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

; 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.19" }
%"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.15" }
%"class.std::_Rb_tree.15" = 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.19" = type { %"class.std::_Rb_tree.20" }
%"class.std::_Rb_tree.20" = 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.24", ptr, i32, [4 x i8] }>
%"class.std::vector.24" = type { %"struct.std::_Vector_base.25" }
%"struct.std::_Vector_base.25" = 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::function1.29" = 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.libMultiRobotPlanning::Assignment" = type { %"class.boost::bimaps::bimap", %"class.boost::bimaps::bimap", %"class.boost::adjacency_list", i64, i64 }
%"class.boost::bimaps::bimap" = type { %"class.boost::bimaps::views::set_view", %"class.boost::multi_index::multi_index_container", %"class.boost::bimaps::views::map_view", %"class.boost::bimaps::views::map_view.55" }
%"class.boost::bimaps::views::set_view" = type { %"class.boost::bimaps::container_adaptor::set_adaptor" }
%"class.boost::bimaps::container_adaptor::set_adaptor" = type { %"class.boost::bimaps::container_adaptor::ordered_associative_container_adaptor" }
%"class.boost::bimaps::container_adaptor::ordered_associative_container_adaptor" = type { %"class.boost::bimaps::container_adaptor::associative_container_adaptor" }
%"class.boost::bimaps::container_adaptor::associative_container_adaptor" = type { %"class.boost::bimaps::container_adaptor::container_adaptor" }
%"class.boost::bimaps::container_adaptor::container_adaptor" = type { %"struct.boost::bimaps::container_adaptor::detail::data_with_functor_bag" }
%"struct.boost::bimaps::container_adaptor::detail::data_with_functor_bag" = type { [8 x i8], ptr }
%"class.boost::multi_index::multi_index_container" = type { [8 x i8], %"struct.boost::multi_index::detail::header_holder", [8 x i8], i64 }
%"struct.boost::multi_index::detail::header_holder" = type { ptr }
%"class.boost::bimaps::views::map_view" = type { %"class.boost::bimaps::container_adaptor::map_adaptor" }
%"class.boost::bimaps::container_adaptor::map_adaptor" = type { %"class.boost::bimaps::container_adaptor::ordered_associative_container_adaptor.38" }
%"class.boost::bimaps::container_adaptor::ordered_associative_container_adaptor.38" = type { %"class.boost::bimaps::container_adaptor::associative_container_adaptor.39" }
%"class.boost::bimaps::container_adaptor::associative_container_adaptor.39" = type { %"class.boost::bimaps::container_adaptor::container_adaptor.40" }
%"class.boost::bimaps::container_adaptor::container_adaptor.40" = type { %"struct.boost::bimaps::container_adaptor::detail::data_with_functor_bag.41" }
%"struct.boost::bimaps::container_adaptor::detail::data_with_functor_bag.41" = type { ptr }
%"class.boost::bimaps::views::map_view.55" = type { %"class.boost::bimaps::container_adaptor::map_adaptor.56" }
%"class.boost::bimaps::container_adaptor::map_adaptor.56" = type { %"class.boost::bimaps::container_adaptor::ordered_associative_container_adaptor.57" }
%"class.boost::bimaps::container_adaptor::ordered_associative_container_adaptor.57" = type { %"class.boost::bimaps::container_adaptor::associative_container_adaptor.58" }
%"class.boost::bimaps::container_adaptor::associative_container_adaptor.58" = type { %"class.boost::bimaps::container_adaptor::container_adaptor.59" }
%"class.boost::bimaps::container_adaptor::container_adaptor.59" = type { %"struct.boost::bimaps::container_adaptor::detail::data_with_functor_bag.60" }
%"struct.boost::bimaps::container_adaptor::detail::data_with_functor_bag.60" = type { ptr }
%"class.boost::adjacency_list" = type { %"class.boost::vec_adj_list_impl", %"class.boost::scoped_ptr" }
%"class.boost::vec_adj_list_impl" = type { %"class.std::__cxx11::list", %"class.std::vector.82" }
%"class.std::__cxx11::list" = type { %"class.std::__cxx11::_List_base" }
%"class.std::__cxx11::_List_base" = type { %"struct.std::__cxx11::_List_base<boost::list_edge<unsigned long, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, std::allocator<boost::list_edge<unsigned long, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>>>::_List_impl" }
%"struct.std::__cxx11::_List_base<boost::list_edge<unsigned long, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, std::allocator<boost::list_edge<unsigned long, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>>>::_List_impl" = type { %"struct.std::__detail::_List_node_header" }
%"struct.std::__detail::_List_node_header" = type { %"struct.std::__detail::_List_node_base", i64 }
%"struct.std::__detail::_List_node_base" = type { ptr, ptr }
%"class.std::vector.82" = type { %"struct.std::_Vector_base.83" }
%"struct.std::_Vector_base.83" = type { %"struct.std::_Vector_base<boost::detail::adj_list_gen<boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge, boost::no_property, boost::listS>::config::stored_vertex, std::allocator<boost::detail::adj_list_gen<boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge, boost::no_property, boost::listS>::config::stored_vertex>>::_Vector_impl" }
%"struct.std::_Vector_base<boost::detail::adj_list_gen<boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge, boost::no_property, boost::listS>::config::stored_vertex, std::allocator<boost::detail::adj_list_gen<boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge, boost::no_property, boost::listS>::config::stored_vertex>>::_Vector_impl" = type { %"struct.std::_Vector_base<boost::detail::adj_list_gen<boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge, boost::no_property, boost::listS>::config::stored_vertex, std::allocator<boost::detail::adj_list_gen<boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge, boost::no_property, boost::listS>::config::stored_vertex>>::_Vector_impl_data" }
%"struct.std::_Vector_base<boost::detail::adj_list_gen<boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge, boost::no_property, boost::listS>::config::stored_vertex, std::allocator<boost::detail::adj_list_gen<boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge, boost::no_property, boost::listS>::config::stored_vertex>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.boost::scoped_ptr" = type { ptr }
%"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.87 }
%union.anon.87 = type { i32 }
%"class.std::__cxx11::basic_regex" = type { i32, %"class.std::locale", %"class.std::shared_ptr" }
%"class.std::shared_ptr" = type { %"class.std::__shared_ptr" }
%"class.std::__shared_ptr" = type { ptr, %"class.std::__shared_count" }
%"class.std::__shared_count" = type { ptr }
%"class.std::__cxx11::match_results" = type { %"class.std::vector.88", %"class.__gnu_cxx::__normal_iterator" }
%"class.std::vector.88" = type { %"struct.std::_Vector_base.89" }
%"struct.std::_Vector_base.89" = type { %"struct.std::_Vector_base<std::__cxx11::sub_match<__gnu_cxx::__normal_iterator<const char *, std::__cxx11::basic_string<char>>>, std::allocator<std::__cxx11::sub_match<__gnu_cxx::__normal_iterator<const char *, std::__cxx11::basic_string<char>>>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::__cxx11::sub_match<__gnu_cxx::__normal_iterator<const char *, std::__cxx11::basic_string<char>>>, std::allocator<std::__cxx11::sub_match<__gnu_cxx::__normal_iterator<const char *, std::__cxx11::basic_string<char>>>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::__cxx11::sub_match<__gnu_cxx::__normal_iterator<const char *, std::__cxx11::basic_string<char>>>, std::allocator<std::__cxx11::sub_match<__gnu_cxx::__normal_iterator<const char *, std::__cxx11::basic_string<char>>>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::__cxx11::sub_match<__gnu_cxx::__normal_iterator<const char *, std::__cxx11::basic_string<char>>>, std::allocator<std::__cxx11::sub_match<__gnu_cxx::__normal_iterator<const char *, std::__cxx11::basic_string<char>>>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }
%"struct.std::_Rb_tree_iterator" = type { 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" = type { %"class.std::__cxx11::basic_string", %"class.std::__cxx11::basic_string" }

@.str = 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 [8 x i8], align 1
@.str.8 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.10 = 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.11 = external hidden unnamed_addr constant [2 x i8], align 1
@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@.str.12 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.14 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.15 = external hidden unnamed_addr constant [21 x i8], align 1
@.str.16 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [3 x i8], align 1

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress norecurse uwtable
define dso_local noundef i32 @main(i32 noundef %0, ptr noundef %1) #0 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 %"class.std::__cxx11::basic_string", align 8
  %12 = alloca %"class.std::__cxx11::basic_string", align 8
  %13 = alloca %"class.boost::program_options::options_description_easy_init", align 8
  %14 = alloca %"class.boost::program_options::variables_map", align 8
  %15 = alloca %"class.boost::program_options::basic_parsed_options", align 8
  %16 = alloca %"class.boost::function1.29", align 8
  %17 = alloca %"class.std::__cxx11::basic_string", align 8
  %18 = alloca %"class.std::allocator", align 1
  %19 = alloca i32, align 4
  %20 = alloca ptr, align 8
  %21 = alloca %"class.libMultiRobotPlanning::Assignment", align 8
  %22 = alloca %"class.std::basic_ifstream", align 8
  %23 = alloca %"class.std::__cxx11::basic_regex", align 8
  %24 = alloca %"class.std::__cxx11::basic_string", align 8
  %25 = alloca %"class.std::__cxx11::match_results", align 8
  %26 = alloca %"class.std::__cxx11::basic_string", align 8
  %27 = alloca %"class.std::__cxx11::basic_string", align 8
  %28 = alloca i32, align 4
  %29 = alloca %"class.std::__cxx11::basic_string", align 8
  %30 = alloca %"class.std::map.19", align 8
  %31 = alloca i64, align 8
  %32 = alloca ptr, align 8
  %33 = alloca %"struct.std::_Rb_tree_iterator", align 8
  %34 = alloca %"struct.std::_Rb_tree_iterator", align 8
  %35 = alloca ptr, align 8
  %36 = alloca %"class.std::basic_ofstream", align 8
  %37 = alloca ptr, align 8
  %38 = alloca %"struct.std::_Rb_tree_iterator", align 8
  %39 = alloca %"struct.std::_Rb_tree_iterator", align 8
  %40 = alloca ptr, 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) #10
  call void @llvm.lifetime.start.p0(i64 32, ptr %7) #10
  call void @llvm.lifetime.start.p0(i64 1, ptr %8) #10
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %8) #10
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %7, ptr noundef @.str, ptr noundef nonnull align 1 dereferenceable(1) %8)
          to label %41 unwind label %80

41:                                               ; preds = %2
  %42 = load i32, ptr @_ZN5boost15program_options19options_description21m_default_line_lengthE, align 4, !tbaa !5
  %43 = load i32, ptr @_ZN5boost15program_options19options_description21m_default_line_lengthE, align 4, !tbaa !5
  %44 = udiv i32 %43, 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 %42, i32 noundef %44)
          to label %45 unwind label %84

45:                                               ; preds = %41
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #10
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %8) #10
  call void @llvm.lifetime.end.p0(i64 1, ptr %8) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %7) #10
  call void @llvm.lifetime.start.p0(i64 32, ptr %11) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #10
  call void @llvm.lifetime.start.p0(i64 32, ptr %12) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #10
  %46 = invoke ptr @_ZN5boost15program_options19options_description11add_optionsEv(ptr noundef nonnull align 8 dereferenceable(128) %6)
          to label %47 unwind label %89

47:                                               ; preds = %45
  %48 = getelementptr inbounds %"class.boost::program_options::options_description_easy_init", ptr %13, i32 0, i32 0
  store ptr %46, ptr %48, align 8
  %49 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcS3_(ptr noundef nonnull align 8 dereferenceable(8) %13, ptr noundef @.str.5, ptr noundef @.str.6)
          to label %50 unwind label %89

50:                                               ; preds = %47
  %51 = invoke noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef %11)
          to label %52 unwind label %89

52:                                               ; preds = %50
  %53 = invoke noundef ptr @_ZN5boost15program_options11typed_valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %51)
          to label %54 unwind label %89

54:                                               ; preds = %52
  %55 = 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 @.str.7, ptr noundef %53, ptr noundef @.str.8)
          to label %56 unwind label %89

56:                                               ; preds = %54
  %57 = invoke noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef %12)
          to label %58 unwind label %89

58:                                               ; preds = %56
  %59 = invoke noundef ptr @_ZN5boost15program_options11typed_valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %57)
          to label %60 unwind label %89

60:                                               ; preds = %58
  %61 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %55, ptr noundef @.str.9, ptr noundef %59, ptr noundef @.str.10)
          to label %62 unwind label %89

62:                                               ; preds = %60
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #10
  call void @llvm.lifetime.start.p0(i64 160, ptr %14) #10
  invoke void @_ZN5boost15program_options13variables_mapC1Ev(ptr noundef nonnull align 8 dereferenceable(160) %14)
          to label %63 unwind label %93

63:                                               ; preds = %62
  call void @llvm.lifetime.start.p0(i64 40, ptr %15) #10
  %64 = load i32, ptr %4, align 4, !tbaa !5
  %65 = load ptr, ptr %5, align 8, !tbaa !9
  call void @llvm.memset.p0.i64(ptr align 8 %16, i8 0, i64 32, i1 false)
  invoke void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_EC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16)
          to label %66 unwind label %97

66:                                               ; preds = %63
  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 %15, i32 noundef %64, ptr noundef %65, ptr noundef nonnull align 8 dereferenceable(128) %6, i32 noundef 0, ptr noundef %16)
          to label %67 unwind label %101

67:                                               ; preds = %66
  invoke void @_ZN5boost15program_options5storeERKNS0_20basic_parsed_optionsIcEERNS0_13variables_mapEb(ptr noundef nonnull align 8 dereferenceable(36) %15, ptr noundef nonnull align 8 dereferenceable(160) %14, i1 noundef zeroext false)
          to label %68 unwind label %105

68:                                               ; preds = %67
  call void @_ZN5boost15program_options20basic_parsed_optionsIcED2Ev(ptr noundef nonnull align 8 dereferenceable(36) %15) #10
  call void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #10
  call void @llvm.lifetime.end.p0(i64 40, ptr %15) #10
  invoke void @_ZN5boost15program_options6notifyERNS0_13variables_mapE(ptr noundef nonnull align 8 dereferenceable(160) %14)
          to label %69 unwind label %111

69:                                               ; preds = %68
  %70 = getelementptr inbounds i8, ptr %14, i64 16
  call void @llvm.lifetime.start.p0(i64 32, ptr %17) #10
  call void @llvm.lifetime.start.p0(i64 1, ptr %18) #10
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %18) #10
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %17, ptr noundef @.str.5, ptr noundef nonnull align 1 dereferenceable(1) %18)
          to label %71 unwind label %115

71:                                               ; preds = %69
  %72 = invoke noundef i64 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN5boost15program_options14variable_valueESt4lessIS5_ESaISt4pairIKS5_S8_EEE5countERSC_(ptr noundef nonnull align 8 dereferenceable(48) %70, ptr noundef nonnull align 8 dereferenceable(32) %17)
          to label %73 unwind label %119

73:                                               ; preds = %71
  %74 = icmp ne i64 %72, 0
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %17) #10
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %18) #10
  call void @llvm.lifetime.end.p0(i64 1, ptr %18) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %17) #10
  br i1 %74, label %75, label %124

75:                                               ; preds = %73
  %76 = 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 %77 unwind label %111

77:                                               ; preds = %75
  %78 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %76, ptr noundef @.str.11)
          to label %79 unwind label %111

79:                                               ; preds = %77
  store i32 0, ptr %3, align 4
  store i32 1, ptr %19, align 4
  br label %125

80:                                               ; preds = %2
  %81 = landingpad { ptr, i32 }
          cleanup
  %82 = extractvalue { ptr, i32 } %81, 0
  store ptr %82, ptr %9, align 8
  %83 = extractvalue { ptr, i32 } %81, 1
  store i32 %83, ptr %10, align 4
  br label %88

84:                                               ; preds = %41
  %85 = landingpad { ptr, i32 }
          cleanup
  %86 = extractvalue { ptr, i32 } %85, 0
  store ptr %86, ptr %9, align 8
  %87 = extractvalue { ptr, i32 } %85, 1
  store i32 %87, ptr %10, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #10
  br label %88

88:                                               ; preds = %84, %80
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %8) #10
  call void @llvm.lifetime.end.p0(i64 1, ptr %8) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %7) #10
  br label %363

89:                                               ; preds = %60, %58, %56, %54, %52, %50, %47, %45
  %90 = landingpad { ptr, i32 }
          cleanup
  %91 = extractvalue { ptr, i32 } %90, 0
  store ptr %91, ptr %9, align 8
  %92 = extractvalue { ptr, i32 } %90, 1
  store i32 %92, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #10
  br label %362

93:                                               ; preds = %62
  %94 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %95 = extractvalue { ptr, i32 } %94, 0
  store ptr %95, ptr %9, align 8
  %96 = extractvalue { ptr, i32 } %94, 1
  store i32 %96, ptr %10, align 4
  br label %129

97:                                               ; preds = %63
  %98 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %99 = extractvalue { ptr, i32 } %98, 0
  store ptr %99, ptr %9, align 8
  %100 = extractvalue { ptr, i32 } %98, 1
  store i32 %100, ptr %10, align 4
  br label %110

101:                                              ; preds = %66
  %102 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %103 = extractvalue { ptr, i32 } %102, 0
  store ptr %103, ptr %9, align 8
  %104 = extractvalue { ptr, i32 } %102, 1
  store i32 %104, ptr %10, align 4
  br label %109

105:                                              ; preds = %67
  %106 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %107 = extractvalue { ptr, i32 } %106, 0
  store ptr %107, ptr %9, align 8
  %108 = extractvalue { ptr, i32 } %106, 1
  store i32 %108, ptr %10, align 4
  call void @_ZN5boost15program_options20basic_parsed_optionsIcED2Ev(ptr noundef nonnull align 8 dereferenceable(36) %15) #10
  br label %109

109:                                              ; preds = %105, %101
  call void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #10
  br label %110

110:                                              ; preds = %109, %97
  call void @llvm.lifetime.end.p0(i64 40, ptr %15) #10
  br label %128

111:                                              ; preds = %77, %75, %68
  %112 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %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 %128

115:                                              ; preds = %69
  %116 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %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
  br label %123

119:                                              ; preds = %71
  %120 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %121 = extractvalue { ptr, i32 } %120, 0
  store ptr %121, ptr %9, align 8
  %122 = extractvalue { ptr, i32 } %120, 1
  store i32 %122, ptr %10, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %17) #10
  br label %123

123:                                              ; preds = %119, %115
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %18) #10
  call void @llvm.lifetime.end.p0(i64 1, ptr %18) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %17) #10
  br label %128

124:                                              ; preds = %73
  store i32 0, ptr %19, align 4
  br label %125

125:                                              ; preds = %124, %79
  call void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160) %14) #10
  call void @llvm.lifetime.end.p0(i64 160, ptr %14) #10
  %126 = load i32, ptr %19, align 4
  switch i32 %126, label %360 [
    i32 0, label %127
  ]

127:                                              ; preds = %125
  br label %163

128:                                              ; preds = %123, %111, %110
  call void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160) %14) #10
  br label %129

129:                                              ; preds = %128, %93
  call void @llvm.lifetime.end.p0(i64 160, ptr %14) #10
  br label %130

130:                                              ; preds = %129
  %131 = load i32, ptr %10, align 4
  %132 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN5boost15program_options5errorE) #10
  %133 = icmp eq i32 %131, %132
  br i1 %133, label %134, label %362

134:                                              ; preds = %130
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #10
  %135 = load ptr, ptr %9, align 8
  %136 = call ptr @__cxa_begin_catch(ptr %135) #10
  store ptr %136, ptr %20, align 8
  %137 = load ptr, ptr %20, align 8, !tbaa !9
  %138 = load ptr, ptr %137, align 8, !tbaa !11
  %139 = getelementptr inbounds ptr, ptr %138, i64 2
  %140 = load ptr, ptr %139, align 8
  %141 = call noundef ptr %140(ptr noundef nonnull align 8 dereferenceable(16) %137) #10
  %142 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef %141)
          to label %143 unwind label %152

143:                                              ; preds = %134
  %144 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %142, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %145 unwind label %152

145:                                              ; preds = %143
  %146 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %144, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %147 unwind label %152

147:                                              ; preds = %145
  %148 = 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 %149 unwind label %152

149:                                              ; preds = %147
  %150 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %148, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %151 unwind label %152

151:                                              ; preds = %149
  store i32 1, ptr %3, align 4
  store i32 1, ptr %19, align 4
  invoke void @__cxa_end_catch()
          to label %156 unwind label %157

152:                                              ; preds = %149, %147, %145, %143, %134
  %153 = landingpad { ptr, i32 }
          cleanup
  %154 = extractvalue { ptr, i32 } %153, 0
  store ptr %154, ptr %9, align 8
  %155 = extractvalue { ptr, i32 } %153, 1
  store i32 %155, ptr %10, align 4
  invoke void @__cxa_end_catch()
          to label %161 unwind label %369

156:                                              ; preds = %151
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #10
  br label %360

157:                                              ; preds = %151
  %158 = landingpad { ptr, i32 }
          cleanup
  %159 = extractvalue { ptr, i32 } %158, 0
  store ptr %159, ptr %9, align 8
  %160 = extractvalue { ptr, i32 } %158, 1
  store i32 %160, ptr %10, align 4
  br label %162

161:                                              ; preds = %152
  br label %162

162:                                              ; preds = %161, %157
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #10
  br label %362

163:                                              ; preds = %127
  call void @llvm.lifetime.start.p0(i64 200, ptr %21) #10
  invoke void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EC2Ev(ptr noundef nonnull align 8 dereferenceable(200) %21)
          to label %164 unwind label %177

164:                                              ; preds = %163
  call void @llvm.lifetime.start.p0(i64 520, ptr %22) #10
  invoke void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(256) %22, ptr noundef nonnull align 8 dereferenceable(32) %11, i32 noundef 8)
          to label %165 unwind label %181

165:                                              ; preds = %164
  call void @llvm.lifetime.start.p0(i64 32, ptr %23) #10
  invoke void @_ZNSt7__cxx1111basic_regexIcNS_12regex_traitsIcEEEC2EPKcNSt15regex_constants18syntax_option_typeE(ptr noundef nonnull align 8 dereferenceable(32) %23, ptr noundef @.str.12, i32 noundef 16)
          to label %166 unwind label %185

166:                                              ; preds = %165
  call void @llvm.lifetime.start.p0(i64 32, ptr %24) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %24) #10
  br label %167

167:                                              ; preds = %253, %166
  %168 = 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) %22, ptr noundef nonnull align 8 dereferenceable(32) %24)
          to label %169 unwind label %189

169:                                              ; preds = %167
  %170 = load ptr, ptr %168, align 8, !tbaa !11
  %171 = getelementptr i8, ptr %170, i64 -24
  %172 = load i64, ptr %171, align 8
  %173 = getelementptr inbounds i8, ptr %168, i64 %172
  %174 = invoke noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEEcvbEv(ptr noundef nonnull align 8 dereferenceable(264) %173)
          to label %175 unwind label %189

175:                                              ; preds = %169
  br i1 %174, label %193, label %176

176:                                              ; preds = %175
  store i32 2, ptr %19, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %24) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %24) #10
  br label %257

177:                                              ; preds = %163
  %178 = landingpad { ptr, i32 }
          cleanup
  %179 = extractvalue { ptr, i32 } %178, 0
  store ptr %179, ptr %9, align 8
  %180 = extractvalue { ptr, i32 } %178, 1
  store i32 %180, ptr %10, align 4
  br label %359

181:                                              ; preds = %164
  %182 = landingpad { ptr, i32 }
          cleanup
  %183 = extractvalue { ptr, i32 } %182, 0
  store ptr %183, ptr %9, align 8
  %184 = extractvalue { ptr, i32 } %182, 1
  store i32 %184, ptr %10, align 4
  br label %358

185:                                              ; preds = %165
  %186 = landingpad { ptr, i32 }
          cleanup
  %187 = extractvalue { ptr, i32 } %186, 0
  store ptr %187, ptr %9, align 8
  %188 = extractvalue { ptr, i32 } %186, 1
  store i32 %188, ptr %10, align 4
  br label %357

189:                                              ; preds = %169, %167
  %190 = landingpad { ptr, i32 }
          cleanup
  %191 = extractvalue { ptr, i32 } %190, 0
  store ptr %191, ptr %9, align 8
  %192 = extractvalue { ptr, i32 } %190, 1
  store i32 %192, ptr %10, align 4
  br label %256

193:                                              ; preds = %175
  call void @llvm.lifetime.start.p0(i64 32, ptr %25) #10
  invoke void @_ZNSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %25)
          to label %194 unwind label %209

194:                                              ; preds = %193
  %195 = invoke noundef zeroext i1 @_ZSt12regex_searchISt11char_traitsIcESaIcESaINSt7__cxx119sub_matchIN9__gnu_cxx17__normal_iteratorIPKcNS3_12basic_stringIcS1_S2_EEEEEEEcNS3_12regex_traitsIcEEEbRKNS9_IT2_T_T0_EERNS3_13match_resultsINSJ_14const_iteratorET1_EERKNS3_11basic_regexISG_T3_EENSt15regex_constants15match_flag_typeE(ptr noundef nonnull align 8 dereferenceable(32) %24, ptr noundef nonnull align 8 dereferenceable(32) %25, ptr noundef nonnull align 8 dereferenceable(32) %23, i32 noundef 0)
          to label %196 unwind label %213

196:                                              ; preds = %194
  br i1 %195, label %197, label %241

197:                                              ; preds = %196
  %198 = call noundef i64 @_ZNKSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(32) %25) #10
  %199 = icmp eq i64 %198, 4
  br i1 %199, label %200, label %241

200:                                              ; preds = %197
  call void @llvm.lifetime.start.p0(i64 32, ptr %26) #10
  invoke void @_ZNKSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEE3strEm(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %26, ptr noundef nonnull align 8 dereferenceable(32) %25, i64 noundef 1)
          to label %201 unwind label %217

201:                                              ; preds = %200
  call void @llvm.lifetime.start.p0(i64 32, ptr %27) #10
  invoke void @_ZNKSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEE3strEm(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %27, ptr noundef nonnull align 8 dereferenceable(32) %25, i64 noundef 2)
          to label %202 unwind label %221

202:                                              ; preds = %201
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #10
  call void @llvm.lifetime.start.p0(i64 32, ptr %29) #10
  invoke void @_ZNKSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEE3strEm(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %29, ptr noundef nonnull align 8 dereferenceable(32) %25, i64 noundef 3)
          to label %203 unwind label %225

203:                                              ; preds = %202
  %204 = invoke noundef i32 @_ZNSt7__cxx114stoiERKNS_12basic_stringIcSt11char_traitsIcESaIcEEEPmi(ptr noundef nonnull align 8 dereferenceable(32) %29, ptr noundef null, i32 noundef 10)
          to label %205 unwind label %229

205:                                              ; preds = %203
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %29) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %29) #10
  store i32 %204, ptr %28, align 4, !tbaa !5
  %206 = load i32, ptr %28, align 4, !tbaa !5
  %207 = sext i32 %206 to i64
  invoke void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_E7setCostERKS6_S9_l(ptr noundef nonnull align 8 dereferenceable(200) %21, ptr noundef nonnull align 8 dereferenceable(32) %26, ptr noundef nonnull align 8 dereferenceable(32) %27, i64 noundef %207)
          to label %208 unwind label %234

208:                                              ; preds = %205
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %27) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %27) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %26) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %26) #10
  br label %253

209:                                              ; preds = %193
  %210 = landingpad { ptr, i32 }
          cleanup
  %211 = extractvalue { ptr, i32 } %210, 0
  store ptr %211, ptr %9, align 8
  %212 = extractvalue { ptr, i32 } %210, 1
  store i32 %212, ptr %10, align 4
  br label %255

213:                                              ; preds = %250, %247, %245, %243, %241, %194
  %214 = landingpad { ptr, i32 }
          cleanup
  %215 = extractvalue { ptr, i32 } %214, 0
  store ptr %215, ptr %9, align 8
  %216 = extractvalue { ptr, i32 } %214, 1
  store i32 %216, ptr %10, align 4
  br label %254

217:                                              ; preds = %200
  %218 = landingpad { ptr, i32 }
          cleanup
  %219 = extractvalue { ptr, i32 } %218, 0
  store ptr %219, ptr %9, align 8
  %220 = extractvalue { ptr, i32 } %218, 1
  store i32 %220, ptr %10, align 4
  br label %240

221:                                              ; preds = %201
  %222 = landingpad { ptr, i32 }
          cleanup
  %223 = extractvalue { ptr, i32 } %222, 0
  store ptr %223, ptr %9, align 8
  %224 = extractvalue { ptr, i32 } %222, 1
  store i32 %224, ptr %10, align 4
  br label %239

225:                                              ; preds = %202
  %226 = landingpad { ptr, i32 }
          cleanup
  %227 = extractvalue { ptr, i32 } %226, 0
  store ptr %227, ptr %9, align 8
  %228 = extractvalue { ptr, i32 } %226, 1
  store i32 %228, ptr %10, align 4
  br label %233

229:                                              ; preds = %203
  %230 = landingpad { ptr, i32 }
          cleanup
  %231 = extractvalue { ptr, i32 } %230, 0
  store ptr %231, ptr %9, align 8
  %232 = extractvalue { ptr, i32 } %230, 1
  store i32 %232, ptr %10, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %29) #10
  br label %233

233:                                              ; preds = %229, %225
  call void @llvm.lifetime.end.p0(i64 32, ptr %29) #10
  br label %238

234:                                              ; preds = %205
  %235 = landingpad { ptr, i32 }
          cleanup
  %236 = extractvalue { ptr, i32 } %235, 0
  store ptr %236, ptr %9, align 8
  %237 = extractvalue { ptr, i32 } %235, 1
  store i32 %237, ptr %10, align 4
  br label %238

238:                                              ; preds = %234, %233
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %27) #10
  br label %239

239:                                              ; preds = %238, %221
  call void @llvm.lifetime.end.p0(i64 32, ptr %27) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %26) #10
  br label %240

240:                                              ; preds = %239, %217
  call void @llvm.lifetime.end.p0(i64 32, ptr %26) #10
  br label %254

241:                                              ; preds = %197, %196
  %242 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef @.str.13)
          to label %243 unwind label %213

243:                                              ; preds = %241
  %244 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %242, ptr noundef nonnull align 8 dereferenceable(32) %24)
          to label %245 unwind label %213

245:                                              ; preds = %243
  %246 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %244, ptr noundef @.str.14)
          to label %247 unwind label %213

247:                                              ; preds = %245
  %248 = call noundef i64 @_ZNKSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(32) %25) #10
  %249 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %246, i64 noundef %248)
          to label %250 unwind label %213

250:                                              ; preds = %247
  %251 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %249, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %252 unwind label %213

252:                                              ; preds = %250
  br label %253

253:                                              ; preds = %252, %208
  call void @_ZNSt6vectorINSt7__cxx119sub_matchIN9__gnu_cxx17__normal_iteratorIPKcNS0_12basic_stringIcSt11char_traitsIcESaIcEEEEEEESaISC_EED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %25) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %25) #10
  br label %167, !llvm.loop !13

254:                                              ; preds = %240, %213
  call void @_ZNSt6vectorINSt7__cxx119sub_matchIN9__gnu_cxx17__normal_iteratorIPKcNS0_12basic_stringIcSt11char_traitsIcESaIcEEEEEEESaISC_EED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %25) #10
  br label %255

255:                                              ; preds = %254, %209
  call void @llvm.lifetime.end.p0(i64 32, ptr %25) #10
  br label %256

256:                                              ; preds = %255, %189
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %24) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %24) #10
  br label %356

257:                                              ; preds = %176
  call void @llvm.lifetime.start.p0(i64 48, ptr %30) #10
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(48) %30) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #10
  %258 = invoke noundef i64 @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_E5solveERSt3mapIS6_S6_St4lessIS6_ESaISt4pairIKS6_S6_EEE(ptr noundef nonnull align 8 dereferenceable(200) %21, ptr noundef nonnull align 8 dereferenceable(48) %30)
          to label %259 unwind label %276

259:                                              ; preds = %257
  store i64 %258, ptr %31, align 8, !tbaa !15
  %260 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.15)
          to label %261 unwind label %276

261:                                              ; preds = %259
  %262 = load i64, ptr %31, align 8, !tbaa !15
  %263 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEl(ptr noundef nonnull align 8 dereferenceable(8) %260, i64 noundef %262)
          to label %264 unwind label %276

264:                                              ; preds = %261
  %265 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %263, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %266 unwind label %276

266:                                              ; preds = %264
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #10
  store ptr %30, ptr %32, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #10
  %267 = load ptr, ptr %32, align 8, !tbaa !9
  %268 = call ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48) %267) #10
  %269 = getelementptr inbounds %"struct.std::_Rb_tree_iterator", ptr %33, i32 0, i32 0
  store ptr %268, ptr %269, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #10
  %270 = load ptr, ptr %32, align 8, !tbaa !9
  %271 = call ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(48) %270) #10
  %272 = getelementptr inbounds %"struct.std::_Rb_tree_iterator", ptr %34, i32 0, i32 0
  store ptr %271, ptr %272, align 8
  br label %273

273:                                              ; preds = %294, %266
  %274 = call noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EESB_(ptr noundef nonnull align 8 dereferenceable(8) %33, ptr noundef nonnull align 8 dereferenceable(8) %34) #10
  br i1 %274, label %280, label %275

275:                                              ; preds = %273
  store i32 4, ptr %19, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #10
  br label %300

276:                                              ; preds = %264, %261, %259, %257
  %277 = landingpad { ptr, i32 }
          cleanup
  %278 = extractvalue { ptr, i32 } %277, 0
  store ptr %278, ptr %9, align 8
  %279 = extractvalue { ptr, i32 } %277, 1
  store i32 %279, ptr %10, align 4
  br label %355

280:                                              ; preds = %273
  call void @llvm.lifetime.start.p0(i64 8, ptr %35) #10
  %281 = call noundef nonnull align 8 dereferenceable(64) ptr @_ZNKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %33) #10
  store ptr %281, ptr %35, align 8, !tbaa !9
  %282 = load ptr, ptr %35, align 8, !tbaa !9
  %283 = getelementptr inbounds %"struct.std::pair", ptr %282, i32 0, i32 0
  %284 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull align 8 dereferenceable(32) %283)
          to label %285 unwind label %296

285:                                              ; preds = %280
  %286 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %284, ptr noundef @.str.16)
          to label %287 unwind label %296

287:                                              ; preds = %285
  %288 = load ptr, ptr %35, align 8, !tbaa !9
  %289 = getelementptr inbounds %"struct.std::pair", ptr %288, i32 0, i32 1
  %290 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %286, ptr noundef nonnull align 8 dereferenceable(32) %289)
          to label %291 unwind label %296

291:                                              ; preds = %287
  %292 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %290, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %293 unwind label %296

293:                                              ; preds = %291
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #10
  br label %294

294:                                              ; preds = %293
  %295 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EEppEv(ptr noundef nonnull align 8 dereferenceable(8) %33) #10
  br label %273

296:                                              ; preds = %291, %287, %285, %280
  %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
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #10
  br label %355

300:                                              ; preds = %275
  call void @llvm.lifetime.start.p0(i64 512, ptr %36) #10
  invoke void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248) %36, ptr noundef nonnull align 8 dereferenceable(32) %12, i32 noundef 16)
          to label %301 unwind label %322

301:                                              ; preds = %300
  %302 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %36, ptr noundef @.str.17)
          to label %303 unwind label %326

303:                                              ; preds = %301
  %304 = load i64, ptr %31, align 8, !tbaa !15
  %305 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEl(ptr noundef nonnull align 8 dereferenceable(8) %302, i64 noundef %304)
          to label %306 unwind label %326

306:                                              ; preds = %303
  %307 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %305, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %308 unwind label %326

308:                                              ; preds = %306
  %309 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %36, ptr noundef @.str.18)
          to label %310 unwind label %326

310:                                              ; preds = %308
  %311 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %309, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %312 unwind label %326

312:                                              ; preds = %310
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #10
  store ptr %30, ptr %37, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #10
  %313 = load ptr, ptr %37, align 8, !tbaa !9
  %314 = call ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48) %313) #10
  %315 = getelementptr inbounds %"struct.std::_Rb_tree_iterator", ptr %38, i32 0, i32 0
  store ptr %314, ptr %315, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %39) #10
  %316 = load ptr, ptr %37, align 8, !tbaa !9
  %317 = call ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(48) %316) #10
  %318 = getelementptr inbounds %"struct.std::_Rb_tree_iterator", ptr %39, i32 0, i32 0
  store ptr %317, ptr %318, align 8
  br label %319

319:                                              ; preds = %346, %312
  %320 = call noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EESB_(ptr noundef nonnull align 8 dereferenceable(8) %38, ptr noundef nonnull align 8 dereferenceable(8) %39) #10
  br i1 %320, label %330, label %321

321:                                              ; preds = %319
  store i32 6, ptr %19, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #10
  br label %352

322:                                              ; preds = %300
  %323 = landingpad { ptr, i32 }
          cleanup
  %324 = extractvalue { ptr, i32 } %323, 0
  store ptr %324, ptr %9, align 8
  %325 = extractvalue { ptr, i32 } %323, 1
  store i32 %325, ptr %10, align 4
  br label %354

326:                                              ; preds = %310, %308, %306, %303, %301
  %327 = landingpad { ptr, i32 }
          cleanup
  %328 = extractvalue { ptr, i32 } %327, 0
  store ptr %328, ptr %9, align 8
  %329 = extractvalue { ptr, i32 } %327, 1
  store i32 %329, ptr %10, align 4
  br label %353

330:                                              ; preds = %319
  call void @llvm.lifetime.start.p0(i64 8, ptr %40) #10
  %331 = call noundef nonnull align 8 dereferenceable(64) ptr @_ZNKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %38) #10
  store ptr %331, ptr %40, align 8, !tbaa !9
  %332 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %36, ptr noundef @.str.19)
          to label %333 unwind label %348

333:                                              ; preds = %330
  %334 = load ptr, ptr %40, align 8, !tbaa !9
  %335 = getelementptr inbounds %"struct.std::pair", ptr %334, i32 0, i32 0
  %336 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %332, ptr noundef nonnull align 8 dereferenceable(32) %335)
          to label %337 unwind label %348

337:                                              ; preds = %333
  %338 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %336, ptr noundef @.str.16)
          to label %339 unwind label %348

339:                                              ; preds = %337
  %340 = load ptr, ptr %40, align 8, !tbaa !9
  %341 = getelementptr inbounds %"struct.std::pair", ptr %340, i32 0, i32 1
  %342 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %338, ptr noundef nonnull align 8 dereferenceable(32) %341)
          to label %343 unwind label %348

343:                                              ; preds = %339
  %344 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %342, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %345 unwind label %348

345:                                              ; preds = %343
  call void @llvm.lifetime.end.p0(i64 8, ptr %40) #10
  br label %346

346:                                              ; preds = %345
  %347 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EEppEv(ptr noundef nonnull align 8 dereferenceable(8) %38) #10
  br label %319

348:                                              ; preds = %343, %339, %337, %333, %330
  %349 = landingpad { ptr, i32 }
          cleanup
  %350 = extractvalue { ptr, i32 } %349, 0
  store ptr %350, ptr %9, align 8
  %351 = extractvalue { ptr, i32 } %349, 1
  store i32 %351, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %40) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #10
  br label %353

352:                                              ; preds = %321
  store i32 0, ptr %3, align 4
  store i32 1, ptr %19, align 4
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %36) #10
  call void @llvm.lifetime.end.p0(i64 512, ptr %36) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #10
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %30) #10
  call void @llvm.lifetime.end.p0(i64 48, ptr %30) #10
  call void @_ZNSt7__cxx1111basic_regexIcNS_12regex_traitsIcEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %23) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %23) #10
  call void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(256) %22) #10
  call void @llvm.lifetime.end.p0(i64 520, ptr %22) #10
  call void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_ED2Ev(ptr noundef nonnull align 8 dereferenceable(200) %21) #10
  call void @llvm.lifetime.end.p0(i64 200, ptr %21) #10
  br label %360

353:                                              ; preds = %348, %326
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %36) #10
  br label %354

354:                                              ; preds = %353, %322
  call void @llvm.lifetime.end.p0(i64 512, ptr %36) #10
  br label %355

355:                                              ; preds = %354, %296, %276
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #10
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %30) #10
  call void @llvm.lifetime.end.p0(i64 48, ptr %30) #10
  br label %356

356:                                              ; preds = %355, %256
  call void @_ZNSt7__cxx1111basic_regexIcNS_12regex_traitsIcEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %23) #10
  br label %357

357:                                              ; preds = %356, %185
  call void @llvm.lifetime.end.p0(i64 32, ptr %23) #10
  call void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(256) %22) #10
  br label %358

358:                                              ; preds = %357, %181
  call void @llvm.lifetime.end.p0(i64 520, ptr %22) #10
  call void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_ED2Ev(ptr noundef nonnull align 8 dereferenceable(200) %21) #10
  br label %359

359:                                              ; preds = %358, %177
  call void @llvm.lifetime.end.p0(i64 200, ptr %21) #10
  br label %362

360:                                              ; preds = %352, %156, %125
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %12) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %11) #10
  call void @_ZN5boost15program_options19options_descriptionD2Ev(ptr noundef nonnull align 8 dereferenceable(128) %6) #10
  call void @llvm.lifetime.end.p0(i64 128, ptr %6) #10
  %361 = load i32, ptr %3, align 4
  ret i32 %361

362:                                              ; preds = %359, %162, %130, %89
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %12) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %11) #10
  call void @_ZN5boost15program_options19options_descriptionD2Ev(ptr noundef nonnull align 8 dereferenceable(128) %6) #10
  br label %363

363:                                              ; preds = %362, %88
  call void @llvm.lifetime.end.p0(i64 128, ptr %6) #10
  br label %364

364:                                              ; preds = %363
  %365 = load ptr, ptr %9, align 8
  %366 = load i32, ptr %10, align 4
  %367 = insertvalue { ptr, i32 } poison, ptr %365, 0
  %368 = insertvalue { ptr, i32 } %367, i32 %366, 1
  resume { ptr, i32 } %368

369:                                              ; preds = %152
  %370 = landingpad { ptr, i32 }
          catch ptr null
  %371 = extractvalue { ptr, i32 } %370, 0
  call void @__clang_call_terminate(ptr %371) #11
  unreachable
}

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

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

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 #4

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

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

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

declare ptr @_ZN5boost15program_options19options_description11add_optionsEv(ptr noundef nonnull align 8 dereferenceable(128)) #4

declare noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcS3_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef, ptr noundef) #4

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) #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef) #3

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

declare void @_ZN5boost15program_options13variables_mapC1Ev(ptr noundef nonnull align 8 dereferenceable(160)) unnamed_addr #4

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) #4

; 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) #3

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_EC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #3 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 #6 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 #2 align 2

declare void @_ZN5boost15program_options6notifyERNS0_13variables_mapE(ptr noundef nonnull align 8 dereferenceable(160)) #4

; 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)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #7

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)) #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160)) unnamed_addr #6 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) #3 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)) #7

declare void @__cxa_end_catch()

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EC2Ev(ptr noundef nonnull align 8 dereferenceable(200)) unnamed_addr #3 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 #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1111basic_regexIcNS_12regex_traitsIcEEEC2EPKcNSt15regex_constants18syntax_option_typeE(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, i32 noundef) unnamed_addr #3 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)) #7

; Function Attrs: mustprogress uwtable
declare noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEEcvbEv(ptr noundef nonnull align 8 dereferenceable(264)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZSt12regex_searchISt11char_traitsIcESaIcESaINSt7__cxx119sub_matchIN9__gnu_cxx17__normal_iteratorIPKcNS3_12basic_stringIcS1_S2_EEEEEEEcNS3_12regex_traitsIcEEEbRKNS9_IT2_T_T0_EERNS3_13match_resultsINSJ_14const_iteratorET1_EERKNS3_11basic_regexISG_T3_EENSt15regex_constants15match_flag_typeE(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32), i32 noundef) #7

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(32)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNKSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEE3strEm(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(32), i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNSt7__cxx114stoiERKNS_12basic_stringIcSt11char_traitsIcESaIcEEEPmi(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, i32 noundef) #7

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_E7setCostERKS6_S9_l(ptr noundef nonnull align 8 dereferenceable(200), ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32), i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(32)) #7

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_E5solveERSt3mapIS6_S6_St4lessIS6_ESaISt4pairIKS6_S6_EEE(ptr noundef nonnull align 8 dereferenceable(200), ptr noundef nonnull align 8 dereferenceable(48)) #3 align 2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEl(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(48)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EESB_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(64) ptr @_ZNKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EEppEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 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 #3 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt7__cxx1111basic_regexIcNS_12regex_traitsIcEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_ED2Ev(ptr noundef nonnull align 8 dereferenceable(200)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5boost15program_options19options_descriptionD2Ev(ptr noundef nonnull align 8 dereferenceable(128)) unnamed_addr #6 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorINSt7__cxx119sub_matchIN9__gnu_cxx17__normal_iteratorIPKcNS0_12basic_stringIcSt11char_traitsIcESaIcEEEEEEESaISC_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

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


; 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.19" }
%"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.15" }
%"class.std::_Rb_tree.15" = 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.19" = type { %"class.std::_Rb_tree.20" }
%"class.std::_Rb_tree.20" = 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.24", ptr, i32, [4 x i8] }>
%"class.std::vector.24" = type { %"struct.std::_Vector_base.25" }
%"struct.std::_Vector_base.25" = 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::function1.29" = 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.libMultiRobotPlanning::Assignment" = type { %"class.boost::bimaps::bimap", %"class.boost::bimaps::bimap", %"class.boost::adjacency_list", i64, i64 }
%"class.boost::bimaps::bimap" = type { %"class.boost::bimaps::views::set_view", %"class.boost::multi_index::multi_index_container", %"class.boost::bimaps::views::map_view", %"class.boost::bimaps::views::map_view.55" }
%"class.boost::bimaps::views::set_view" = type { %"class.boost::bimaps::container_adaptor::set_adaptor" }
%"class.boost::bimaps::container_adaptor::set_adaptor" = type { %"class.boost::bimaps::container_adaptor::ordered_associative_container_adaptor" }
%"class.boost::bimaps::container_adaptor::ordered_associative_container_adaptor" = type { %"class.boost::bimaps::container_adaptor::associative_container_adaptor" }
%"class.boost::bimaps::container_adaptor::associative_container_adaptor" = type { %"class.boost::bimaps::container_adaptor::container_adaptor" }
%"class.boost::bimaps::container_adaptor::container_adaptor" = type { %"struct.boost::bimaps::container_adaptor::detail::data_with_functor_bag" }
%"struct.boost::bimaps::container_adaptor::detail::data_with_functor_bag" = type { [8 x i8], ptr }
%"class.boost::multi_index::multi_index_container" = type { [8 x i8], %"struct.boost::multi_index::detail::header_holder", [8 x i8], i64 }
%"struct.boost::multi_index::detail::header_holder" = type { ptr }
%"class.boost::bimaps::views::map_view" = type { %"class.boost::bimaps::container_adaptor::map_adaptor" }
%"class.boost::bimaps::container_adaptor::map_adaptor" = type { %"class.boost::bimaps::container_adaptor::ordered_associative_container_adaptor.38" }
%"class.boost::bimaps::container_adaptor::ordered_associative_container_adaptor.38" = type { %"class.boost::bimaps::container_adaptor::associative_container_adaptor.39" }
%"class.boost::bimaps::container_adaptor::associative_container_adaptor.39" = type { %"class.boost::bimaps::container_adaptor::container_adaptor.40" }
%"class.boost::bimaps::container_adaptor::container_adaptor.40" = type { %"struct.boost::bimaps::container_adaptor::detail::data_with_functor_bag.41" }
%"struct.boost::bimaps::container_adaptor::detail::data_with_functor_bag.41" = type { ptr }
%"class.boost::bimaps::views::map_view.55" = type { %"class.boost::bimaps::container_adaptor::map_adaptor.56" }
%"class.boost::bimaps::container_adaptor::map_adaptor.56" = type { %"class.boost::bimaps::container_adaptor::ordered_associative_container_adaptor.57" }
%"class.boost::bimaps::container_adaptor::ordered_associative_container_adaptor.57" = type { %"class.boost::bimaps::container_adaptor::associative_container_adaptor.58" }
%"class.boost::bimaps::container_adaptor::associative_container_adaptor.58" = type { %"class.boost::bimaps::container_adaptor::container_adaptor.59" }
%"class.boost::bimaps::container_adaptor::container_adaptor.59" = type { %"struct.boost::bimaps::container_adaptor::detail::data_with_functor_bag.60" }
%"struct.boost::bimaps::container_adaptor::detail::data_with_functor_bag.60" = type { ptr }
%"class.boost::adjacency_list" = type { %"class.boost::vec_adj_list_impl", %"class.boost::scoped_ptr" }
%"class.boost::vec_adj_list_impl" = type { %"class.std::__cxx11::list", %"class.std::vector.82" }
%"class.std::__cxx11::list" = type { %"class.std::__cxx11::_List_base" }
%"class.std::__cxx11::_List_base" = type { %"struct.std::__cxx11::_List_base<boost::list_edge<unsigned long, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, std::allocator<boost::list_edge<unsigned long, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>>>::_List_impl" }
%"struct.std::__cxx11::_List_base<boost::list_edge<unsigned long, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, std::allocator<boost::list_edge<unsigned long, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>>>::_List_impl" = type { %"struct.std::__detail::_List_node_header" }
%"struct.std::__detail::_List_node_header" = type { %"struct.std::__detail::_List_node_base", i64 }
%"struct.std::__detail::_List_node_base" = type { ptr, ptr }
%"class.std::vector.82" = type { %"struct.std::_Vector_base.83" }
%"struct.std::_Vector_base.83" = type { %"struct.std::_Vector_base<boost::detail::adj_list_gen<boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge, boost::no_property, boost::listS>::config::stored_vertex, std::allocator<boost::detail::adj_list_gen<boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge, boost::no_property, boost::listS>::config::stored_vertex>>::_Vector_impl" }
%"struct.std::_Vector_base<boost::detail::adj_list_gen<boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge, boost::no_property, boost::listS>::config::stored_vertex, std::allocator<boost::detail::adj_list_gen<boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge, boost::no_property, boost::listS>::config::stored_vertex>>::_Vector_impl" = type { %"struct.std::_Vector_base<boost::detail::adj_list_gen<boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge, boost::no_property, boost::listS>::config::stored_vertex, std::allocator<boost::detail::adj_list_gen<boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge, boost::no_property, boost::listS>::config::stored_vertex>>::_Vector_impl_data" }
%"struct.std::_Vector_base<boost::detail::adj_list_gen<boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge, boost::no_property, boost::listS>::config::stored_vertex, std::allocator<boost::detail::adj_list_gen<boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge>, boost::vecS, boost::vecS, boost::bidirectionalS, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Vertex, libMultiRobotPlanning::Assignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Edge, boost::no_property, boost::listS>::config::stored_vertex>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.boost::scoped_ptr" = type { ptr }
%"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.87 }
%union.anon.87 = type { i32 }
%"class.std::__cxx11::basic_regex" = type { i32, %"class.std::locale", %"class.std::shared_ptr" }
%"class.std::shared_ptr" = type { %"class.std::__shared_ptr" }
%"class.std::__shared_ptr" = type { ptr, %"class.std::__shared_count" }
%"class.std::__shared_count" = type { ptr }
%"class.std::__cxx11::match_results" = type { %"class.std::vector.88", %"class.__gnu_cxx::__normal_iterator" }
%"class.std::vector.88" = type { %"struct.std::_Vector_base.89" }
%"struct.std::_Vector_base.89" = type { %"struct.std::_Vector_base<std::__cxx11::sub_match<__gnu_cxx::__normal_iterator<const char *, std::__cxx11::basic_string<char>>>, std::allocator<std::__cxx11::sub_match<__gnu_cxx::__normal_iterator<const char *, std::__cxx11::basic_string<char>>>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::__cxx11::sub_match<__gnu_cxx::__normal_iterator<const char *, std::__cxx11::basic_string<char>>>, std::allocator<std::__cxx11::sub_match<__gnu_cxx::__normal_iterator<const char *, std::__cxx11::basic_string<char>>>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::__cxx11::sub_match<__gnu_cxx::__normal_iterator<const char *, std::__cxx11::basic_string<char>>>, std::allocator<std::__cxx11::sub_match<__gnu_cxx::__normal_iterator<const char *, std::__cxx11::basic_string<char>>>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::__cxx11::sub_match<__gnu_cxx::__normal_iterator<const char *, std::__cxx11::basic_string<char>>>, std::allocator<std::__cxx11::sub_match<__gnu_cxx::__normal_iterator<const char *, std::__cxx11::basic_string<char>>>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }
%"struct.std::_Rb_tree_iterator" = type { 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 = 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 [8 x i8], align 1
@.str.8 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.10 = 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.11 = external hidden unnamed_addr constant [2 x i8], align 1
@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@.str.12 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.14 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.15 = external hidden unnamed_addr constant [21 x i8], align 1
@.str.16 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [3 x i8], align 1

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress norecurse uwtable
define dso_local noundef range(i32 0, 2) i32 @main(i32 noundef %0, ptr noundef %1) local_unnamed_addr #0 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 %"class.std::__cxx11::basic_string", align 8
  %7 = alloca %"class.std::__cxx11::basic_string", align 8
  %8 = alloca %"class.boost::program_options::options_description_easy_init", align 8
  %9 = alloca %"class.boost::program_options::variables_map", align 8
  %10 = alloca %"class.boost::program_options::basic_parsed_options", align 8
  %11 = alloca %"class.boost::function1.29", align 8
  %12 = alloca %"class.std::__cxx11::basic_string", align 8
  %13 = alloca %"class.std::allocator", align 1
  %14 = alloca %"class.libMultiRobotPlanning::Assignment", align 8
  %15 = alloca %"class.std::basic_ifstream", align 8
  %16 = alloca %"class.std::__cxx11::basic_regex", align 8
  %17 = alloca %"class.std::__cxx11::basic_string", align 8
  %18 = alloca %"class.std::__cxx11::match_results", align 8
  %19 = alloca %"class.std::__cxx11::basic_string", align 8
  %20 = alloca %"class.std::__cxx11::basic_string", align 8
  %21 = alloca %"class.std::__cxx11::basic_string", align 8
  %22 = alloca %"class.std::map.19", align 8
  %23 = alloca %"struct.std::_Rb_tree_iterator", align 8
  %24 = alloca %"struct.std::_Rb_tree_iterator", align 8
  %25 = alloca %"class.std::basic_ofstream", align 8
  %26 = alloca %"struct.std::_Rb_tree_iterator", align 8
  %27 = alloca %"struct.std::_Rb_tree_iterator", 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, ptr noundef nonnull align 1 dereferenceable(1) %5)
          to label %28 unwind label %59

28:                                               ; preds = %2
  %29 = load i32, ptr @_ZN5boost15program_options19options_description21m_default_line_lengthE, align 4, !tbaa !5
  %30 = lshr i32 %29, 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 %29, i32 noundef %30)
          to label %31 unwind label %61

31:                                               ; preds = %28
  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 32, ptr nonnull %6) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #10
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %7) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #10
  %32 = invoke ptr @_ZN5boost15program_options19options_description11add_optionsEv(ptr noundef nonnull align 8 dereferenceable(128) %3)
          to label %33 unwind label %64

33:                                               ; preds = %31
  store ptr %32, ptr %8, align 8
  %34 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcS3_(ptr noundef nonnull align 8 dereferenceable(8) %8, ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.6)
          to label %35 unwind label %64

35:                                               ; preds = %33
  %36 = invoke noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef nonnull %6)
          to label %37 unwind label %64

37:                                               ; preds = %35
  %38 = call noundef ptr @_ZN5boost15program_options11typed_valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %36)
  %39 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %34, ptr noundef nonnull @.str.7, ptr noundef %38, ptr noundef nonnull @.str.8)
          to label %40 unwind label %64

40:                                               ; preds = %37
  %41 = invoke noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef nonnull %7)
          to label %42 unwind label %64

42:                                               ; preds = %40
  %43 = call noundef ptr @_ZN5boost15program_options11typed_valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEcE8requiredEv(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.9, ptr noundef %43, ptr noundef nonnull @.str.10)
          to label %45 unwind label %64

45:                                               ; preds = %42
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #10
  call void @llvm.lifetime.start.p0(i64 160, ptr nonnull %9) #10
  invoke void @_ZN5boost15program_options13variables_mapC1Ev(ptr noundef nonnull align 8 dereferenceable(160) %9)
          to label %46 unwind label %68

46:                                               ; preds = %45
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %10) #10
  call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(32) %11, i8 0, i64 32, i1 false)
  invoke void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_EC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11)
          to label %47 unwind label %70

47:                                               ; preds = %46
  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 %10, i32 noundef %0, ptr noundef %1, ptr noundef nonnull align 8 dereferenceable(128) %3, i32 noundef 0, ptr noundef nonnull %11)
          to label %48 unwind label %72

48:                                               ; preds = %47
  invoke void @_ZN5boost15program_options5storeERKNS0_20basic_parsed_optionsIcEERNS0_13variables_mapEb(ptr noundef nonnull align 8 dereferenceable(36) %10, ptr noundef nonnull align 8 dereferenceable(160) %9, i1 noundef zeroext false)
          to label %49 unwind label %74

49:                                               ; preds = %48
  call void @_ZN5boost15program_options20basic_parsed_optionsIcED2Ev(ptr noundef nonnull align 8 dereferenceable(36) %10) #10
  call void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #10
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %10) #10
  invoke void @_ZN5boost15program_options6notifyERNS0_13variables_mapE(ptr noundef nonnull align 8 dereferenceable(160) %9)
          to label %50 unwind label %78

50:                                               ; preds = %49
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %12) #10
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %13) #10
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %13) #10
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %12, ptr noundef nonnull @.str.5, ptr noundef nonnull align 1 dereferenceable(1) %13)
          to label %51 unwind label %80

51:                                               ; preds = %50
  %52 = getelementptr inbounds i8, ptr %9, i64 16
  %53 = invoke noundef i64 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN5boost15program_options14variable_valueESt4lessIS5_ESaISt4pairIKS5_S8_EEE5countERSC_(ptr noundef nonnull align 8 dereferenceable(48) %52, ptr noundef nonnull align 8 dereferenceable(32) %12)
          to label %54 unwind label %82

54:                                               ; preds = %51
  %.not = icmp eq i64 %53, 0
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #10
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %13) #10
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %13) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %12) #10
  br i1 %.not, label %111, label %55

55:                                               ; preds = %54
  %56 = 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 %57 unwind label %78

57:                                               ; preds = %55
  %58 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %56, ptr noundef nonnull @.str.11)
          to label %85 unwind label %78

59:                                               ; preds = %2
  %60 = landingpad { ptr, i32 }
          cleanup
  br label %63

61:                                               ; preds = %28
  %62 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #10
  br label %63

63:                                               ; preds = %61, %59
  %.pn = phi { ptr, i32 } [ %62, %61 ], [ %60, %59 ]
  %.019 = extractvalue { ptr, i32 } %.pn, 0
  %.021 = 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 %247

64:                                               ; preds = %42, %40, %37, %35, %33, %31
  %65 = landingpad { ptr, i32 }
          cleanup
  %66 = extractvalue { ptr, i32 } %65, 0
  %67 = extractvalue { ptr, i32 } %65, 1
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #10
  br label %246

68:                                               ; preds = %45
  %69 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %87

70:                                               ; preds = %46
  %71 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %77

72:                                               ; preds = %47
  %73 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %76

74:                                               ; preds = %48
  %75 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  call void @_ZN5boost15program_options20basic_parsed_optionsIcED2Ev(ptr noundef nonnull align 8 dereferenceable(36) %10) #10
  br label %76

76:                                               ; preds = %74, %72
  %.pn45 = phi { ptr, i32 } [ %75, %74 ], [ %73, %72 ]
  call void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #10
  br label %77

77:                                               ; preds = %76, %70
  %.pn45.pn = phi { ptr, i32 } [ %.pn45, %76 ], [ %71, %70 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %10) #10
  br label %86

78:                                               ; preds = %57, %55, %49
  %79 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %86

80:                                               ; preds = %50
  %81 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %84

82:                                               ; preds = %51
  %83 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #10
  br label %84

84:                                               ; preds = %82, %80
  %.pn48 = phi { ptr, i32 } [ %83, %82 ], [ %81, %80 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %13) #10
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %13) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %12) #10
  br label %86

85:                                               ; preds = %57
  call void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160) %9) #10
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %9) #10
  br label %245

86:                                               ; preds = %84, %78, %77
  %.pn50 = phi { ptr, i32 } [ %79, %78 ], [ %.pn48, %84 ], [ %.pn45.pn, %77 ]
  call void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160) %9) #10
  br label %87

87:                                               ; preds = %86, %68
  %.pn50.pn = phi { ptr, i32 } [ %.pn50, %86 ], [ %69, %68 ]
  %.5 = extractvalue { ptr, i32 } %.pn50.pn, 0
  %.526 = extractvalue { ptr, i32 } %.pn50.pn, 1
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %9) #10
  %88 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN5boost15program_options5errorE) #10
  %89 = icmp eq i32 %.526, %88
  br i1 %89, label %90, label %246

90:                                               ; preds = %87
  %91 = call ptr @__cxa_begin_catch(ptr %.5) #10
  %92 = load ptr, ptr %91, align 8, !tbaa !9
  %93 = getelementptr inbounds i8, ptr %92, i64 16
  %94 = load ptr, ptr %93, align 8
  %95 = call noundef ptr %94(ptr noundef nonnull align 8 dereferenceable(16) %91) #10
  %96 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef %95)
          to label %97 unwind label %106

97:                                               ; preds = %90
  %98 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %96, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %99 unwind label %106

99:                                               ; preds = %97
  %100 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %98, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %101 unwind label %106

101:                                              ; preds = %99
  %102 = 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 %103 unwind label %106

103:                                              ; preds = %101
  %104 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %102, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %105 unwind label %106

105:                                              ; preds = %103
  invoke void @__cxa_end_catch()
          to label %245 unwind label %108

106:                                              ; preds = %103, %101, %99, %97, %90
  %107 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %110 unwind label %250

108:                                              ; preds = %105
  %109 = landingpad { ptr, i32 }
          cleanup
  br label %110

110:                                              ; preds = %106, %108
  %.pn53 = phi { ptr, i32 } [ %109, %108 ], [ %107, %106 ]
  %.6 = extractvalue { ptr, i32 } %.pn53, 0
  %.627 = extractvalue { ptr, i32 } %.pn53, 1
  br label %246

111:                                              ; preds = %54
  call void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160) %9) #10
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %9) #10
  call void @llvm.lifetime.start.p0(i64 200, ptr nonnull %14) #10
  invoke void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EC2Ev(ptr noundef nonnull align 8 dereferenceable(200) %14)
          to label %112 unwind label %126

112:                                              ; preds = %111
  call void @llvm.lifetime.start.p0(i64 520, ptr nonnull %15) #10
  invoke void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(256) %15, ptr noundef nonnull align 8 dereferenceable(32) %6, i32 noundef 8)
          to label %113 unwind label %128

113:                                              ; preds = %112
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %16) #10
  invoke void @_ZNSt7__cxx1111basic_regexIcNS_12regex_traitsIcEEEC2EPKcNSt15regex_constants18syntax_option_typeE(ptr noundef nonnull align 8 dereferenceable(32) %16, ptr noundef nonnull @.str.12, i32 noundef 16)
          to label %114 unwind label %130

114:                                              ; preds = %113
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %17) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %17) #10
  br label %115

115:                                              ; preds = %175, %114
  %116 = 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) %15, ptr noundef nonnull align 8 dereferenceable(32) %17)
          to label %117 unwind label %132

117:                                              ; preds = %115
  %118 = load ptr, ptr %116, align 8, !tbaa !9
  %119 = getelementptr i8, ptr %118, i64 -24
  %120 = load i64, ptr %119, align 8
  %121 = getelementptr inbounds i8, ptr %116, i64 %120
  %122 = invoke noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEEcvbEv(ptr noundef nonnull align 8 dereferenceable(264) %121)
          to label %123 unwind label %132

123:                                              ; preds = %117
  br i1 %122, label %134, label %124

124:                                              ; preds = %123
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %17) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %17) #10
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %22) #10
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(48) %22) #10
  %125 = invoke noundef i64 @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_E5solveERSt3mapIS6_S6_St4lessIS6_ESaISt4pairIKS6_S6_EEE(ptr noundef nonnull align 8 dereferenceable(200) %14, ptr noundef nonnull align 8 dereferenceable(48) %22)
          to label %178 unwind label %188

126:                                              ; preds = %111
  %127 = landingpad { ptr, i32 }
          cleanup
  br label %244

128:                                              ; preds = %112
  %129 = landingpad { ptr, i32 }
          cleanup
  br label %243

130:                                              ; preds = %113
  %131 = landingpad { ptr, i32 }
          cleanup
  br label %242

132:                                              ; preds = %117, %115
  %133 = landingpad { ptr, i32 }
          cleanup
  br label %177

134:                                              ; preds = %123
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %18) #10
  call void @_ZNSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %18)
  %135 = invoke noundef zeroext i1 @_ZSt12regex_searchISt11char_traitsIcESaIcESaINSt7__cxx119sub_matchIN9__gnu_cxx17__normal_iteratorIPKcNS3_12basic_stringIcS1_S2_EEEEEEEcNS3_12regex_traitsIcEEEbRKNS9_IT2_T_T0_EERNS3_13match_resultsINSJ_14const_iteratorET1_EERKNS3_11basic_regexISG_T3_EENSt15regex_constants15match_flag_typeE(ptr noundef nonnull align 8 dereferenceable(32) %17, ptr noundef nonnull align 8 dereferenceable(32) %18, ptr noundef nonnull align 8 dereferenceable(32) %16, i32 noundef 0)
          to label %136 unwind label %148

136:                                              ; preds = %134
  br i1 %135, label %137, label %164

137:                                              ; preds = %136
  %138 = call noundef i64 @_ZNKSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(32) %18) #10
  %139 = icmp eq i64 %138, 4
  br i1 %139, label %140, label %164

140:                                              ; preds = %137
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %19) #10
  invoke void @_ZNKSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEE3strEm(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %19, ptr noundef nonnull align 8 dereferenceable(32) %18, i64 noundef 1)
          to label %141 unwind label %150

141:                                              ; preds = %140
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %20) #10
  invoke void @_ZNKSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEE3strEm(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %20, ptr noundef nonnull align 8 dereferenceable(32) %18, i64 noundef 2)
          to label %142 unwind label %152

142:                                              ; preds = %141
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %21) #10
  invoke void @_ZNKSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEE3strEm(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %21, ptr noundef nonnull align 8 dereferenceable(32) %18, i64 noundef 3)
          to label %143 unwind label %154

143:                                              ; preds = %142
  %144 = invoke noundef i32 @_ZNSt7__cxx114stoiERKNS_12basic_stringIcSt11char_traitsIcESaIcEEEPmi(ptr noundef nonnull align 8 dereferenceable(32) %21, ptr noundef null, i32 noundef 10)
          to label %145 unwind label %156

145:                                              ; preds = %143
  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
  %146 = sext i32 %144 to i64
  invoke void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_E7setCostERKS6_S9_l(ptr noundef nonnull align 8 dereferenceable(200) %14, ptr noundef nonnull align 8 dereferenceable(32) %19, ptr noundef nonnull align 8 dereferenceable(32) %20, i64 noundef %146)
          to label %147 unwind label %159

147:                                              ; preds = %145
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %20) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %19) #10
  br label %175

148:                                              ; preds = %173, %170, %168, %166, %164, %134
  %149 = landingpad { ptr, i32 }
          cleanup
  br label %176

150:                                              ; preds = %140
  %151 = landingpad { ptr, i32 }
          cleanup
  br label %163

152:                                              ; preds = %141
  %153 = landingpad { ptr, i32 }
          cleanup
  br label %162

154:                                              ; preds = %142
  %155 = landingpad { ptr, i32 }
          cleanup
  br label %158

156:                                              ; preds = %143
  %157 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #10
  br label %158

158:                                              ; preds = %156, %154
  %.pn60 = phi { ptr, i32 } [ %157, %156 ], [ %155, %154 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %21) #10
  br label %161

159:                                              ; preds = %145
  %160 = landingpad { ptr, i32 }
          cleanup
  br label %161

161:                                              ; preds = %159, %158
  %.pn62 = phi { ptr, i32 } [ %160, %159 ], [ %.pn60, %158 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20) #10
  br label %162

162:                                              ; preds = %161, %152
  %.pn62.pn = phi { ptr, i32 } [ %.pn62, %161 ], [ %153, %152 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %20) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #10
  br label %163

163:                                              ; preds = %162, %150
  %.pn62.pn.pn = phi { ptr, i32 } [ %.pn62.pn, %162 ], [ %151, %150 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %19) #10
  br label %176

164:                                              ; preds = %137, %136
  %165 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef nonnull @.str.13)
          to label %166 unwind label %148

166:                                              ; preds = %164
  %167 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %165, ptr noundef nonnull align 8 dereferenceable(32) %17)
          to label %168 unwind label %148

168:                                              ; preds = %166
  %169 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %167, ptr noundef nonnull @.str.14)
          to label %170 unwind label %148

170:                                              ; preds = %168
  %171 = call noundef i64 @_ZNKSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(32) %18) #10
  %172 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %169, i64 noundef %171)
          to label %173 unwind label %148

173:                                              ; preds = %170
  %174 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %172, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %175 unwind label %148

175:                                              ; preds = %173, %147
  call void @_ZNSt6vectorINSt7__cxx119sub_matchIN9__gnu_cxx17__normal_iteratorIPKcNS0_12basic_stringIcSt11char_traitsIcESaIcEEEEEEESaISC_EED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %18) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %18) #10
  br label %115, !llvm.loop !11

176:                                              ; preds = %163, %148
  %.pn62.pn.pn.pn = phi { ptr, i32 } [ %.pn62.pn.pn, %163 ], [ %149, %148 ]
  call void @_ZNSt6vectorINSt7__cxx119sub_matchIN9__gnu_cxx17__normal_iteratorIPKcNS0_12basic_stringIcSt11char_traitsIcESaIcEEEEEEESaISC_EED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %18) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %18) #10
  br label %177

177:                                              ; preds = %176, %132
  %.pn62.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn62.pn.pn.pn, %176 ], [ %133, %132 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %17) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %17) #10
  br label %241

178:                                              ; preds = %124
  %179 = 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.15)
          to label %180 unwind label %188

180:                                              ; preds = %178
  %181 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEl(ptr noundef nonnull align 8 dereferenceable(8) %179, i64 noundef %125)
          to label %182 unwind label %188

182:                                              ; preds = %180
  %183 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %181, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %184 unwind label %188

184:                                              ; preds = %182
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %23) #10
  %185 = call ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48) %22) #10
  store ptr %185, ptr %23, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %24) #10
  %186 = call ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(48) %22) #10
  store ptr %186, ptr %24, align 8
  %187 = call noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EESB_(ptr noundef nonnull align 8 dereferenceable(8) %23, ptr noundef nonnull align 8 dereferenceable(8) %24) #10
  br i1 %187, label %.lr.ph, label %._crit_edge

._crit_edge:                                      ; preds = %199, %184
  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.start.p0(i64 512, ptr nonnull %25) #10
  invoke void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248) %25, ptr noundef nonnull align 8 dereferenceable(32) %7, i32 noundef 16)
          to label %204 unwind label %218

188:                                              ; preds = %182, %180, %178, %124
  %189 = landingpad { ptr, i32 }
          cleanup
  br label %240

.lr.ph:                                           ; preds = %184, %199
  %190 = call noundef nonnull align 8 dereferenceable(64) ptr @_ZNKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %23) #10
  %191 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull align 8 dereferenceable(32) %190)
          to label %192 unwind label %202

192:                                              ; preds = %.lr.ph
  %193 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %191, ptr noundef nonnull @.str.16)
          to label %194 unwind label %202

194:                                              ; preds = %192
  %195 = getelementptr inbounds i8, ptr %190, i64 32
  %196 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %193, ptr noundef nonnull align 8 dereferenceable(32) %195)
          to label %197 unwind label %202

197:                                              ; preds = %194
  %198 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %196, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %199 unwind label %202

199:                                              ; preds = %197
  %200 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EEppEv(ptr noundef nonnull align 8 dereferenceable(8) %23) #10
  %201 = call noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EESB_(ptr noundef nonnull align 8 dereferenceable(8) %23, ptr noundef nonnull align 8 dereferenceable(8) %24) #10
  br i1 %201, label %.lr.ph, label %._crit_edge

202:                                              ; preds = %197, %194, %192, %.lr.ph
  %203 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %24) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %23) #10
  br label %240

204:                                              ; preds = %._crit_edge
  %205 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %25, ptr noundef nonnull @.str.17)
          to label %206 unwind label %220

206:                                              ; preds = %204
  %207 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEl(ptr noundef nonnull align 8 dereferenceable(8) %205, i64 noundef %125)
          to label %208 unwind label %220

208:                                              ; preds = %206
  %209 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %207, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %210 unwind label %220

210:                                              ; preds = %208
  %211 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %25, ptr noundef nonnull @.str.18)
          to label %212 unwind label %220

212:                                              ; preds = %210
  %213 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %211, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %214 unwind label %220

214:                                              ; preds = %212
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %26) #10
  %215 = call ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48) %22) #10
  store ptr %215, ptr %26, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %27) #10
  %216 = call ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(48) %22) #10
  store ptr %216, ptr %27, align 8
  %217 = call noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EESB_(ptr noundef nonnull align 8 dereferenceable(8) %26, ptr noundef nonnull align 8 dereferenceable(8) %27) #10
  br i1 %217, label %.lr.ph73, label %._crit_edge74

._crit_edge74:                                    ; preds = %233, %214
  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 @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %25) #10
  call void @llvm.lifetime.end.p0(i64 512, ptr nonnull %25) #10
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %22) #10
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %22) #10
  call void @_ZNSt7__cxx1111basic_regexIcNS_12regex_traitsIcEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %16) #10
  call void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(256) %15) #10
  call void @llvm.lifetime.end.p0(i64 520, ptr nonnull %15) #10
  call void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_ED2Ev(ptr noundef nonnull align 8 dereferenceable(200) %14) #10
  call void @llvm.lifetime.end.p0(i64 200, ptr nonnull %14) #10
  br label %245

218:                                              ; preds = %._crit_edge
  %219 = landingpad { ptr, i32 }
          cleanup
  br label %239

220:                                              ; preds = %212, %210, %208, %206, %204
  %221 = landingpad { ptr, i32 }
          cleanup
  br label %238

.lr.ph73:                                         ; preds = %214, %233
  %222 = call noundef nonnull align 8 dereferenceable(64) ptr @_ZNKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %26) #10
  %223 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %25, ptr noundef nonnull @.str.19)
          to label %224 unwind label %236

224:                                              ; preds = %.lr.ph73
  %225 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %223, ptr noundef nonnull align 8 dereferenceable(32) %222)
          to label %226 unwind label %236

226:                                              ; preds = %224
  %227 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %225, ptr noundef nonnull @.str.16)
          to label %228 unwind label %236

228:                                              ; preds = %226
  %229 = getelementptr inbounds i8, ptr %222, i64 32
  %230 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %227, ptr noundef nonnull align 8 dereferenceable(32) %229)
          to label %231 unwind label %236

231:                                              ; preds = %228
  %232 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %230, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %233 unwind label %236

233:                                              ; preds = %231
  %234 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EEppEv(ptr noundef nonnull align 8 dereferenceable(8) %26) #10
  %235 = call noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EESB_(ptr noundef nonnull align 8 dereferenceable(8) %26, ptr noundef nonnull align 8 dereferenceable(8) %27) #10
  br i1 %235, label %.lr.ph73, label %._crit_edge74

236:                                              ; preds = %231, %228, %226, %224, %.lr.ph73
  %237 = landingpad { ptr, i32 }
          cleanup
  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 %238

238:                                              ; preds = %236, %220
  %.pn55 = phi { ptr, i32 } [ %237, %236 ], [ %221, %220 ]
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %25) #10
  br label %239

239:                                              ; preds = %238, %218
  %.pn55.pn = phi { ptr, i32 } [ %.pn55, %238 ], [ %219, %218 ]
  call void @llvm.lifetime.end.p0(i64 512, ptr nonnull %25) #10
  br label %240

240:                                              ; preds = %239, %202, %188
  %.pn58 = phi { ptr, i32 } [ %203, %202 ], [ %.pn55.pn, %239 ], [ %189, %188 ]
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %22) #10
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %22) #10
  br label %241

241:                                              ; preds = %240, %177
  %.pn62.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn62.pn.pn.pn.pn, %177 ], [ %.pn58, %240 ]
  call void @_ZNSt7__cxx1111basic_regexIcNS_12regex_traitsIcEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #10
  br label %242

242:                                              ; preds = %241, %130
  %.pn62.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn62.pn.pn.pn.pn.pn, %241 ], [ %131, %130 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %16) #10
  call void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(256) %15) #10
  br label %243

243:                                              ; preds = %242, %128
  %.pn62.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn62.pn.pn.pn.pn.pn.pn, %242 ], [ %129, %128 ]
  call void @llvm.lifetime.end.p0(i64 520, ptr nonnull %15) #10
  call void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_ED2Ev(ptr noundef nonnull align 8 dereferenceable(200) %14) #10
  br label %244

244:                                              ; preds = %243, %126
  %.pn62.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn62.pn.pn.pn.pn.pn.pn.pn, %243 ], [ %127, %126 ]
  %.19 = extractvalue { ptr, i32 } %.pn62.pn.pn.pn.pn.pn.pn.pn.pn, 0
  %.1940 = extractvalue { ptr, i32 } %.pn62.pn.pn.pn.pn.pn.pn.pn.pn, 1
  call void @llvm.lifetime.end.p0(i64 200, ptr nonnull %14) #10
  br label %246

245:                                              ; preds = %85, %105, %._crit_edge74
  %.1 = phi i32 [ 0, %._crit_edge74 ], [ 0, %85 ], [ 1, %105 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %7) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #10
  call void @llvm.lifetime.end.p0(i64 32, 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

246:                                              ; preds = %244, %110, %87, %64
  %.2041 = phi i32 [ %.1940, %244 ], [ %.627, %110 ], [ %.526, %87 ], [ %67, %64 ]
  %.20 = phi ptr [ %.19, %244 ], [ %.6, %110 ], [ %.5, %87 ], [ %66, %64 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %7) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #10
  call void @_ZN5boost15program_options19options_descriptionD2Ev(ptr noundef nonnull align 8 dereferenceable(128) %3) #10
  br label %247

247:                                              ; preds = %246, %63
  %.2142 = phi i32 [ %.2041, %246 ], [ %.021, %63 ]
  %.21 = phi ptr [ %.20, %246 ], [ %.019, %63 ]
  call void @llvm.lifetime.end.p0(i64 128, ptr nonnull %3) #10
  %248 = insertvalue { ptr, i32 } poison, ptr %.21, 0
  %249 = insertvalue { ptr, i32 } %248, i32 %.2142, 1
  resume { ptr, i32 } %249

250:                                              ; preds = %106
  %251 = landingpad { ptr, i32 }
          catch ptr null
  %252 = extractvalue { ptr, i32 } %251, 0
  call void @__clang_call_terminate(ptr %252) #11
  unreachable
}

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

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

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 #4

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

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

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

declare ptr @_ZN5boost15program_options19options_description11add_optionsEv(ptr noundef nonnull align 8 dereferenceable(128)) local_unnamed_addr #4

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 #4

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 #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef) local_unnamed_addr #3

; 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 #2 align 2

declare void @_ZN5boost15program_options13variables_mapC1Ev(ptr noundef nonnull align 8 dereferenceable(160)) unnamed_addr #4

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 #4

; 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 #3

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_EC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #3 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 #6 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 #2 align 2

declare void @_ZN5boost15program_options6notifyERNS0_13variables_mapE(ptr noundef nonnull align 8 dereferenceable(160)) local_unnamed_addr #4

; 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 #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #7

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 #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160)) unnamed_addr #6 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 #3 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)) #7

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 uwtable
declare dso_local void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EC2Ev(ptr noundef nonnull align 8 dereferenceable(200)) unnamed_addr #3 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 #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1111basic_regexIcNS_12regex_traitsIcEEEC2EPKcNSt15regex_constants18syntax_option_typeE(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, i32 noundef) unnamed_addr #3 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 #7

; Function Attrs: mustprogress uwtable
declare noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEEcvbEv(ptr noundef nonnull align 8 dereferenceable(264)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZSt12regex_searchISt11char_traitsIcESaIcESaINSt7__cxx119sub_matchIN9__gnu_cxx17__normal_iteratorIPKcNS3_12basic_stringIcS1_S2_EEEEEEEcNS3_12regex_traitsIcEEEbRKNS9_IT2_T_T0_EERNS3_13match_resultsINSJ_14const_iteratorET1_EERKNS3_11basic_regexISG_T3_EENSt15regex_constants15match_flag_typeE(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32), i32 noundef) local_unnamed_addr #7

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNKSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEE3strEm(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(32), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNSt7__cxx114stoiERKNS_12basic_stringIcSt11char_traitsIcESaIcEEEPmi(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, i32 noundef) local_unnamed_addr #7

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_E7setCostERKS6_S9_l(ptr noundef nonnull align 8 dereferenceable(200), ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #7

; 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 #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_E5solveERSt3mapIS6_S6_St4lessIS6_ESaISt4pairIKS6_S6_EEE(ptr noundef nonnull align 8 dereferenceable(200), ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEl(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EESB_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(64) ptr @_ZNKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EEppEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 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 #3 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt7__cxx1111basic_regexIcNS_12regex_traitsIcEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_ED2Ev(ptr noundef nonnull align 8 dereferenceable(200)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5boost15program_options19options_descriptionD2Ev(ptr noundef nonnull align 8 dereferenceable(128)) unnamed_addr #6 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorINSt7__cxx119sub_matchIN9__gnu_cxx17__normal_iteratorIPKcNS0_12basic_stringIcSt11char_traitsIcESaIcEEEEEEESaISC_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

attributes #0 = { 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 #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { "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 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #6 = { 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 #7 = { 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 #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"}


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