; LLVM IR from whoenig/libMultiRobotPlanning :: example (next_best_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::NextBestAssignment" = type { %"class.libMultiRobotPlanning::Assignment", %"class.std::map.87", %"class.std::vector.93", %"class.std::set", %"class.std::priority_queue", i64 }
%"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::map.87" = type { %"class.std::_Rb_tree.88" }
%"class.std::_Rb_tree.88" = type { %"struct.std::_Rb_tree<std::pair<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>, std::pair<const std::pair<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>, long>, std::_Select1st<std::pair<const std::pair<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>, long>>, std::less<std::pair<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::pair<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>, std::pair<const std::pair<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>, long>, std::_Select1st<std::pair<const std::pair<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>, long>>, std::less<std::pair<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"class.std::vector.93" = type { %"struct.std::_Vector_base.94" }
%"struct.std::_Vector_base.94" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::priority_queue" = type <{ %"class.std::vector.98", [8 x i8] }>
%"class.std::vector.98" = type { %"struct.std::_Vector_base.99" }
%"struct.std::_Vector_base.99" = type { %"struct.std::_Vector_base<libMultiRobotPlanning::NextBestAssignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Node, std::allocator<libMultiRobotPlanning::NextBestAssignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Node>>::_Vector_impl" }
%"struct.std::_Vector_base<libMultiRobotPlanning::NextBestAssignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Node, std::allocator<libMultiRobotPlanning::NextBestAssignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Node>>::_Vector_impl" = type { %"struct.std::_Vector_base<libMultiRobotPlanning::NextBestAssignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Node, std::allocator<libMultiRobotPlanning::NextBestAssignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Node>>::_Vector_impl_data" }
%"struct.std::_Vector_base<libMultiRobotPlanning::NextBestAssignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Node, std::allocator<libMultiRobotPlanning::NextBestAssignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Node>>::_Vector_impl_data" = type { ptr, ptr, 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.103 }
%union.anon.103 = 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.104", %"class.__gnu_cxx::__normal_iterator" }
%"class.std::vector.104" = type { %"struct.std::_Vector_base.105" }
%"struct.std::_Vector_base.105" = 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 }
%"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::_Rb_tree_iterator" = 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 [11 x i8], align 1
@.str.16 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.20 = 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::NextBestAssignment", align 8
  %22 = alloca %"class.libMultiRobotPlanning::Assignment", align 8
  %23 = alloca %"class.std::basic_ifstream", align 8
  %24 = alloca %"class.std::__cxx11::basic_regex", align 8
  %25 = alloca %"class.std::__cxx11::basic_string", align 8
  %26 = alloca %"class.std::__cxx11::match_results", align 8
  %27 = alloca %"class.std::__cxx11::basic_string", align 8
  %28 = alloca %"class.std::__cxx11::basic_string", align 8
  %29 = alloca i32, align 4
  %30 = alloca %"class.std::__cxx11::basic_string", align 8
  %31 = alloca %"class.std::map.19", align 8
  %32 = alloca %"class.std::basic_ofstream", align 8
  %33 = alloca i64, align 8
  %34 = alloca i64, align 8
  %35 = alloca ptr, align 8
  %36 = alloca %"struct.std::_Rb_tree_iterator", align 8
  %37 = alloca %"struct.std::_Rb_tree_iterator", align 8
  %38 = 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 %39 unwind label %78

39:                                               ; preds = %2
  %40 = load i32, ptr @_ZN5boost15program_options19options_description21m_default_line_lengthE, align 4, !tbaa !5
  %41 = load i32, ptr @_ZN5boost15program_options19options_description21m_default_line_lengthE, align 4, !tbaa !5
  %42 = udiv i32 %41, 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 %40, i32 noundef %42)
          to label %43 unwind label %82

43:                                               ; preds = %39
  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
  %44 = invoke ptr @_ZN5boost15program_options19options_description11add_optionsEv(ptr noundef nonnull align 8 dereferenceable(128) %6)
          to label %45 unwind label %87

45:                                               ; preds = %43
  %46 = getelementptr inbounds %"class.boost::program_options::options_description_easy_init", ptr %13, i32 0, i32 0
  store ptr %44, ptr %46, align 8
  %47 = 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 %48 unwind label %87

48:                                               ; preds = %45
  %49 = invoke noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef %11)
          to label %50 unwind label %87

50:                                               ; preds = %48
  %51 = invoke noundef ptr @_ZN5boost15program_options11typed_valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %49)
          to label %52 unwind label %87

52:                                               ; preds = %50
  %53 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %47, ptr noundef @.str.7, ptr noundef %51, ptr noundef @.str.8)
          to label %54 unwind label %87

54:                                               ; preds = %52
  %55 = invoke noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef %12)
          to label %56 unwind label %87

56:                                               ; preds = %54
  %57 = invoke noundef ptr @_ZN5boost15program_options11typed_valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %55)
          to label %58 unwind label %87

58:                                               ; preds = %56
  %59 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %53, ptr noundef @.str.9, ptr noundef %57, ptr noundef @.str.10)
          to label %60 unwind label %87

60:                                               ; preds = %58
  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 %61 unwind label %91

61:                                               ; preds = %60
  call void @llvm.lifetime.start.p0(i64 40, ptr %15) #10
  %62 = load i32, ptr %4, align 4, !tbaa !5
  %63 = 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 %64 unwind label %95

64:                                               ; preds = %61
  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 %62, ptr noundef %63, ptr noundef nonnull align 8 dereferenceable(128) %6, i32 noundef 0, ptr noundef %16)
          to label %65 unwind label %99

65:                                               ; preds = %64
  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 %66 unwind label %103

66:                                               ; preds = %65
  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 %67 unwind label %109

67:                                               ; preds = %66
  %68 = 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 %69 unwind label %113

69:                                               ; preds = %67
  %70 = invoke noundef i64 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN5boost15program_options14variable_valueESt4lessIS5_ESaISt4pairIKS5_S8_EEE5countERSC_(ptr noundef nonnull align 8 dereferenceable(48) %68, ptr noundef nonnull align 8 dereferenceable(32) %17)
          to label %71 unwind label %117

71:                                               ; preds = %69
  %72 = icmp ne i64 %70, 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 %72, label %73, label %122

73:                                               ; preds = %71
  %74 = 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 %75 unwind label %109

75:                                               ; preds = %73
  %76 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %74, ptr noundef @.str.11)
          to label %77 unwind label %109

77:                                               ; preds = %75
  store i32 0, ptr %3, align 4
  store i32 1, ptr %19, align 4
  br label %123

78:                                               ; preds = %2
  %79 = landingpad { ptr, i32 }
          cleanup
  %80 = extractvalue { ptr, i32 } %79, 0
  store ptr %80, ptr %9, align 8
  %81 = extractvalue { ptr, i32 } %79, 1
  store i32 %81, ptr %10, align 4
  br label %86

82:                                               ; preds = %39
  %83 = landingpad { ptr, i32 }
          cleanup
  %84 = extractvalue { ptr, i32 } %83, 0
  store ptr %84, ptr %9, align 8
  %85 = extractvalue { ptr, i32 } %83, 1
  store i32 %85, ptr %10, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #10
  br label %86

86:                                               ; preds = %82, %78
  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 %360

87:                                               ; preds = %58, %56, %54, %52, %50, %48, %45, %43
  %88 = landingpad { ptr, i32 }
          cleanup
  %89 = extractvalue { ptr, i32 } %88, 0
  store ptr %89, ptr %9, align 8
  %90 = extractvalue { ptr, i32 } %88, 1
  store i32 %90, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #10
  br label %359

91:                                               ; preds = %60
  %92 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %93 = extractvalue { ptr, i32 } %92, 0
  store ptr %93, ptr %9, align 8
  %94 = extractvalue { ptr, i32 } %92, 1
  store i32 %94, ptr %10, align 4
  br label %127

95:                                               ; preds = %61
  %96 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %97 = extractvalue { ptr, i32 } %96, 0
  store ptr %97, ptr %9, align 8
  %98 = extractvalue { ptr, i32 } %96, 1
  store i32 %98, ptr %10, align 4
  br label %108

99:                                               ; preds = %64
  %100 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %101 = extractvalue { ptr, i32 } %100, 0
  store ptr %101, ptr %9, align 8
  %102 = extractvalue { ptr, i32 } %100, 1
  store i32 %102, ptr %10, align 4
  br label %107

103:                                              ; preds = %65
  %104 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %105 = extractvalue { ptr, i32 } %104, 0
  store ptr %105, ptr %9, align 8
  %106 = extractvalue { ptr, i32 } %104, 1
  store i32 %106, ptr %10, align 4
  call void @_ZN5boost15program_options20basic_parsed_optionsIcED2Ev(ptr noundef nonnull align 8 dereferenceable(36) %15) #10
  br label %107

107:                                              ; preds = %103, %99
  call void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #10
  br label %108

108:                                              ; preds = %107, %95
  call void @llvm.lifetime.end.p0(i64 40, ptr %15) #10
  br label %126

109:                                              ; preds = %75, %73, %66
  %110 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %111 = extractvalue { ptr, i32 } %110, 0
  store ptr %111, ptr %9, align 8
  %112 = extractvalue { ptr, i32 } %110, 1
  store i32 %112, ptr %10, align 4
  br label %126

113:                                              ; preds = %67
  %114 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %115 = extractvalue { ptr, i32 } %114, 0
  store ptr %115, ptr %9, align 8
  %116 = extractvalue { ptr, i32 } %114, 1
  store i32 %116, ptr %10, align 4
  br label %121

117:                                              ; preds = %69
  %118 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  %119 = extractvalue { ptr, i32 } %118, 0
  store ptr %119, ptr %9, align 8
  %120 = extractvalue { ptr, i32 } %118, 1
  store i32 %120, ptr %10, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %17) #10
  br label %121

121:                                              ; preds = %117, %113
  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 %126

122:                                              ; preds = %71
  store i32 0, ptr %19, align 4
  br label %123

123:                                              ; preds = %122, %77
  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
  %124 = load i32, ptr %19, align 4
  switch i32 %124, label %357 [
    i32 0, label %125
  ]

125:                                              ; preds = %123
  br label %161

126:                                              ; preds = %121, %109, %108
  call void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160) %14) #10
  br label %127

127:                                              ; preds = %126, %91
  call void @llvm.lifetime.end.p0(i64 160, ptr %14) #10
  br label %128

128:                                              ; preds = %127
  %129 = load i32, ptr %10, align 4
  %130 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN5boost15program_options5errorE) #10
  %131 = icmp eq i32 %129, %130
  br i1 %131, label %132, label %359

132:                                              ; preds = %128
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #10
  %133 = load ptr, ptr %9, align 8
  %134 = call ptr @__cxa_begin_catch(ptr %133) #10
  store ptr %134, ptr %20, align 8
  %135 = load ptr, ptr %20, align 8, !tbaa !9
  %136 = load ptr, ptr %135, align 8, !tbaa !11
  %137 = getelementptr inbounds ptr, ptr %136, i64 2
  %138 = load ptr, ptr %137, align 8
  %139 = call noundef ptr %138(ptr noundef nonnull align 8 dereferenceable(16) %135) #10
  %140 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef %139)
          to label %141 unwind label %150

141:                                              ; preds = %132
  %142 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %140, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %143 unwind label %150

143:                                              ; preds = %141
  %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 %150

145:                                              ; preds = %143
  %146 = 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 %147 unwind label %150

147:                                              ; preds = %145
  %148 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %146, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %149 unwind label %150

149:                                              ; preds = %147
  store i32 1, ptr %3, align 4
  store i32 1, ptr %19, align 4
  invoke void @__cxa_end_catch()
          to label %154 unwind label %155

150:                                              ; preds = %147, %145, %143, %141, %132
  %151 = landingpad { ptr, i32 }
          cleanup
  %152 = extractvalue { ptr, i32 } %151, 0
  store ptr %152, ptr %9, align 8
  %153 = extractvalue { ptr, i32 } %151, 1
  store i32 %153, ptr %10, align 4
  invoke void @__cxa_end_catch()
          to label %159 unwind label %366

154:                                              ; preds = %149
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #10
  br label %357

155:                                              ; preds = %149
  %156 = landingpad { ptr, i32 }
          cleanup
  %157 = extractvalue { ptr, i32 } %156, 0
  store ptr %157, ptr %9, align 8
  %158 = extractvalue { ptr, i32 } %156, 1
  store i32 %158, ptr %10, align 4
  br label %160

159:                                              ; preds = %150
  br label %160

160:                                              ; preds = %159, %155
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #10
  br label %359

161:                                              ; preds = %125
  call void @llvm.lifetime.start.p0(i64 360, ptr %21) #10
  call void @llvm.lifetime.start.p0(i64 200, ptr %22) #10
  invoke void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EC2Ev(ptr noundef nonnull align 8 dereferenceable(200) %22)
          to label %162 unwind label %176

162:                                              ; preds = %161
  invoke void @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEEC2ERKS8_(ptr noundef nonnull align 8 dereferenceable(360) %21, ptr noundef nonnull align 8 dereferenceable(200) %22)
          to label %163 unwind label %180

163:                                              ; preds = %162
  call void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_ED2Ev(ptr noundef nonnull align 8 dereferenceable(200) %22) #10
  call void @llvm.lifetime.end.p0(i64 200, ptr %22) #10
  call void @llvm.lifetime.start.p0(i64 520, ptr %23) #10
  invoke void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(256) %23, ptr noundef nonnull align 8 dereferenceable(32) %11, i32 noundef 8)
          to label %164 unwind label %185

164:                                              ; preds = %163
  call void @llvm.lifetime.start.p0(i64 32, ptr %24) #10
  invoke void @_ZNSt7__cxx1111basic_regexIcNS_12regex_traitsIcEEEC2EPKcNSt15regex_constants18syntax_option_typeE(ptr noundef nonnull align 8 dereferenceable(32) %24, ptr noundef @.str.12, i32 noundef 16)
          to label %165 unwind label %189

165:                                              ; preds = %164
  call void @llvm.lifetime.start.p0(i64 32, ptr %25) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %25) #10
  br label %166

166:                                              ; preds = %257, %165
  %167 = 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) %23, ptr noundef nonnull align 8 dereferenceable(32) %25)
          to label %168 unwind label %193

168:                                              ; preds = %166
  %169 = load ptr, ptr %167, align 8, !tbaa !11
  %170 = getelementptr i8, ptr %169, i64 -24
  %171 = load i64, ptr %170, align 8
  %172 = getelementptr inbounds i8, ptr %167, i64 %171
  %173 = invoke noundef zeroext i1 @_ZNKSt9basic_iosIcSt11char_traitsIcEEcvbEv(ptr noundef nonnull align 8 dereferenceable(264) %172)
          to label %174 unwind label %193

174:                                              ; preds = %168
  br i1 %173, label %197, label %175

175:                                              ; preds = %174
  store i32 2, ptr %19, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %25) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %25) #10
  br label %261

176:                                              ; preds = %161
  %177 = landingpad { ptr, i32 }
          cleanup
  %178 = extractvalue { ptr, i32 } %177, 0
  store ptr %178, ptr %9, align 8
  %179 = extractvalue { ptr, i32 } %177, 1
  store i32 %179, ptr %10, align 4
  br label %184

180:                                              ; preds = %162
  %181 = landingpad { ptr, i32 }
          cleanup
  %182 = extractvalue { ptr, i32 } %181, 0
  store ptr %182, ptr %9, align 8
  %183 = extractvalue { ptr, i32 } %181, 1
  store i32 %183, ptr %10, align 4
  call void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_ED2Ev(ptr noundef nonnull align 8 dereferenceable(200) %22) #10
  br label %184

184:                                              ; preds = %180, %176
  call void @llvm.lifetime.end.p0(i64 200, ptr %22) #10
  br label %356

185:                                              ; preds = %163
  %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 %355

189:                                              ; preds = %164
  %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 %354

193:                                              ; preds = %168, %166
  %194 = landingpad { ptr, i32 }
          cleanup
  %195 = extractvalue { ptr, i32 } %194, 0
  store ptr %195, ptr %9, align 8
  %196 = extractvalue { ptr, i32 } %194, 1
  store i32 %196, ptr %10, align 4
  br label %260

197:                                              ; preds = %174
  call void @llvm.lifetime.start.p0(i64 32, ptr %26) #10
  invoke void @_ZNSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %26)
          to label %198 unwind label %213

198:                                              ; preds = %197
  %199 = 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) %25, ptr noundef nonnull align 8 dereferenceable(32) %26, ptr noundef nonnull align 8 dereferenceable(32) %24, i32 noundef 0)
          to label %200 unwind label %217

200:                                              ; preds = %198
  br i1 %199, label %201, label %245

201:                                              ; preds = %200
  %202 = call noundef i64 @_ZNKSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(32) %26) #10
  %203 = icmp eq i64 %202, 4
  br i1 %203, label %204, label %245

204:                                              ; preds = %201
  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) %26, i64 noundef 1)
          to label %205 unwind label %221

205:                                              ; preds = %204
  call void @llvm.lifetime.start.p0(i64 32, ptr %28) #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 %28, ptr noundef nonnull align 8 dereferenceable(32) %26, i64 noundef 2)
          to label %206 unwind label %225

206:                                              ; preds = %205
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #10
  call void @llvm.lifetime.start.p0(i64 32, ptr %30) #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 %30, ptr noundef nonnull align 8 dereferenceable(32) %26, i64 noundef 3)
          to label %207 unwind label %229

207:                                              ; preds = %206
  %208 = invoke noundef i32 @_ZNSt7__cxx114stoiERKNS_12basic_stringIcSt11char_traitsIcESaIcEEEPmi(ptr noundef nonnull align 8 dereferenceable(32) %30, ptr noundef null, i32 noundef 10)
          to label %209 unwind label %233

209:                                              ; preds = %207
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %30) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %30) #10
  store i32 %208, ptr %29, align 4, !tbaa !5
  %210 = load i32, ptr %29, align 4, !tbaa !5
  %211 = sext i32 %210 to i64
  invoke void @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEE7setCostERKS6_SB_l(ptr noundef nonnull align 8 dereferenceable(360) %21, ptr noundef nonnull align 8 dereferenceable(32) %27, ptr noundef nonnull align 8 dereferenceable(32) %28, i64 noundef %211)
          to label %212 unwind label %238

212:                                              ; preds = %209
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %28) #10
  call void @llvm.lifetime.end.p0(i64 32, 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
  br label %257

213:                                              ; preds = %197
  %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 %259

217:                                              ; preds = %254, %251, %249, %247, %245, %198
  %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 %258

221:                                              ; preds = %204
  %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 %244

225:                                              ; preds = %205
  %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 %243

229:                                              ; preds = %206
  %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
  br label %237

233:                                              ; preds = %207
  %234 = landingpad { ptr, i32 }
          cleanup
  %235 = extractvalue { ptr, i32 } %234, 0
  store ptr %235, ptr %9, align 8
  %236 = extractvalue { ptr, i32 } %234, 1
  store i32 %236, ptr %10, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %30) #10
  br label %237

237:                                              ; preds = %233, %229
  call void @llvm.lifetime.end.p0(i64 32, ptr %30) #10
  br label %242

238:                                              ; preds = %209
  %239 = landingpad { ptr, i32 }
          cleanup
  %240 = extractvalue { ptr, i32 } %239, 0
  store ptr %240, ptr %9, align 8
  %241 = extractvalue { ptr, i32 } %239, 1
  store i32 %241, ptr %10, align 4
  br label %242

242:                                              ; preds = %238, %237
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %28) #10
  br label %243

243:                                              ; preds = %242, %225
  call void @llvm.lifetime.end.p0(i64 32, ptr %28) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %27) #10
  br label %244

244:                                              ; preds = %243, %221
  call void @llvm.lifetime.end.p0(i64 32, ptr %27) #10
  br label %258

245:                                              ; preds = %201, %200
  %246 = 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 %247 unwind label %217

247:                                              ; preds = %245
  %248 = 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) %246, ptr noundef nonnull align 8 dereferenceable(32) %25)
          to label %249 unwind label %217

249:                                              ; preds = %247
  %250 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %248, ptr noundef @.str.14)
          to label %251 unwind label %217

251:                                              ; preds = %249
  %252 = call noundef i64 @_ZNKSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(32) %26) #10
  %253 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %250, i64 noundef %252)
          to label %254 unwind label %217

254:                                              ; preds = %251
  %255 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %253, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %256 unwind label %217

256:                                              ; preds = %254
  br label %257

257:                                              ; preds = %256, %212
  call void @_ZNSt6vectorINSt7__cxx119sub_matchIN9__gnu_cxx17__normal_iteratorIPKcNS0_12basic_stringIcSt11char_traitsIcESaIcEEEEEEESaISC_EED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %26) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %26) #10
  br label %166, !llvm.loop !13

258:                                              ; preds = %244, %217
  call void @_ZNSt6vectorINSt7__cxx119sub_matchIN9__gnu_cxx17__normal_iteratorIPKcNS0_12basic_stringIcSt11char_traitsIcESaIcEEEEEEESaISC_EED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %26) #10
  br label %259

259:                                              ; preds = %258, %213
  call void @llvm.lifetime.end.p0(i64 32, ptr %26) #10
  br label %260

260:                                              ; preds = %259, %193
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %25) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %25) #10
  br label %353

261:                                              ; preds = %175
  call void @llvm.lifetime.start.p0(i64 48, ptr %31) #10
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(48) %31) #10
  invoke void @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEE5solveEv(ptr noundef nonnull align 8 dereferenceable(360) %21)
          to label %262 unwind label %280

262:                                              ; preds = %261
  call void @llvm.lifetime.start.p0(i64 512, ptr %32) #10
  invoke void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248) %32, ptr noundef nonnull align 8 dereferenceable(32) %12, i32 noundef 16)
          to label %263 unwind label %284

263:                                              ; preds = %262
  %264 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %32, ptr noundef @.str.15)
          to label %265 unwind label %288

265:                                              ; preds = %263
  %266 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %264, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %267 unwind label %288

267:                                              ; preds = %265
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #10
  store i64 0, ptr %33, align 8, !tbaa !15
  br label %268

268:                                              ; preds = %344, %267
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #10
  %269 = invoke noundef i64 @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEE12nextSolutionERSt3mapIS6_S6_St4lessIS6_ESaISt4pairIKS6_S6_EEE(ptr noundef nonnull align 8 dereferenceable(360) %21, ptr noundef nonnull align 8 dereferenceable(48) %31)
          to label %270 unwind label %292

270:                                              ; preds = %268
  store i64 %269, ptr %34, align 8, !tbaa !15
  %271 = call noundef zeroext i1 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(48) %31) #10
  br i1 %271, label %272, label %297

272:                                              ; preds = %270
  %273 = load i64, ptr %33, align 8, !tbaa !15
  %274 = icmp eq i64 %273, 0
  br i1 %274, label %275, label %296

275:                                              ; preds = %272
  %276 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %32, ptr noundef @.str.16)
          to label %277 unwind label %292

277:                                              ; preds = %275
  %278 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %276, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %279 unwind label %292

279:                                              ; preds = %277
  br label %296

280:                                              ; preds = %261
  %281 = landingpad { ptr, i32 }
          cleanup
  %282 = extractvalue { ptr, i32 } %281, 0
  store ptr %282, ptr %9, align 8
  %283 = extractvalue { ptr, i32 } %281, 1
  store i32 %283, ptr %10, align 4
  br label %352

284:                                              ; preds = %262
  %285 = landingpad { ptr, i32 }
          cleanup
  %286 = extractvalue { ptr, i32 } %285, 0
  store ptr %286, ptr %9, align 8
  %287 = extractvalue { ptr, i32 } %285, 1
  store i32 %287, ptr %10, align 4
  br label %351

288:                                              ; preds = %265, %263
  %289 = landingpad { ptr, i32 }
          cleanup
  %290 = extractvalue { ptr, i32 } %289, 0
  store ptr %290, ptr %9, align 8
  %291 = extractvalue { ptr, i32 } %289, 1
  store i32 %291, ptr %10, align 4
  br label %350

292:                                              ; preds = %306, %304, %302, %299, %297, %277, %275, %268
  %293 = landingpad { ptr, i32 }
          cleanup
  %294 = extractvalue { ptr, i32 } %293, 0
  store ptr %294, ptr %9, align 8
  %295 = extractvalue { ptr, i32 } %293, 1
  store i32 %295, ptr %10, align 4
  br label %347

296:                                              ; preds = %279, %272
  store i32 4, ptr %19, align 4
  br label %341

297:                                              ; preds = %270
  %298 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %32, ptr noundef @.str.17)
          to label %299 unwind label %292

299:                                              ; preds = %297
  %300 = load i64, ptr %34, align 8, !tbaa !15
  %301 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEl(ptr noundef nonnull align 8 dereferenceable(8) %298, i64 noundef %300)
          to label %302 unwind label %292

302:                                              ; preds = %299
  %303 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %301, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %304 unwind label %292

304:                                              ; preds = %302
  %305 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %32, ptr noundef @.str.18)
          to label %306 unwind label %292

306:                                              ; preds = %304
  %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 %292

308:                                              ; preds = %306
  call void @llvm.lifetime.start.p0(i64 8, ptr %35) #10
  store ptr %31, ptr %35, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %36) #10
  %309 = load ptr, ptr %35, align 8, !tbaa !9
  %310 = call ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48) %309) #10
  %311 = getelementptr inbounds %"struct.std::_Rb_tree_iterator", ptr %36, i32 0, i32 0
  store ptr %310, ptr %311, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #10
  %312 = load ptr, ptr %35, align 8, !tbaa !9
  %313 = call ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(48) %312) #10
  %314 = getelementptr inbounds %"struct.std::_Rb_tree_iterator", ptr %37, i32 0, i32 0
  store ptr %313, ptr %314, align 8
  br label %315

315:                                              ; preds = %334, %308
  %316 = call noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EESB_(ptr noundef nonnull align 8 dereferenceable(8) %36, ptr noundef nonnull align 8 dereferenceable(8) %37) #10
  br i1 %316, label %318, label %317

317:                                              ; preds = %315
  store i32 7, ptr %19, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #10
  br label %340

318:                                              ; preds = %315
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #10
  %319 = call noundef nonnull align 8 dereferenceable(64) ptr @_ZNKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %36) #10
  store ptr %319, ptr %38, align 8, !tbaa !9
  %320 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %32, ptr noundef @.str.19)
          to label %321 unwind label %336

321:                                              ; preds = %318
  %322 = load ptr, ptr %38, align 8, !tbaa !9
  %323 = getelementptr inbounds %"struct.std::pair", ptr %322, i32 0, i32 0
  %324 = 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) %320, ptr noundef nonnull align 8 dereferenceable(32) %323)
          to label %325 unwind label %336

325:                                              ; preds = %321
  %326 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %324, ptr noundef @.str.20)
          to label %327 unwind label %336

327:                                              ; preds = %325
  %328 = load ptr, ptr %38, align 8, !tbaa !9
  %329 = getelementptr inbounds %"struct.std::pair", ptr %328, i32 0, i32 1
  %330 = 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) %326, ptr noundef nonnull align 8 dereferenceable(32) %329)
          to label %331 unwind label %336

331:                                              ; preds = %327
  %332 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %330, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %333 unwind label %336

333:                                              ; preds = %331
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #10
  br label %334

334:                                              ; preds = %333
  %335 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EEppEv(ptr noundef nonnull align 8 dereferenceable(8) %36) #10
  br label %315

336:                                              ; preds = %331, %327, %325, %321, %318
  %337 = landingpad { ptr, i32 }
          cleanup
  %338 = extractvalue { ptr, i32 } %337, 0
  store ptr %338, ptr %9, align 8
  %339 = extractvalue { ptr, i32 } %337, 1
  store i32 %339, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #10
  br label %347

340:                                              ; preds = %317
  store i32 0, ptr %19, align 4
  br label %341

341:                                              ; preds = %340, %296
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #10
  %342 = load i32, ptr %19, align 4
  switch i32 %342, label %348 [
    i32 0, label %343
  ]

343:                                              ; preds = %341
  br label %344

344:                                              ; preds = %343
  %345 = load i64, ptr %33, align 8, !tbaa !15
  %346 = add i64 %345, 1
  store i64 %346, ptr %33, align 8, !tbaa !15
  br label %268, !llvm.loop !17

347:                                              ; preds = %336, %292
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #10
  br label %350

348:                                              ; preds = %341
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #10
  br label %349

349:                                              ; preds = %348
  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) %32) #10
  call void @llvm.lifetime.end.p0(i64 512, ptr %32) #10
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %31) #10
  call void @llvm.lifetime.end.p0(i64 48, ptr %31) #10
  call void @_ZNSt7__cxx1111basic_regexIcNS_12regex_traitsIcEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %24) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr %24) #10
  call void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(256) %23) #10
  call void @llvm.lifetime.end.p0(i64 520, ptr %23) #10
  call void @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(360) %21) #10
  call void @llvm.lifetime.end.p0(i64 360, ptr %21) #10
  br label %357

350:                                              ; preds = %347, %288
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %32) #10
  br label %351

351:                                              ; preds = %350, %284
  call void @llvm.lifetime.end.p0(i64 512, ptr %32) #10
  br label %352

352:                                              ; preds = %351, %280
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %31) #10
  call void @llvm.lifetime.end.p0(i64 48, ptr %31) #10
  br label %353

353:                                              ; preds = %352, %260
  call void @_ZNSt7__cxx1111basic_regexIcNS_12regex_traitsIcEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %24) #10
  br label %354

354:                                              ; preds = %353, %189
  call void @llvm.lifetime.end.p0(i64 32, ptr %24) #10
  call void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(256) %23) #10
  br label %355

355:                                              ; preds = %354, %185
  call void @llvm.lifetime.end.p0(i64 520, ptr %23) #10
  call void @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(360) %21) #10
  br label %356

356:                                              ; preds = %355, %184
  call void @llvm.lifetime.end.p0(i64 360, ptr %21) #10
  br label %359

357:                                              ; preds = %349, %154, %123
  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
  %358 = load i32, ptr %3, align 4
  ret i32 %358

359:                                              ; preds = %356, %160, %128, %87
  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 %360

360:                                              ; preds = %359, %86
  call void @llvm.lifetime.end.p0(i64 128, ptr %6) #10
  br label %361

361:                                              ; preds = %360
  %362 = load ptr, ptr %9, align 8
  %363 = load i32, ptr %10, align 4
  %364 = insertvalue { ptr, i32 } poison, ptr %362, 0
  %365 = insertvalue { ptr, i32 } %364, i32 %363, 1
  resume { ptr, i32 } %365

366:                                              ; preds = %150
  %367 = landingpad { ptr, i32 }
          catch ptr null
  %368 = extractvalue { ptr, i32 } %367, 0
  call void @__clang_call_terminate(ptr %368) #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 dso_local void @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEEC2ERKS8_(ptr noundef nonnull align 8 dereferenceable(360), ptr noundef nonnull align 8 dereferenceable(200)) unnamed_addr #3 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: 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 @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEE7setCostERKS6_SB_l(ptr noundef nonnull align 8 dereferenceable(360), 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 void @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEE5solveEv(ptr noundef nonnull align 8 dereferenceable(360)) #3 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 uwtable
declare dso_local noundef i64 @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEE12nextSolutionERSt3mapIS6_S6_St4lessIS6_ESaISt4pairIKS6_S6_EEE(ptr noundef nonnull align 8 dereferenceable(360), ptr noundef nonnull align 8 dereferenceable(48)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(48)) #2 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 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 @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(360)) 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}
!17 = distinct !{!17, !14}


; 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::NextBestAssignment" = type { %"class.libMultiRobotPlanning::Assignment", %"class.std::map.87", %"class.std::vector.93", %"class.std::set", %"class.std::priority_queue", i64 }
%"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::map.87" = type { %"class.std::_Rb_tree.88" }
%"class.std::_Rb_tree.88" = type { %"struct.std::_Rb_tree<std::pair<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>, std::pair<const std::pair<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>, long>, std::_Select1st<std::pair<const std::pair<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>, long>>, std::less<std::pair<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::pair<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>, std::pair<const std::pair<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>, long>, std::_Select1st<std::pair<const std::pair<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>, long>>, std::less<std::pair<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"class.std::vector.93" = type { %"struct.std::_Vector_base.94" }
%"struct.std::_Vector_base.94" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::priority_queue" = type <{ %"class.std::vector.98", [8 x i8] }>
%"class.std::vector.98" = type { %"struct.std::_Vector_base.99" }
%"struct.std::_Vector_base.99" = type { %"struct.std::_Vector_base<libMultiRobotPlanning::NextBestAssignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Node, std::allocator<libMultiRobotPlanning::NextBestAssignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Node>>::_Vector_impl" }
%"struct.std::_Vector_base<libMultiRobotPlanning::NextBestAssignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Node, std::allocator<libMultiRobotPlanning::NextBestAssignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Node>>::_Vector_impl" = type { %"struct.std::_Vector_base<libMultiRobotPlanning::NextBestAssignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Node, std::allocator<libMultiRobotPlanning::NextBestAssignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Node>>::_Vector_impl_data" }
%"struct.std::_Vector_base<libMultiRobotPlanning::NextBestAssignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Node, std::allocator<libMultiRobotPlanning::NextBestAssignment<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char>>::Node>>::_Vector_impl_data" = type { ptr, ptr, 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.103 }
%union.anon.103 = 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.104", %"class.__gnu_cxx::__normal_iterator" }
%"class.std::vector.104" = type { %"struct.std::_Vector_base.105" }
%"struct.std::_Vector_base.105" = 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 }
%"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::_Rb_tree_iterator" = 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 [11 x i8], align 1
@.str.16 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.20 = 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::NextBestAssignment", align 8
  %15 = alloca %"class.libMultiRobotPlanning::Assignment", align 8
  %16 = alloca %"class.std::basic_ifstream", align 8
  %17 = alloca %"class.std::__cxx11::basic_regex", align 8
  %18 = alloca %"class.std::__cxx11::basic_string", align 8
  %19 = alloca %"class.std::__cxx11::match_results", align 8
  %20 = alloca %"class.std::__cxx11::basic_string", align 8
  %21 = alloca %"class.std::__cxx11::basic_string", align 8
  %22 = alloca %"class.std::__cxx11::basic_string", align 8
  %23 = alloca %"class.std::map.19", align 8
  %24 = alloca %"class.std::basic_ofstream", align 8
  %25 = alloca %"struct.std::_Rb_tree_iterator", align 8
  %26 = 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 %27 unwind label %58

27:                                               ; preds = %2
  %28 = load i32, ptr @_ZN5boost15program_options19options_description21m_default_line_lengthE, align 4, !tbaa !5
  %29 = lshr i32 %28, 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 %28, i32 noundef %29)
          to label %30 unwind label %60

30:                                               ; preds = %27
  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
  %31 = invoke ptr @_ZN5boost15program_options19options_description11add_optionsEv(ptr noundef nonnull align 8 dereferenceable(128) %3)
          to label %32 unwind label %63

32:                                               ; preds = %30
  store ptr %31, ptr %8, align 8
  %33 = 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 %34 unwind label %63

34:                                               ; preds = %32
  %35 = invoke noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef nonnull %6)
          to label %36 unwind label %63

36:                                               ; preds = %34
  %37 = call noundef ptr @_ZN5boost15program_options11typed_valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %35)
  %38 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %33, ptr noundef nonnull @.str.7, ptr noundef %37, ptr noundef nonnull @.str.8)
          to label %39 unwind label %63

39:                                               ; preds = %36
  %40 = invoke noundef ptr @_ZN5boost15program_options5valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPNS0_11typed_valueIT_cEEPS9_(ptr noundef nonnull %7)
          to label %41 unwind label %63

41:                                               ; preds = %39
  %42 = call noundef ptr @_ZN5boost15program_options11typed_valueINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEcE8requiredEv(ptr noundef nonnull align 8 dereferenceable(176) %40)
  %43 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5boost15program_options29options_description_easy_initclEPKcPKNS0_14value_semanticES3_(ptr noundef nonnull align 8 dereferenceable(8) %38, ptr noundef nonnull @.str.9, ptr noundef %42, ptr noundef nonnull @.str.10)
          to label %44 unwind label %63

44:                                               ; preds = %41
  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 %45 unwind label %67

45:                                               ; preds = %44
  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 %46 unwind label %69

46:                                               ; preds = %45
  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 %47 unwind label %71

47:                                               ; preds = %46
  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 %48 unwind label %73

48:                                               ; preds = %47
  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 %49 unwind label %77

49:                                               ; preds = %48
  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 %50 unwind label %79

50:                                               ; preds = %49
  %51 = getelementptr inbounds i8, ptr %9, i64 16
  %52 = invoke noundef i64 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN5boost15program_options14variable_valueESt4lessIS5_ESaISt4pairIKS5_S8_EEE5countERSC_(ptr noundef nonnull align 8 dereferenceable(48) %51, ptr noundef nonnull align 8 dereferenceable(32) %12)
          to label %53 unwind label %81

53:                                               ; preds = %50
  %.not = icmp eq i64 %52, 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 %110, label %54

54:                                               ; preds = %53
  %55 = 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 %56 unwind label %77

56:                                               ; preds = %54
  %57 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %55, ptr noundef nonnull @.str.11)
          to label %84 unwind label %77

58:                                               ; preds = %2
  %59 = landingpad { ptr, i32 }
          cleanup
  br label %62

60:                                               ; preds = %27
  %61 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #10
  br label %62

62:                                               ; preds = %60, %58
  %.pn = phi { ptr, i32 } [ %61, %60 ], [ %59, %58 ]
  %.018 = extractvalue { ptr, i32 } %.pn, 0
  %.020 = 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 %240

63:                                               ; preds = %41, %39, %36, %34, %32, %30
  %64 = landingpad { ptr, i32 }
          cleanup
  %65 = extractvalue { ptr, i32 } %64, 0
  %66 = extractvalue { ptr, i32 } %64, 1
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #10
  br label %239

67:                                               ; preds = %44
  %68 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %86

69:                                               ; preds = %45
  %70 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %76

71:                                               ; preds = %46
  %72 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %75

73:                                               ; preds = %47
  %74 = 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 %75

75:                                               ; preds = %73, %71
  %.pn48 = phi { ptr, i32 } [ %74, %73 ], [ %72, %71 ]
  call void @_ZN5boost9function1ISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_ERKS7_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #10
  br label %76

76:                                               ; preds = %75, %69
  %.pn48.pn = phi { ptr, i32 } [ %.pn48, %75 ], [ %70, %69 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %10) #10
  br label %85

77:                                               ; preds = %56, %54, %48
  %78 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %85

79:                                               ; preds = %49
  %80 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN5boost15program_options5errorE
  br label %83

81:                                               ; preds = %50
  %82 = 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 %83

83:                                               ; preds = %81, %79
  %.pn51 = phi { ptr, i32 } [ %82, %81 ], [ %80, %79 ]
  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 %85

84:                                               ; preds = %56
  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 %238

85:                                               ; preds = %83, %77, %76
  %.pn53 = phi { ptr, i32 } [ %78, %77 ], [ %.pn51, %83 ], [ %.pn48.pn, %76 ]
  call void @_ZN5boost15program_options13variables_mapD2Ev(ptr noundef nonnull align 8 dereferenceable(160) %9) #10
  br label %86

86:                                               ; preds = %85, %67
  %.pn53.pn = phi { ptr, i32 } [ %.pn53, %85 ], [ %68, %67 ]
  %.5 = extractvalue { ptr, i32 } %.pn53.pn, 0
  %.525 = extractvalue { ptr, i32 } %.pn53.pn, 1
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %9) #10
  %87 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN5boost15program_options5errorE) #10
  %88 = icmp eq i32 %.525, %87
  br i1 %88, label %89, label %239

89:                                               ; preds = %86
  %90 = call ptr @__cxa_begin_catch(ptr %.5) #10
  %91 = load ptr, ptr %90, align 8, !tbaa !9
  %92 = getelementptr inbounds i8, ptr %91, i64 16
  %93 = load ptr, ptr %92, align 8
  %94 = call noundef ptr %93(ptr noundef nonnull align 8 dereferenceable(16) %90) #10
  %95 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef %94)
          to label %96 unwind label %105

96:                                               ; preds = %89
  %97 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %95, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %98 unwind label %105

98:                                               ; preds = %96
  %99 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %97, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %100 unwind label %105

100:                                              ; preds = %98
  %101 = 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 %102 unwind label %105

102:                                              ; preds = %100
  %103 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %101, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %104 unwind label %105

104:                                              ; preds = %102
  invoke void @__cxa_end_catch()
          to label %238 unwind label %107

105:                                              ; preds = %102, %100, %98, %96, %89
  %106 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %109 unwind label %243

107:                                              ; preds = %104
  %108 = landingpad { ptr, i32 }
          cleanup
  br label %109

109:                                              ; preds = %105, %107
  %.pn56 = phi { ptr, i32 } [ %108, %107 ], [ %106, %105 ]
  %.6 = extractvalue { ptr, i32 } %.pn56, 0
  %.626 = extractvalue { ptr, i32 } %.pn56, 1
  br label %239

110:                                              ; preds = %53
  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 360, ptr nonnull %14) #10
  call void @llvm.lifetime.start.p0(i64 200, ptr nonnull %15) #10
  invoke void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EC2Ev(ptr noundef nonnull align 8 dereferenceable(200) %15)
          to label %111 unwind label %125

111:                                              ; preds = %110
  invoke void @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEEC2ERKS8_(ptr noundef nonnull align 8 dereferenceable(360) %14, ptr noundef nonnull align 8 dereferenceable(200) %15)
          to label %112 unwind label %127

112:                                              ; preds = %111
  call void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_ED2Ev(ptr noundef nonnull align 8 dereferenceable(200) %15) #10
  call void @llvm.lifetime.end.p0(i64 200, ptr nonnull %15) #10
  call void @llvm.lifetime.start.p0(i64 520, ptr nonnull %16) #10
  invoke void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(256) %16, ptr noundef nonnull align 8 dereferenceable(32) %6, i32 noundef 8)
          to label %113 unwind label %130

113:                                              ; preds = %112
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %17) #10
  invoke void @_ZNSt7__cxx1111basic_regexIcNS_12regex_traitsIcEEEC2EPKcNSt15regex_constants18syntax_option_typeE(ptr noundef nonnull align 8 dereferenceable(32) %17, ptr noundef nonnull @.str.12, i32 noundef 16)
          to label %114 unwind label %132

114:                                              ; preds = %113
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %18) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %18) #10
  br label %115

115:                                              ; preds = %177, %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) %16, ptr noundef nonnull align 8 dereferenceable(32) %18)
          to label %117 unwind label %134

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 %134

123:                                              ; preds = %117
  br i1 %122, label %136, label %124

124:                                              ; preds = %123
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %18) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %18) #10
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %23) #10
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(48) %23) #10
  invoke void @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEE5solveEv(ptr noundef nonnull align 8 dereferenceable(360) %14)
          to label %180 unwind label %194

125:                                              ; preds = %110
  %126 = landingpad { ptr, i32 }
          cleanup
  br label %129

127:                                              ; preds = %111
  %128 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN21libMultiRobotPlanning10AssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_ED2Ev(ptr noundef nonnull align 8 dereferenceable(200) %15) #10
  br label %129

129:                                              ; preds = %127, %125
  %.pn58 = phi { ptr, i32 } [ %128, %127 ], [ %126, %125 ]
  call void @llvm.lifetime.end.p0(i64 200, ptr nonnull %15) #10
  br label %237

130:                                              ; preds = %112
  %131 = landingpad { ptr, i32 }
          cleanup
  br label %236

132:                                              ; preds = %113
  %133 = landingpad { ptr, i32 }
          cleanup
  br label %235

134:                                              ; preds = %117, %115
  %135 = landingpad { ptr, i32 }
          cleanup
  br label %179

136:                                              ; preds = %123
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %19) #10
  call void @_ZNSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19)
  %137 = 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) %18, ptr noundef nonnull align 8 dereferenceable(32) %19, ptr noundef nonnull align 8 dereferenceable(32) %17, i32 noundef 0)
          to label %138 unwind label %150

138:                                              ; preds = %136
  br i1 %137, label %139, label %166

139:                                              ; preds = %138
  %140 = call noundef i64 @_ZNKSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(32) %19) #10
  %141 = icmp eq i64 %140, 4
  br i1 %141, label %142, label %166

142:                                              ; preds = %139
  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) %19, i64 noundef 1)
          to label %143 unwind label %152

143:                                              ; preds = %142
  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) %19, i64 noundef 2)
          to label %144 unwind label %154

144:                                              ; preds = %143
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %22) #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 %22, ptr noundef nonnull align 8 dereferenceable(32) %19, i64 noundef 3)
          to label %145 unwind label %156

145:                                              ; preds = %144
  %146 = invoke noundef i32 @_ZNSt7__cxx114stoiERKNS_12basic_stringIcSt11char_traitsIcESaIcEEEPmi(ptr noundef nonnull align 8 dereferenceable(32) %22, ptr noundef null, i32 noundef 10)
          to label %147 unwind label %158

147:                                              ; preds = %145
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %22) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %22) #10
  %148 = sext i32 %146 to i64
  invoke void @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEE7setCostERKS6_SB_l(ptr noundef nonnull align 8 dereferenceable(360) %14, ptr noundef nonnull align 8 dereferenceable(32) %20, ptr noundef nonnull align 8 dereferenceable(32) %21, i64 noundef %148)
          to label %149 unwind label %161

149:                                              ; preds = %147
  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
  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
  br label %177

150:                                              ; preds = %175, %172, %170, %168, %166, %136
  %151 = landingpad { ptr, i32 }
          cleanup
  br label %178

152:                                              ; preds = %142
  %153 = landingpad { ptr, i32 }
          cleanup
  br label %165

154:                                              ; preds = %143
  %155 = landingpad { ptr, i32 }
          cleanup
  br label %164

156:                                              ; preds = %144
  %157 = landingpad { ptr, i32 }
          cleanup
  br label %160

158:                                              ; preds = %145
  %159 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %22) #10
  br label %160

160:                                              ; preds = %158, %156
  %.pn65 = phi { ptr, i32 } [ %159, %158 ], [ %157, %156 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %22) #10
  br label %163

161:                                              ; preds = %147
  %162 = landingpad { ptr, i32 }
          cleanup
  br label %163

163:                                              ; preds = %161, %160
  %.pn67 = phi { ptr, i32 } [ %162, %161 ], [ %.pn65, %160 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %21) #10
  br label %164

164:                                              ; preds = %163, %154
  %.pn67.pn = phi { ptr, i32 } [ %.pn67, %163 ], [ %155, %154 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %21) #10
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20) #10
  br label %165

165:                                              ; preds = %164, %152
  %.pn67.pn.pn = phi { ptr, i32 } [ %.pn67.pn, %164 ], [ %153, %152 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %20) #10
  br label %178

166:                                              ; preds = %139, %138
  %167 = 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 %168 unwind label %150

168:                                              ; preds = %166
  %169 = 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) %167, ptr noundef nonnull align 8 dereferenceable(32) %18)
          to label %170 unwind label %150

170:                                              ; preds = %168
  %171 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %169, ptr noundef nonnull @.str.14)
          to label %172 unwind label %150

172:                                              ; preds = %170
  %173 = call noundef i64 @_ZNKSt7__cxx1113match_resultsIN9__gnu_cxx17__normal_iteratorIPKcNS_12basic_stringIcSt11char_traitsIcESaIcEEEEESaINS_9sub_matchISA_EEEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(32) %19) #10
  %174 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %171, i64 noundef %173)
          to label %175 unwind label %150

175:                                              ; preds = %172
  %176 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %174, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %177 unwind label %150

177:                                              ; preds = %175, %149
  call void @_ZNSt6vectorINSt7__cxx119sub_matchIN9__gnu_cxx17__normal_iteratorIPKcNS0_12basic_stringIcSt11char_traitsIcESaIcEEEEEEESaISC_EED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %19) #10
  br label %115, !llvm.loop !11

178:                                              ; preds = %165, %150
  %.pn67.pn.pn.pn = phi { ptr, i32 } [ %.pn67.pn.pn, %165 ], [ %151, %150 ]
  call void @_ZNSt6vectorINSt7__cxx119sub_matchIN9__gnu_cxx17__normal_iteratorIPKcNS0_12basic_stringIcSt11char_traitsIcESaIcEEEEEEESaISC_EED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %19) #10
  br label %179

179:                                              ; preds = %178, %134
  %.pn67.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn67.pn.pn.pn, %178 ], [ %135, %134 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %18) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %18) #10
  br label %234

180:                                              ; preds = %124
  call void @llvm.lifetime.start.p0(i64 512, ptr nonnull %24) #10
  invoke void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1ERKNSt7__cxx1112basic_stringIcS1_SaIcEEESt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248) %24, ptr noundef nonnull align 8 dereferenceable(32) %7, i32 noundef 16)
          to label %181 unwind label %196

181:                                              ; preds = %180
  %182 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %24, ptr noundef nonnull @.str.15)
          to label %183 unwind label %198

183:                                              ; preds = %181
  %184 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %182, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %.preheader unwind label %198

.preheader:                                       ; preds = %183, %.loopexit83
  %.044 = phi i64 [ %230, %.loopexit83 ], [ 0, %183 ]
  %185 = invoke noundef i64 @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEE12nextSolutionERSt3mapIS6_S6_St4lessIS6_ESaISt4pairIKS6_S6_EEE(ptr noundef nonnull align 8 dereferenceable(360) %14, ptr noundef nonnull align 8 dereferenceable(48) %23)
          to label %186 unwind label %.loopexit

186:                                              ; preds = %.preheader
  %187 = call noundef zeroext i1 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(48) %23) #10
  br i1 %187, label %188, label %200

188:                                              ; preds = %186
  %189 = icmp eq i64 %.044, 0
  br i1 %189, label %190, label %.thread

190:                                              ; preds = %188
  %191 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %24, ptr noundef nonnull @.str.16)
          to label %192 unwind label %.loopexit.split-lp

192:                                              ; preds = %190
  %193 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %191, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %.thread unwind label %.loopexit.split-lp

194:                                              ; preds = %124
  %195 = landingpad { ptr, i32 }
          cleanup
  br label %233

196:                                              ; preds = %180
  %197 = landingpad { ptr, i32 }
          cleanup
  br label %232

198:                                              ; preds = %183, %181
  %199 = landingpad { ptr, i32 }
          cleanup
  br label %231

.loopexit:                                        ; preds = %.preheader, %200, %202, %204, %206, %208
  %lpad.loopexit = landingpad { ptr, i32 }
          cleanup
  br label %231

.loopexit.split-lp:                               ; preds = %190, %192
  %lpad.loopexit.split-lp = landingpad { ptr, i32 }
          cleanup
  br label %231

200:                                              ; preds = %186
  %201 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %24, ptr noundef nonnull @.str.17)
          to label %202 unwind label %.loopexit

202:                                              ; preds = %200
  %203 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEl(ptr noundef nonnull align 8 dereferenceable(8) %201, i64 noundef %185)
          to label %204 unwind label %.loopexit

204:                                              ; preds = %202
  %205 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %203, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %206 unwind label %.loopexit

206:                                              ; preds = %204
  %207 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %24, ptr noundef nonnull @.str.18)
          to label %208 unwind label %.loopexit

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 %.loopexit

210:                                              ; preds = %208
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %25) #10
  %211 = call ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48) %23) #10
  store ptr %211, ptr %25, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %26) #10
  %212 = call ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(48) %23) #10
  store ptr %212, ptr %26, align 8
  %213 = call noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EESB_(ptr noundef nonnull align 8 dereferenceable(8) %25, ptr noundef nonnull align 8 dereferenceable(8) %26) #10
  br i1 %213, label %.lr.ph, label %.loopexit83

.lr.ph:                                           ; preds = %210, %225
  %214 = call noundef nonnull align 8 dereferenceable(64) ptr @_ZNKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %25) #10
  %215 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %24, ptr noundef nonnull @.str.19)
          to label %216 unwind label %228

216:                                              ; preds = %.lr.ph
  %217 = 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) %215, ptr noundef nonnull align 8 dereferenceable(32) %214)
          to label %218 unwind label %228

218:                                              ; preds = %216
  %219 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %217, ptr noundef nonnull @.str.20)
          to label %220 unwind label %228

220:                                              ; preds = %218
  %221 = getelementptr inbounds i8, ptr %214, i64 32
  %222 = 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) %219, ptr noundef nonnull align 8 dereferenceable(32) %221)
          to label %223 unwind label %228

223:                                              ; preds = %220
  %224 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %222, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %225 unwind label %228

225:                                              ; preds = %223
  %226 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EEppEv(ptr noundef nonnull align 8 dereferenceable(8) %25) #10
  %227 = call noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_EESB_(ptr noundef nonnull align 8 dereferenceable(8) %25, ptr noundef nonnull align 8 dereferenceable(8) %26) #10
  br i1 %227, label %.lr.ph, label %.loopexit83

228:                                              ; preds = %223, %220, %218, %216, %.lr.ph
  %229 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #10
  br label %231

.loopexit83:                                      ; preds = %225, %210
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #10
  %230 = add i64 %.044, 1
  br label %.preheader, !llvm.loop !13

.thread:                                          ; preds = %192, %188
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %24) #10
  call void @llvm.lifetime.end.p0(i64 512, ptr nonnull %24) #10
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %23) #10
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %23) #10
  call void @_ZNSt7__cxx1111basic_regexIcNS_12regex_traitsIcEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %17) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %17) #10
  call void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(256) %16) #10
  call void @llvm.lifetime.end.p0(i64 520, ptr nonnull %16) #10
  call void @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(360) %14) #10
  call void @llvm.lifetime.end.p0(i64 360, ptr nonnull %14) #10
  br label %238

231:                                              ; preds = %.loopexit, %.loopexit.split-lp, %228, %198
  %.pn60.pn = phi { ptr, i32 } [ %199, %198 ], [ %229, %228 ], [ %lpad.loopexit, %.loopexit ], [ %lpad.loopexit.split-lp, %.loopexit.split-lp ]
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %24) #10
  br label %232

232:                                              ; preds = %231, %196
  %.pn60.pn.pn = phi { ptr, i32 } [ %.pn60.pn, %231 ], [ %197, %196 ]
  call void @llvm.lifetime.end.p0(i64 512, ptr nonnull %24) #10
  br label %233

233:                                              ; preds = %232, %194
  %.pn60.pn.pn.pn = phi { ptr, i32 } [ %.pn60.pn.pn, %232 ], [ %195, %194 ]
  call void @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %23) #10
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %23) #10
  br label %234

234:                                              ; preds = %233, %179
  %.pn67.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn67.pn.pn.pn.pn, %179 ], [ %.pn60.pn.pn.pn, %233 ]
  call void @_ZNSt7__cxx1111basic_regexIcNS_12regex_traitsIcEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %17) #10
  br label %235

235:                                              ; preds = %234, %132
  %.pn67.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn67.pn.pn.pn.pn.pn, %234 ], [ %133, %132 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %17) #10
  call void @_ZNSt14basic_ifstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(256) %16) #10
  br label %236

236:                                              ; preds = %235, %130
  %.pn67.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn67.pn.pn.pn.pn.pn.pn, %235 ], [ %131, %130 ]
  call void @llvm.lifetime.end.p0(i64 520, ptr nonnull %16) #10
  call void @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(360) %14) #10
  br label %237

237:                                              ; preds = %236, %129
  %.pn67.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn67.pn.pn.pn.pn.pn.pn.pn, %236 ], [ %.pn58, %129 ]
  %.21 = extractvalue { ptr, i32 } %.pn67.pn.pn.pn.pn.pn.pn.pn.pn, 0
  %.2141 = extractvalue { ptr, i32 } %.pn67.pn.pn.pn.pn.pn.pn.pn.pn, 1
  call void @llvm.lifetime.end.p0(i64 360, ptr nonnull %14) #10
  br label %239

238:                                              ; preds = %84, %104, %.thread
  %.1 = phi i32 [ 0, %.thread ], [ 0, %84 ], [ 1, %104 ]
  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

239:                                              ; preds = %237, %109, %86, %63
  %.2242 = phi i32 [ %.2141, %237 ], [ %.626, %109 ], [ %.525, %86 ], [ %66, %63 ]
  %.22 = phi ptr [ %.21, %237 ], [ %.6, %109 ], [ %.5, %86 ], [ %65, %63 ]
  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 %240

240:                                              ; preds = %239, %62
  %.2343 = phi i32 [ %.2242, %239 ], [ %.020, %62 ]
  %.23 = phi ptr [ %.22, %239 ], [ %.018, %62 ]
  call void @llvm.lifetime.end.p0(i64 128, ptr nonnull %3) #10
  %241 = insertvalue { ptr, i32 } poison, ptr %.23, 0
  %242 = insertvalue { ptr, i32 } %241, i32 %.2343, 1
  resume { ptr, i32 } %242

243:                                              ; preds = %105
  %244 = landingpad { ptr, i32 }
          catch ptr null
  %245 = extractvalue { ptr, i32 } %244, 0
  call void @__clang_call_terminate(ptr %245) #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 dso_local void @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEEC2ERKS8_(ptr noundef nonnull align 8 dereferenceable(360), ptr noundef nonnull align 8 dereferenceable(200)) unnamed_addr #3 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: 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 @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEE7setCostERKS6_SB_l(ptr noundef nonnull align 8 dereferenceable(360), 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 void @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEE5solveEv(ptr noundef nonnull align 8 dereferenceable(360)) local_unnamed_addr #3 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 uwtable
declare dso_local noundef i64 @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEE12nextSolutionERSt3mapIS6_S6_St4lessIS6_ESaISt4pairIKS6_S6_EEE(ptr noundef nonnull align 8 dereferenceable(360), ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_St4lessIS5_ESaISt4pairIKS5_S5_EEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #2 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 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 @_ZN21libMultiRobotPlanning18NextBestAssignmentINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_NS_10AssignmentIS6_S6_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(360)) 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"}
!13 = distinct !{!13, !12}


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