8
  %20 = alloca i32, align 4
  %21 = alloca %"class.std::__cxx11::basic_string", align 8
  %22 = alloca i32, align 4
  %23 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %24 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %25 = alloca %struct.State, align 4
  %26 = alloca %struct.State, align 8
  %27 = alloca %struct.State, align 4
  %28 = alloca %class.Environment, align 8
  %29 = alloca %"class.std::unordered_set", align 8
  %30 = alloca %"class.libMultiRobotPlanning::AStar", align 8
  %31 = alloca %"struct.libMultiRobotPlanning::PlanResult", align 8
  %32 = 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 %33 unwind label %84

33:                                               ; preds = %2
  %34 = load i32, ptr @_ZN5boost15program_options19options_description21m_default_line_lengthE, align 4, !tbaa !5
  %35 = lshr i32 %34, 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 %34, i32 noundef %35)
          to label %36 unwind label %86

36:                                               ; preds = %33
  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 8, ptr nonnull %12) #10
  %37 = invoke ptr @_ZN5boost15program_options19options_description11add_optionsEv(ptr noundef nonnull align 8 dereferenceable(128) %3)
          to label %38 unwind label %89

38:                                               ; preds = %36
  store ptr %37, ptr %12, align 8
  %39 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcS3_(ptr noundef nonnull align 8 dereferenceable(8) %12, ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.6)
          to label %40 unwind label %89

40:                                               ; preds = %38
  %41 = invoke noundef ptr @_ZN5boost15program_options5valueIiEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef nonnull %6)
          to label %42 unwind label %89

42:                                               ; preds = %40
  %43 = call noundef ptr @_ZN5boost15program_options11typed_valueIicE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %41)
  %44 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %39, ptr noundef nonnull @.str.7, ptr noundef %43, ptr noundef nonnull @.str.8)
          to label %45 unwind label %89

45:                                               ; preds = %42
  %46 = invoke noundef ptr @_ZN5boost15program_options5valueIiEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef nonnull %7)
          to label %47 unwind label %89

47:                                               ; preds = %45
  %48 = call noundef ptr @_ZN5boost15program_options11typed_valueIicE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %46)
  %49 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %44, ptr noundef nonnull @.str.9, ptr noundef %48, ptr noundef nonnull @.str.10)
          to label %50 unwind label %89

50:                                               ; preds = %47
  %51 = invoke noundef ptr @_ZN5boost15program_options5valueIiEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef nonnull %8)
          to label %52 unwind label %89

52:                                               ; preds = %50
  %53 = call noundef ptr @_ZN5boost15program_options11typed_valueIicE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %51)
  %54 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %49, ptr noundef nonnull @.str.11, ptr noundef %53, ptr noundef nonnull @.str.12)
          to label %55 unwind label %89

55:                                               ; preds = %52
  %56 = invoke noundef ptr @_ZN5boost15program_options5valueIiEEPNS0_11typed_valueIT_cEEPS3_(ptr noundef nonnull %9)
          to label %57 unwind label %89

57:                                               ; preds = %55
  %58 = call noundef ptr @_ZN5boost15program_options11typed_valueIicE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %56)
  %59 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %54, ptr noundef nonnull @.str.13, ptr noundef %58, ptr noundef nonnull @.str.14)
          to label %60 unwind label %89

60:                                               ; preds = %57
  %61 = invoke noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef nonnull %10)
          to label %62 unwind label %89

62:                                               ; preds = %60
  %63 = call noundef ptr @_ZN5boost15program_options11typed_valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %61)
  %64 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %59, ptr noundef nonnull @.str.15, ptr noundef %63, ptr noundef nonnull @.str.16)
          to label %65 unwind label %89

65:                                               ; preds = %62
  %66 = invoke noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef nonnull %11)
          to label %67 unwind label %89

67:                                               ; preds = %65
  %68 = call noundef ptr @_ZN5boost15program_options11typed_valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %66)
  %69 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %64, ptr noundef nonnull @.str.17, ptr noundef %68, ptr noundef nonnull @.str.18)
          to label %70 unwind label %89

70:                                               ; preds = %67
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #10
  call void @llvm.lifetime.start.p0(i64 160, ptr nonnull %13) #10
  invoke void @_ZN5boost15program_options13variables_mapC1Ev(ptr noundef nonnull align 8 dereferenceable(160) %13)
          to label %71 unwind label %93

71:                                               ; preds = %70
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %14) #10
  call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(32) %15, i8 0, i64 32, i1 false)
  invoke void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_EC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15)
          to label %72 unwind label %95

72:                                               ; preds = %71
  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 %14, i32 noundef %0, ptr noundef %1, ptr noundef nonnull align 8 dereferenceable(128) %3, i32 noundef 0, ptr noundef nonnull %15)
          to label %73 unwind label %97

73:                                               ; preds = %72
  invoke void @_ZN5boost15program_options5storeERKNS0_20basic_parsed_optionsIcEERNS0_13variables_mapEb(ptr noundef nonnull align 8 dereferenceable(36) %14, ptr noundef nonnull align 8 dereferenceable(160) %13, i1 noundef zeroext false)
          to label %74 unwind label %99

74:                                               ; preds = %73
  call void @_ZN5boost15program_options20basic_parsed_optionsIcED2Ev(ptr noundef nonnull align 8 dereferenceable(36) %14) #10
  call void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #10
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %14) #10
  invoke void @_ZN5boost15program_options6notifyERNS0_13variables_mapE(ptr noundef nonnull align 8 dereferenceable(160) %13)
          to label %75 unwind label %103

75:                                               ; preds = %74
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %16) #10
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %17) #10
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %17) #10
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %16, ptr noundef nonnull @.str.5, ptr noundef nonnull align 1 dereferenceable(1) %17)
          to label %76 unwind label %105

76:                                               ; preds = %75
  %77 = getelementptr inbounds i8, ptr %13, i64 16
  %78 = invoke noundef i64 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN5boost15program_options14variable_valueESt4lessIS5_ESaISt4pairIKS5_S8_EEE5countERSC_(ptr noundef nonnull align 8 dereferenceable(48) %77, ptr noundef nonnull align 8 dereferenceable(32) %16)
          to label %79 unwind label %107

79:                                               ; preds = %76
  %.not = icmp eq i64 %78, 0
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #10
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %17) #10
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %17) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %16) #10
  br i1 %.not, label %136, label %80

80:                                               ; preds = %79
  %81 = 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 %82 unwind label %103

82:                                               ; preds = %80
  %83 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %81, ptr noundef nonnull @.str.19)
          to label %110 unwind label %103

84:                                               ; preds = %2
  %85 = landingpad { ptr, i32 }
          cleanup
  br label %88

86:                                               ; preds = %33
  %87 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #10
  br label %88

88:                                               ; preds = %86, %84
  %.pn = phi { ptr, i32 } [ %87, %86 ], [ %85, %84 ]
  %.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 %310

89:                                               ; preds = %67, %65, %62, %60, %57, %55, %52, %50, %47, %45, %42, %40, %38, %36
  %90 = landingpad { ptr, i32 }
          cleanup
  %91 = extractvalue { ptr, i32 } %90, 0
  %92 = extractvalue { ptr, i32 } %90, 1
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #10
  br label %309

93:                                               ; preds = %70
  %94 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %112

95:                                               ; preds = %71
  %96 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %102

97:                                               ; preds = %72
  %98 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %101

99:                                               ; preds = %73
  %100 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  call void @_ZN5boost15program_options20basic_parsed_optionsIcED2Ev(ptr noundef nonnull align 8 dereferenceable(36) %14) #10
  br label %101

101:                                              ; preds = %99, %97
  %.pn52 = phi { ptr, i32 } [ %100, %99 ], [ %98, %97 ]
  call void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #10
  br label %102

102:                                              ; preds = %101, %95
  %.pn52.pn = phi { ptr, i32 } [ %.pn52, %101 ], [ %96, %95 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %14) #10
  br label %111

103:                                              ; preds = %82, %80, %74
  %104 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %111

105:                                              ; preds = %75
  %106 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %109

107:                                              ; preds = %76
  %108 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #10
  br label %109

109:                                              ; preds = %107, %105
  %.pn55 = phi { ptr, i32 } [ %108, %107 ], [ %106, %105 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %17) #10
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %17) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %16) #10
  br label %111

110:                                              ; preds = %82
  call void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160) %13) #10
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %13) #10
  br label %308

111:                                              ; preds = %109, %103, %102
  %.pn57 = phi { ptr, i32 } [ %104, %103 ], [ %.pn55, %109 ], [ %.pn52.pn, %102 ]
  call void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160) %13) #10
  br label %112

112:                                              ; preds = %111, %93
  %.pn57.pn = phi { ptr, i32 } [ %.pn57, %111 ], [ %94, %93 ]
  %.5 = extractvalue { ptr, i32 } %.pn57.pn, 0
  %.538 = extractvalue { ptr, i32 } %.pn57.pn, 1
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %13) #10
  %113 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN5boost15program_options5errorE) #10
  %114 = icmp eq i32 %.538, %113
  br i1 %114, label %115, label %309

115:                                              ; preds = %112
  %116 = call ptr @__cxa_begin_catch(ptr %.5) #10
  %117 = load ptr, ptr %116, align 8, !tbaa !9
  %118 = getelementptr inbounds i8, ptr %117, i64 16
  %119 = load ptr, ptr %118, align 8
  %120 = call noundef ptr %119(ptr noundef nonnull align 8 dereferenceable(16) %116) #10
  %121 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef %120)
          to label %122 unwind label %131

122:                                              ; preds = %115
  %123 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %121, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %124 unwind label %131

124:                                              ; preds = %122
  %125 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %123, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %126 unwind label %131

126:                                              ; preds = %124
  %127 = 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 %128 unwind label %131

128:                                              ; preds = %126
  %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 %131

130:                                              ; preds = %128
  invoke void @__cxa_end_catch()
          to label %308 unwind label %133

131:                                              ; preds = %128, %126, %124, %122, %115
  %132 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %135 unwind label %313

133:                                              ; preds = %130
  %134 = landingpad { ptr, i32 }
          cleanup
  br label %135

135:                                              ; preds = %131, %133
  %.pn60 = phi { ptr, i32 } [ %134, %133 ], [ %132, %131 ]
  %.6 = extractvalue { ptr, i32 } %.pn60, 0
  %.639 = extractvalue { ptr, i32 } %.pn60, 1
  br label %309

136:                                              ; preds = %79
  call void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160) %13) #10
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %13) #10
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %18) #10
  call void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(56) %18) #10
  call void @llvm.lifetime.start.p0(i64 520, ptr nonnull %19) #10
  invoke void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(256) %19, ptr noundef nonnull align 8 dereferenceable(32) %10, i32 noundef 8)
          to label %137 unwind label %156

137:                                              ; preds = %136
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %20) #10
  store i32 0, ptr %20, align 4, !tbaa !5
  %138 = load ptr, ptr %19, align 8, !tbaa !9
  %139 = getelementptr i8, ptr %138, i64 -24
  %140 = load i64, ptr %139, align 8
  %141 = getelementptr inbounds i8, ptr %19, i64 %140
  %142 = call noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEE4goodEv(ptr noundef nonnull align 8 dereferenceable(264) %141)
  br i1 %142, label %.lr.ph76, label %._crit_edge77

.lr.ph76:                                         ; preds = %137, %._crit_edge
  %.05074 = phi i32 [ %150, %._crit_edge ], [ 0, %137 ]
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %21) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #10
  %143 = 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) %19, ptr noundef nonnull align 8 dereferenceable(32) %21)
          to label %144 unwind label %160

144:                                              ; preds = %.lr.ph76
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %22) #10
  store i32 0, ptr %22, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %23) #10
  %145 = call ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE5beginEv(ptr noundef nonnull align 8 dereferenceable(32) %21) #10
  store ptr %145, ptr %23, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %24) #10
  %146 = call ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE3endEv(ptr noundef nonnull align 8 dereferenceable(32) %21) #10
  store ptr %146, ptr %24, align 8
  %147 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %23, ptr noundef nonnull align 8 dereferenceable(8) %24) #10
  br i1 %147, label %.lr.ph, label %._crit_edge

._crit_edge:                                      ; preds = %171, %144
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %24) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %23) #10
  %148 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIiERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4) %20, ptr noundef nonnull align 4 dereferenceable(4) %22)
  %149 = load i32, ptr %148, align 4, !tbaa !5
  store i32 %149, ptr %20, align 4, !tbaa !5
  %150 = add nuw nsw i32 %.05074, 1
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %22) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %21) #10
  %151 = load ptr, ptr %19, align 8, !tbaa !9
  %152 = getelementptr i8, ptr %151, i64 -24
  %153 = load i64, ptr %152, align 8
  %154 = getelementptr inbounds i8, ptr %19, i64 %153
  %155 = call noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEE4goodEv(ptr noundef nonnull align 8 dereferenceable(264) %154)
  br i1 %155, label %.lr.ph76, label %._crit_edge77, !llvm.loop !11

156:                                              ; preds = %136
  %157 = landingpad { ptr, i32 }
          cleanup
  br label %307

158:                                              ; preds = %183, %181, %179, %._crit_edge77
  %159 = landingpad { ptr, i32 }
          cleanup
  br label %306

160:                                              ; preds = %.lr.ph76
  %161 = landingpad { ptr, i32 }
          cleanup
  br label %176

.lr.ph:                                           ; preds = %144, %171
  %162 = call noundef nonnull align 1 dereferenceable(1) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %23) #10
  %163 = load i8, ptr %162, align 1, !tbaa !13
  %164 = icmp eq i8 %163, 35
  br i1 %164, label %165, label %171

165:                                              ; preds = %.lr.ph
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %25) #10
  %166 = load i32, ptr %22, align 4, !tbaa !5
  call void @_ZN5StateC2Eii(ptr noundef nonnull align 4 dereferenceable(8) %25, i32 noundef %166, i32 noundef %.05074)
  %167 = invoke { ptr, i8 } @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EE6insertEOS0_(ptr noundef nonnull align 8 dereferenceable(56) %18, ptr noundef nonnull align 4 dereferenceable(8) %25)
          to label %168 unwind label %169

168:                                              ; preds = %165
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #10
  br label %171

169:                                              ; preds = %165
  %170 = landingpad { ptr, i32 }
          cleanup
  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 8, ptr nonnull %23) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %22) #10
  br label %176

171:                                              ; preds = %168, %.lr.ph
  %172 = load i32, ptr %22, align 4, !tbaa !5
  %173 = add nsw i32 %172, 1
  store i32 %173, ptr %22, align 4, !tbaa !5
  %174 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %23) #10
  %175 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPcNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %23, ptr noundef nonnull align 8 dereferenceable(8) %24) #10
  br i1 %175, label %.lr.ph, label %._crit_edge

176:                                              ; preds = %169, %160
  %.pn67 = phi { ptr, i32 } [ %170, %169 ], [ %161, %160 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %21) #10
  br label %306

._crit_edge77:                                    ; preds = %._crit_edge, %137
  %.050.lcssa = phi i32 [ 0, %137 ], [ %150, %._crit_edge ]
  %177 = load i32, ptr %20, align 4, !tbaa !5
  %178 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 noundef %177)
          to label %179 unwind label %158

179:                                              ; preds = %._crit_edge77
  %180 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %178, ptr noundef nonnull @.str.20)
          to label %181 unwind label %158

181:                                              ; preds = %179
  %182 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %180, i32 noundef %.050.lcssa)
          to label %183 unwind label %158

183:                                              ; preds = %181
  %184 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %182, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %185 unwind label %158

185:                                              ; preds = %183
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %26) #10
  %186 = load i32, ptr %8, align 4, !tbaa !5
  %187 = load i32, ptr %9, align 4, !tbaa !5
  call void @_ZN5StateC2Eii(ptr noundef nonnull align 4 dereferenceable(8) %26, i32 noundef %186, i32 noundef %187)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %27) #10
  %188 = load i32, ptr %6, align 4, !tbaa !5
  %189 = load i32, ptr %7, align 4, !tbaa !5
  call void @_ZN5StateC2Eii(ptr noundef nonnull align 4 dereferenceable(8) %27, i32 noundef %188, i32 noundef %189)
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %28) #10
  %190 = load i32, ptr %20, align 4, !tbaa !5
  invoke void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EEC2ERKS6_(ptr noundef nonnull align 8 dereferenceable(56) %29, ptr noundef nonnull align 8 dereferenceable(56) %18)
          to label %191 unwind label %199

191:                                              ; preds = %185
  %192 = add nsw i32 %.050.lcssa, -1
  %193 = sext i32 %192 to i64
  %194 = sext i32 %190 to i64
  %.sroa.0.0.copyload = load i64, ptr %26, align 8
  call void @_ZN11EnvironmentC2EmmSt13unordered_setI5StateSt4hashIS1_ESt8equal_toIS1_ESaIS1_EES1_(ptr noundef nonnull align 8 dereferenceable(72) %28, i64 noundef %194, i64 noundef %193, ptr noundef nonnull %29, i64 %.sroa.0.0.copyload)
  call void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %29) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %30) #10
  call void @_ZN21libMultiRobotPlanning5AStarI5State6Actioni11EnvironmentSt4hashIS1_EEC2ERS3_(ptr noundef nonnull align 8 dereferenceable(8) %30, ptr noundef nonnull align 8 dereferenceable(72) %28)
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %31) #10
  call void @_ZN21libMultiRobotPlanning10PlanResultI5State6ActioniEC2Ev(ptr noundef nonnull align 8 dereferenceable(56) %31) #10
  %195 = invoke noundef zeroext i1 @_ZN11Environment10stateValidERK5State(ptr noundef nonnull align 8 dereferenceable(72) %28, ptr noundef nonnull align 4 dereferenceable(8) %27)
          to label %196 unwind label %201

196:                                              ; preds = %191
  br i1 %195, label %197, label %203

197:                                              ; preds = %196
  %198 = invoke noundef zeroext i1 @_ZN21libMultiRobotPlanning5AStarI5State6Actioni11EnvironmentSt4hashIS1_EE6searchERKS1_RNS_10PlanResultIS1_S2_iEEi(ptr noundef nonnull align 8 dereferenceable(8) %30, ptr noundef nonnull align 4 dereferenceable(8) %27, ptr noundef nonnull align 8 dereferenceable(56) %31, i32 noundef 0)
          to label %203 unwind label %201

199:                                              ; preds = %185
  %200 = landingpad { ptr, i32 }
          cleanup
  br label %305

201:                                              ; preds = %197, %191
  %202 = landingpad { ptr, i32 }
          cleanup
  br label %304

203:                                              ; preds = %197, %196
  %.030 = phi i1 [ false, %196 ], [ %198, %197 ]
  call void @llvm.lifetime.start.p0(i64 512, ptr nonnull %32) #10
  invoke void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248) %32, ptr noundef nonnull align 8 dereferenceable(32) %11, i32 noundef 16)
          to label %204 unwind label %219

204:                                              ; preds = %203
  br i1 %.030, label %205, label %298

205:                                              ; preds = %204
  %206 = 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.21)
          to label %207 unwind label %221

207:                                              ; preds = %205
  %208 = getelementptr inbounds i8, ptr %31, i64 48
  %209 = load i32, ptr %208, align 8, !tbaa !14
  %210 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %206, i32 noundef %209)
          to label %211 unwind label %221

211:                                              ; preds = %207
  %212 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %210, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %.preheader71 unwind label %221

.preheader71:                                     ; preds = %211
  %213 = getelementptr inbounds i8, ptr %31, i64 24
  %214 = call noundef i64 @_ZNKSt6vectorISt4pairI6ActioniESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %213) #10
  %.not83 = icmp eq i64 %214, 0
  br i1 %.not83, label %._crit_edge80, label %.lr.ph79

._crit_edge80:                                    ; preds = %248, %.preheader71
  %215 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EE4backEv(ptr noundef nonnull align 8 dereferenceable(24) %31) #10
  %216 = getelementptr inbounds i8, ptr %215, i64 8
  %217 = load i32, ptr %216, align 4, !tbaa !25
  %218 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 noundef %217)
          to label %254 unwind label %221

219:                                              ; preds = %203
  %220 = landingpad { ptr, i32 }
          cleanup
  br label %303

221:                                              ; preds = %300, %298, %267, %265, %263, %261, %259, %256, %254, %._crit_edge80, %211, %207, %205
  %222 = landingpad { ptr, i32 }
          cleanup
  br label %302

.lr.ph79:                                         ; preds = %.preheader71, %248
  %.02878 = phi i64 [ %249, %248 ], [ 0, %.preheader71 ]
  %223 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %31, i64 noundef %.02878) #10
  %224 = getelementptr inbounds i8, ptr %223, i64 8
  %225 = load i32, ptr %224, align 4, !tbaa !25
  %226 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 noundef %225)
          to label %227 unwind label %252

227:                                              ; preds = %.lr.ph79
  %228 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %226, ptr noundef nonnull @.str.22)
          to label %229 unwind label %252

229:                                              ; preds = %227
  %230 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %31, i64 noundef %.02878) #10
  %231 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZlsRSoRK5State(ptr noundef nonnull align 8 dereferenceable(8) %228, ptr noundef nonnull align 4 dereferenceable(8) %230)
          to label %232 unwind label %252

232:                                              ; preds = %229
  %233 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %231, ptr noundef nonnull @.str.23)
          to label %234 unwind label %252

234:                                              ; preds = %232
  %235 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNSt6vectorISt4pairI6ActioniESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %213, i64 noundef %.02878) #10
  %236 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZlsRSoRK6Action(ptr noundef nonnull align 8 dereferenceable(8) %233, ptr noundef nonnull align 4 dereferenceable(4) %235)
          to label %237 unwind label %252

237:                                              ; preds = %234
  %238 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %236, ptr noundef nonnull @.str.24)
          to label %239 unwind label %252

239:                                              ; preds = %237
  %240 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNSt6vectorISt4pairI6ActioniESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %213, i64 noundef %.02878) #10
  %241 = getelementptr inbounds i8, ptr %240, i64 4
  %242 = load i32, ptr %241, align 4, !tbaa !28
  %243 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %238, i32 noundef %242)
          to label %244 unwind label %252

244:                                              ; preds = %239
  %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.25)
          to label %246 unwind label %252

246:                                              ; preds = %244
  %247 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %245, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %248 unwind label %252

248:                                              ; preds = %246
  %249 = add nuw i64 %.02878, 1
  %250 = call noundef i64 @_ZNKSt6vectorISt4pairI6ActioniESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %213) #10
  %251 = icmp ult i64 %249, %250
  br i1 %251, label %.lr.ph79, label %._crit_edge80, !llvm.loop !31

252:                                              ; preds = %246, %244, %239, %237, %234, %232, %229, %227, %.lr.ph79
  %253 = landingpad { ptr, i32 }
          cleanup
  br label %302

254:                                              ; preds = %._crit_edge80
  %255 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %218, ptr noundef nonnull @.str.22)
          to label %256 unwind label %221

256:                                              ; preds = %254
  %257 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EE4backEv(ptr noundef nonnull align 8 dereferenceable(24) %31) #10
  %258 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZlsRSoRK5State(ptr noundef nonnull align 8 dereferenceable(8) %255, ptr noundef nonnull align 4 dereferenceable(8) %257)
          to label %259 unwind label %221

259:                                              ; preds = %256
  %260 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %258, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %261 unwind label %221

261:                                              ; preds = %259
  %262 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %32, ptr noundef nonnull @.str.26)
          to label %263 unwind label %221

263:                                              ; preds = %261
  %264 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %262, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %265 unwind label %221

265:                                              ; preds = %263
  %266 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %32, ptr noundef nonnull @.str.27)
          to label %267 unwind label %221

267:                                              ; preds = %265
  %268 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %266, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %.preheader unwind label %221

.preheader:                                       ; preds = %267
  %269 = call noundef i64 @_ZNKSt6vectorISt4pairI5StateiESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %31) #10
  %.not84 = icmp eq i64 %269, 0
  br i1 %.not84, label %.loopexit, label %.lr.ph82

.lr.ph82:                                         ; preds = %.preheader, %292
  %.081 = phi i64 [ %293, %292 ], [ 0, %.preheader ]
  %270 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %32, ptr noundef nonnull @.str.28)
          to label %271 unwind label %296

271:                                              ; preds = %.lr.ph82
  %272 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %31, i64 noundef %.081) #10
  %273 = load i32, ptr %272, align 4, !tbaa !32
  %274 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %270, i32 noundef %273)
          to label %275 unwind label %296

275:                                              ; preds = %271
  %276 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %274, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %277 unwind label %296

277:                                              ; preds = %275
  %278 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %276, ptr noundef nonnull @.str.29)
          to label %279 unwind label %296

279:                                              ; preds = %277
  %280 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorISt4pairI5StateiESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %31, i64 noundef %.081) #10
  %281 = getelementptr inbounds i8, ptr %280, i64 4
  %282 = load i32, ptr %281, align 4, !tbaa !33
  %283 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %278, i32 noundef %282)
          to label %284 unwind label %296

284:                                              ; preds = %279
  %285 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %283, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %286 unwind label %296

286:                                              ; preds = %284
  %287 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %285, ptr noundef nonnull @.str.30)
          to label %288 unwind label %296

288:                                              ; preds = %286
  %289 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %287, i64 noundef %.081)
          to label %290 unwind label %296

290:                                              ; preds = %288
  %291 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %289, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %292 unwind label %296

292:                                              ; preds = %290
  %293 = add nuw i64 %.081, 1
  %294 = call noundef i64 @_ZNKSt6vectorISt4pairI5StateiESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %31) #10
  %295 = icmp ult i64 %293, %294
  br i1 %295, label %.lr.ph82, label %.loopexit, !llvm.loop !34

296:                                              ; preds = %290, %288, %286, %284, %279, %277, %275, %271, %.lr.ph82
  %297 = landingpad { ptr, i32 }
          cleanup
  br label %302

298:                                              ; preds = %204
  %299 = 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.31)
          to label %300 unwind label %221

300:                                              ; preds = %298
  %301 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %299, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %.loopexit unwind label %221

.loopexit:                                        ; preds = %292, %.preheader, %300
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %32) #10
  call void @llvm.lifetime.end.p0(i64 512, ptr nonnull %32) #10
  call void @_ZN21libMultiRobotPlanning10PlanResultI5State6ActioniED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %31) #10
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %31) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %30) #10
  call void @_ZN11EnvironmentD2Ev(ptr noundef nonnull align 8 dereferenceable(72) %28) #10
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %28) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %27) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %20) #10
  call void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(256) %19) #10
  call void @llvm.lifetime.end.p0(i64 520, ptr nonnull %19) #10
  call void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %18) #10
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %18) #10
  br label %308

302:                                              ; preds = %296, %252, %221
  %.pn62 = phi { ptr, i32 } [ %253, %252 ], [ %297, %296 ], [ %222, %221 ]
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %32) #10
  br label %303

303:                                              ; preds = %302, %219
  %.pn62.pn = phi { ptr, i32 } [ %.pn62, %302 ], [ %220, %219 ]
  call void @llvm.lifetime.end.p0(i64 512, ptr nonnull %32) #10
  br label %304

304:                                              ; preds = %303, %201
  %.pn62.pn.pn = phi { ptr, i32 } [ %.pn62.pn, %303 ], [ %202, %201 ]
  call void @_ZN21libMultiRobotPlanning10PlanResultI5State6ActioniED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %31) #10
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %31) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %30) #10
  call void @_ZN11EnvironmentD2Ev(ptr noundef nonnull align 8 dereferenceable(72) %28) #10
  br label %305

305:                                              ; preds = %304, %199
  %.pn62.pn.pn.pn = phi { ptr, i32 } [ %.pn62.pn.pn, %304 ], [ %200, %199 ]
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %28) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %27) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #10
  br label %306

306:                                              ; preds = %305, %176, %158
  %.pn67.pn = phi { ptr, i32 } [ %.pn67, %176 ], [ %.pn62.pn.pn.pn, %305 ], [ %159, %158 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %20) #10
  call void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(256) %19) #10
  br label %307

307:                                              ; preds = %306, %156
  %.pn67.pn.pn = phi { ptr, i32 } [ %.pn67.pn, %306 ], [ %157, %156 ]
  %.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 %19) #10
  call void @_ZNSt13unordered_setI5StateSt4hashIS0_ESt8equal_toIS0_ESaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(56) %18) #10
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %18) #10
  br label %309

308:                                              ; preds = %110, %130, %.loopexit
  %.1 = phi i32 [ 0, %.loopexit ], [ 0, %110 ], [ 1, %130 ]
  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

309:                                              ; preds = %307, %135, %112, %89
  %.1447 = phi i32 [ %.1346, %307 ], [ %.639, %135 ], [ %.538, %112 ], [ %92, %89 ]
  %.14 = phi ptr [ %.13, %307 ], [ %.6, %135 ], [ %.5, %112 ], [ %91, %89 ]
  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 %310

310:                                              ; preds = %309, %88
  %.1548 = phi i32 [ %.1447, %309 ], [ %.033, %88 ]
  %.15 = phi ptr [ %.14, %309 ], [ %.031, %88 ]
  call void @llvm.lifetime.end.p0(i64 128, ptr nonnull %3) #10
  %311 = insertvalue { ptr, i32 } poison, ptr %.15, 0
  %312 = insertvalue { ptr, i32 } %311, i32 %.1548, 1
  resume { ptr, i32 } %312

313:                                              ; preds = %131
  %314 = landingpad { ptr, i32 }
          catch ptr null
  %315 = extractvalue { ptr, i32 } %314, 0
  call void @__clang_call_terminate(ptr %315) #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

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 @_ZN21libMultiRobotPlanning5AStarI5State6Actioni11EnvironmentSt4hashIS1_EEC2ERS3_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(72)) 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 @_ZN21libMultiRobotPlanning5AStarI5State6Actioni11EnvironmentSt4hashIS1_EE6searchERKS1_RNS_10PlanResultIS1_S2_iEEi(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(56), i32 noundef) 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, !6, i64 48}
!15 = !{!"_ZTSN21libMultiRobotPlanning10PlanResultI5State6ActioniEE", !16, i64 0, !21, i64 24, !6, i64 48, !6, i64 52}
!16 = !{!"_ZTSSt6vectorISt4pairI5StateiESaIS2_EE", !17, i64 0}
!17 = !{!"_ZTSSt12_Vector_baseISt4pairI5StateiESaIS2_EE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseISt4pairI5StateiESaIS2_EE12_Vector_implE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseISt4pairI5StateiESaIS2_EE17_Vector_impl_dataE", !20, i64 0, !20, i64 8, !20, i64 16}
!20 = !{!"any pointer", !7, i64 0}
!21 = !{!"_ZTSSt6vectorISt4pairI6ActioniESaIS2_EE", !22, i64 0}
!22 = !{!"_ZTSSt12_Vector_baseISt4pairI6ActioniESaIS2_EE", !23, i64 0}
!23 = !{!"_ZTSNSt12_Vector_baseISt4pairI6ActioniESaIS2_EE12_Vector_implE", !24, i64 0}
!24 = !{!"_ZTSNSt12_Vector_baseISt4pairI6ActioniESaIS2_EE17_Vector_impl_dataE", !20, i64 0, !20, i64 8, !20, i64 16}
!25 = !{!26, !6, i64 8}
!26 = !{!"_ZTSSt4pairI5StateiE", !27, i64 0, !6, i64 8}
!27 = !{!"_ZTS5State", !6, i64 0, !6, i64 4}
!28 = !{!29, !6, i64 4}
!29 = !{!"_ZTSSt4pairI6ActioniE", !30, i64 0, !6, i64 4}
!30 = !{!"_ZTS6Action", !7, i64 0}
!31 = distinct !{!31, !12}
!32 = !{!26, !6, i64 0}
!33 = !{!26, !6, i64 4}
!34 = distinct !{!34, !12}


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