; LLVM IR from tokoro10g/libamaze :: samples (fourway_dynamic)

; 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.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator" = type { i8 }
%"class.amaze::Maze" = type { %"class.std::bitset", %"class.std::bitset", %"struct.amaze::Position", %"class.std::vector" }
%"class.std::bitset" = type { %"struct.std::_Base_bitset" }
%"struct.std::_Base_bitset" = type { [63 x i64] }
%"struct.amaze::Position" = type { i8, i8 }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<amaze::Position, std::allocator<amaze::Position>>::_Vector_impl" }
%"struct.std::_Vector_base<amaze::Position, std::allocator<amaze::Position>>::_Vector_impl" = type { %"struct.std::_Vector_base<amaze::Position, std::allocator<amaze::Position>>::_Vector_impl_data" }
%"struct.std::_Vector_base<amaze::Position, std::allocator<amaze::Position>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.amaze::maze_graph::FourWayGraph" = type { %"class.amaze::maze_graph::MazeGraphBase" }
%"class.amaze::maze_graph::MazeGraphBase" = type { ptr, ptr }
%"class.amaze::solver::DStarLite" = type { %"class.amaze::solver::SolverBase", i16, %"class.std::set", i16, i16, i16, %"struct.std::array", %"struct.std::array", %"class.std::set.6", %"class.std::bitset.12" }
%"class.amaze::solver::SolverBase" = type { ptr, ptr }
%"class.std::set" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<unsigned short, unsigned short, std::_Identity<unsigned short>, std::less<unsigned short>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<unsigned short, unsigned short, std::_Identity<unsigned short>, std::less<unsigned short>>::_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 }
%"struct.std::array" = type { [1024 x i16] }
%"class.std::set.6" = type { %"class.std::_Rb_tree.7" }
%"class.std::_Rb_tree.7" = type { %"struct.std::_Rb_tree<std::pair<std::pair<unsigned short, unsigned short>, unsigned short>, std::pair<std::pair<unsigned short, unsigned short>, unsigned short>, std::_Identity<std::pair<std::pair<unsigned short, unsigned short>, unsigned short>>, amaze::solver::DStarLite<unsigned short, unsigned short, ' ', 1024>::KeyCompare>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::pair<std::pair<unsigned short, unsigned short>, unsigned short>, std::pair<std::pair<unsigned short, unsigned short>, unsigned short>, std::_Identity<std::pair<std::pair<unsigned short, unsigned short>, unsigned short>>, amaze::solver::DStarLite<unsigned short, unsigned short, ' ', 1024>::KeyCompare>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"class.std::bitset.12" = type { %"struct.std::_Base_bitset.13" }
%"struct.std::_Base_bitset.13" = type { [16 x i64] }
%"struct.amaze::AgentState" = type { %"struct.amaze::Position", %"union.amaze::Direction", i8 }
%"union.amaze::Direction" = type { i8 }
%"struct.std::_Rb_tree_const_iterator" = type { ptr }
%"class.amaze::maze_graph::FourWayGraph.14" = type { %"class.amaze::maze_graph::MazeGraphBase" }
%"class.std::vector.15" = type { %"struct.std::_Vector_base.16" }
%"struct.std::_Vector_base.16" = type { %"struct.std::_Vector_base<amaze::AgentState, std::allocator<amaze::AgentState>>::_Vector_impl" }
%"struct.std::_Vector_base<amaze::AgentState, std::allocator<amaze::AgentState>>::_Vector_impl" = type { %"struct.std::_Vector_base<amaze::AgentState, std::allocator<amaze::AgentState>>::_Vector_impl_data" }
%"struct.std::_Vector_base<amaze::AgentState, std::allocator<amaze::AgentState>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }

@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.2 = external hidden unnamed_addr constant [14 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [15 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [13 x i8], align 1

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z9showUsageNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef) #0

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #1

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

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

; Function Attrs: mustprogress norecurse uwtable
define dso_local noundef i32 @main(i32 noundef %0, ptr noundef %1) #2 personality ptr @__gxx_personality_v0 {
  %3 = alloca i32, align 4
  %4 = alloca i32, align 4
  %5 = alloca ptr, align 8
  %6 = alloca %"class.std::__cxx11::basic_string", align 8
  %7 = alloca %"class.std::allocator", align 1
  %8 = alloca ptr, align 8
  %9 = alloca i32, align 4
  %10 = alloca %"class.std::__cxx11::basic_string", align 8
  %11 = alloca %"class.std::allocator", align 1
  %12 = alloca i8, align 1
  %13 = alloca %"class.amaze::Maze", align 8
  %14 = alloca %"class.amaze::Maze", align 8
  %15 = alloca %"class.std::__cxx11::basic_string", align 8
  %16 = alloca %"class.std::vector", align 8
  %17 = alloca %"struct.amaze::Position", align 1
  %18 = alloca %"struct.amaze::Position", align 1
  %19 = alloca %"struct.amaze::Position", align 1
  %20 = alloca %"class.amaze::maze_graph::FourWayGraph", align 8
  %21 = alloca %"class.amaze::solver::DStarLite", align 8
  %22 = alloca %"class.std::set", align 8
  %23 = alloca %"struct.amaze::AgentState", align 1
  %24 = alloca ptr, align 8
  %25 = alloca %"struct.std::_Rb_tree_const_iterator", align 8
  %26 = alloca %"struct.std::_Rb_tree_const_iterator", align 8
  %27 = alloca i16, align 2
  %28 = alloca %"struct.amaze::AgentState", align 1
  %29 = alloca %"struct.std::_Rb_tree_const_iterator", align 8
  %30 = alloca i16, align 2
  %31 = alloca %"struct.std::_Rb_tree_const_iterator", align 8
  %32 = alloca %"struct.amaze::AgentState", align 1
  %33 = alloca %"class.std::vector", align 8
  %34 = alloca %"class.std::vector", align 8
  %35 = alloca %"class.std::vector", align 8
  %36 = alloca %"class.std::vector", align 8
  %37 = alloca %"struct.amaze::AgentState", align 1
  %38 = alloca %"struct.amaze::AgentState", align 1
  %39 = alloca %"struct.amaze::AgentState", align 1
  %40 = alloca %"class.std::vector", align 8
  %41 = alloca %"class.std::vector", align 8
  %42 = alloca %"struct.amaze::AgentState", align 1
  %43 = alloca %"class.amaze::maze_graph::FourWayGraph.14", align 8
  %44 = alloca %"class.std::vector.15", align 8
  %45 = alloca ptr, align 8
  %46 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %47 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %48 = alloca %"struct.amaze::AgentState", align 1
  %49 = alloca %"struct.amaze::AgentState", align 1
  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
  %50 = load i32, ptr %4, align 4, !tbaa !5
  %51 = icmp slt i32 %50, 2
  br i1 %51, label %52, label %67

52:                                               ; preds = %2
  %53 = load ptr, ptr %5, align 8, !tbaa !9
  %54 = getelementptr inbounds ptr, ptr %53, i64 0
  %55 = load ptr, ptr %54, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 1, ptr %7) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %6, ptr noundef %55, ptr noundef nonnull align 1 dereferenceable(1) %7)
          to label %56 unwind label %58

56:                                               ; preds = %52
  invoke void @_Z9showUsageNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef %6)
          to label %57 unwind label %62

57:                                               ; preds = %56
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %7) #7
  store i32 0, ptr %3, align 4
  br label %380

58:                                               ; preds = %52
  %59 = landingpad { ptr, i32 }
          cleanup
  %60 = extractvalue { ptr, i32 } %59, 0
  store ptr %60, ptr %8, align 8
  %61 = extractvalue { ptr, i32 } %59, 1
  store i32 %61, ptr %9, align 4
  br label %66

62:                                               ; preds = %56
  %63 = landingpad { ptr, i32 }
          cleanup
  %64 = extractvalue { ptr, i32 } %63, 0
  store ptr %64, ptr %8, align 8
  %65 = extractvalue { ptr, i32 } %63, 1
  store i32 %65, ptr %9, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #7
  br label %66

66:                                               ; preds = %62, %58
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %7) #7
  br label %382

67:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 32, ptr %10) #7
  %68 = load ptr, ptr %5, align 8, !tbaa !9
  %69 = getelementptr inbounds ptr, ptr %68, i64 1
  %70 = load ptr, ptr %69, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 1, ptr %11) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %11) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %10, ptr noundef %70, ptr noundef nonnull align 1 dereferenceable(1) %11)
          to label %71 unwind label %122

71:                                               ; preds = %67
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %11) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %11) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %12) #7
  store i8 32, ptr %12, align 1, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 1040, ptr %13) #7
  invoke void @_ZN5amaze4MazeILh32EEC2Ev(ptr noundef nonnull align 8 dereferenceable(1040) %13)
          to label %72 unwind label %126

72:                                               ; preds = %71
  call void @llvm.lifetime.start.p0(i64 1040, ptr %14) #7
  invoke void @_ZN5amaze4MazeILh32EEC2Ev(ptr noundef nonnull align 8 dereferenceable(1040) %14)
          to label %73 unwind label %130

73:                                               ; preds = %72
  invoke void @_ZN5amaze5utils13loadEmptyMazeILh32EEEvRNS_4MazeIXT_EEE(ptr noundef nonnull align 8 dereferenceable(1040) %13)
          to label %74 unwind label %134

74:                                               ; preds = %73
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2ERKS4_(ptr noundef nonnull align 8 dereferenceable(32) %15, ptr noundef nonnull align 8 dereferenceable(32) %10)
          to label %75 unwind label %134

75:                                               ; preds = %74
  %76 = invoke noundef zeroext i1 @_ZN5amaze5utils16loadMazeFromFileILh32EEEbRNS_4MazeIXT_EEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(1040) %14, ptr noundef %15)
          to label %77 unwind label %138

77:                                               ; preds = %75
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %16) #7
  %78 = getelementptr inbounds %"class.amaze::Maze", ptr %14, i32 0, i32 3
  invoke void @_ZNSt6vectorIN5amaze8PositionESaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %16, ptr noundef nonnull align 8 dereferenceable(24) %78)
          to label %79 unwind label %142

79:                                               ; preds = %77
  %80 = getelementptr inbounds %"class.amaze::Maze", ptr %13, i32 0, i32 3
  %81 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN5amaze8PositionESaIS1_EEaSERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %80, ptr noundef nonnull align 8 dereferenceable(24) %16)
          to label %82 unwind label %146

82:                                               ; preds = %79
  %83 = getelementptr inbounds %"struct.amaze::Position", ptr %17, i32 0, i32 0
  store i8 1, ptr %83, align 1, !tbaa !12
  %84 = getelementptr inbounds %"struct.amaze::Position", ptr %17, i32 0, i32 1
  store i8 0, ptr %84, align 1, !tbaa !14
  %85 = load i16, ptr %17, align 1
  invoke void @_ZN5amaze4MazeILh32EE7setWallENS_8PositionEb(ptr noundef nonnull align 8 dereferenceable(1040) %13, i16 %85, i1 noundef zeroext true)
          to label %86 unwind label %146

86:                                               ; preds = %82
  %87 = getelementptr inbounds %"struct.amaze::Position", ptr %18, i32 0, i32 0
  store i8 0, ptr %87, align 1, !tbaa !12
  %88 = getelementptr inbounds %"struct.amaze::Position", ptr %18, i32 0, i32 1
  store i8 1, ptr %88, align 1, !tbaa !14
  %89 = load i16, ptr %18, align 1
  invoke void @_ZN5amaze4MazeILh32EE14setCheckedWallENS_8PositionEb(ptr noundef nonnull align 8 dereferenceable(1040) %13, i16 %89, i1 noundef zeroext true)
          to label %90 unwind label %146

90:                                               ; preds = %86
  %91 = getelementptr inbounds %"struct.amaze::Position", ptr %19, i32 0, i32 0
  store i8 1, ptr %91, align 1, !tbaa !12
  %92 = getelementptr inbounds %"struct.amaze::Position", ptr %19, i32 0, i32 1
  store i8 0, ptr %92, align 1, !tbaa !14
  %93 = load i16, ptr %19, align 1
  invoke void @_ZN5amaze4MazeILh32EE14setCheckedWallENS_8PositionEb(ptr noundef nonnull align 8 dereferenceable(1040) %13, i16 %93, i1 noundef zeroext true)
          to label %94 unwind label %146

94:                                               ; preds = %90
  call void @llvm.lifetime.start.p0(i64 16, ptr %20) #7
  invoke void @_ZN5amaze10maze_graph12FourWayGraphILb1EttLh32ELt1024EEC2ERKNS_4MazeILh32EEE(ptr noundef nonnull align 8 dereferenceable(16) %20, ptr noundef nonnull align 8 dereferenceable(1040) %13)
          to label %95 unwind label %150

95:                                               ; preds = %94
  call void @llvm.lifetime.start.p0(i64 4352, ptr %21) #7
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EEC2EPKNS_10maze_graph13MazeGraphBaseIttLh32ELt1024EEE(ptr noundef nonnull align 8 dereferenceable(4352) %21, ptr noundef %20)
          to label %96 unwind label %154

96:                                               ; preds = %95
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EE10initializeEv(ptr noundef nonnull align 8 dereferenceable(4352) %21)
          to label %97 unwind label %158

97:                                               ; preds = %96
  invoke void @_ZN5amaze5utils9printMazeILh32EEEvRKNS_4MazeIXT_EEEi(ptr noundef nonnull align 8 dereferenceable(1040) %14, i32 noundef 1)
          to label %98 unwind label %158

98:                                               ; preds = %97
  call void @llvm.lifetime.start.p0(i64 48, ptr %22) #7
  invoke void @_ZNK5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EE11goalNodeIdsEv(ptr dead_on_unwind writable sret(%"class.std::set") align 8 %22, ptr noundef nonnull align 8 dereferenceable(16) %20)
          to label %99 unwind label %162

99:                                               ; preds = %98
  %100 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.2)
          to label %101 unwind label %166

101:                                              ; preds = %99
  %102 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %20)
          to label %103 unwind label %166

103:                                              ; preds = %101
  %104 = invoke i32 @_ZNK5amaze10maze_graph12FourWayGraphILb1EttLh32ELt1024EE18agentStateByNodeIdEt(ptr noundef nonnull align 8 dereferenceable(16) %20, i16 noundef zeroext %102)
          to label %105 unwind label %166

105:                                              ; preds = %103
  store i32 %104, ptr %23, align 1
  %106 = load i32, ptr %23, align 1
  %107 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) %100, i32 %106)
          to label %108 unwind label %166

108:                                              ; preds = %105
  %109 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %107, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %110 unwind label %166

110:                                              ; preds = %108
  %111 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.3)
          to label %112 unwind label %166

112:                                              ; preds = %110
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #7
  store ptr %22, ptr %24, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #7
  %113 = load ptr, ptr %24, align 8, !tbaa !9
  %114 = call ptr @_ZNKSt3setItSt4lessItESaItEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48) %113) #7
  %115 = getelementptr inbounds %"struct.std::_Rb_tree_const_iterator", ptr %25, i32 0, i32 0
  store ptr %114, ptr %115, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #7
  %116 = load ptr, ptr %24, align 8, !tbaa !9
  %117 = call ptr @_ZNKSt3setItSt4lessItESaItEE3endEv(ptr noundef nonnull align 8 dereferenceable(48) %116) #7
  %118 = getelementptr inbounds %"struct.std::_Rb_tree_const_iterator", ptr %26, i32 0, i32 0
  store ptr %117, ptr %118, align 8
  br label %119

119:                                              ; preds = %181, %112
  %120 = call noundef zeroext i1 @_ZStneRKSt23_Rb_tree_const_iteratorItES2_(ptr noundef nonnull align 8 dereferenceable(8) %25, ptr noundef nonnull align 8 dereferenceable(8) %26) #7
  br i1 %120, label %170, label %121

121:                                              ; preds = %119
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #7
  br label %187

122:                                              ; preds = %67
  %123 = landingpad { ptr, i32 }
          cleanup
  %124 = extractvalue { ptr, i32 } %123, 0
  store ptr %124, ptr %8, align 8
  %125 = extractvalue { ptr, i32 } %123, 1
  store i32 %125, ptr %9, align 4
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %11) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %11) #7
  br label %379

126:                                              ; preds = %71
  %127 = landingpad { ptr, i32 }
          cleanup
  %128 = extractvalue { ptr, i32 } %127, 0
  store ptr %128, ptr %8, align 8
  %129 = extractvalue { ptr, i32 } %127, 1
  store i32 %129, ptr %9, align 4
  br label %378

130:                                              ; preds = %72
  %131 = landingpad { ptr, i32 }
          cleanup
  %132 = extractvalue { ptr, i32 } %131, 0
  store ptr %132, ptr %8, align 8
  %133 = extractvalue { ptr, i32 } %131, 1
  store i32 %133, ptr %9, align 4
  br label %377

134:                                              ; preds = %74, %73
  %135 = landingpad { ptr, i32 }
          cleanup
  %136 = extractvalue { ptr, i32 } %135, 0
  store ptr %136, ptr %8, align 8
  %137 = extractvalue { ptr, i32 } %135, 1
  store i32 %137, ptr %9, align 4
  br label %376

138:                                              ; preds = %75
  %139 = landingpad { ptr, i32 }
          cleanup
  %140 = extractvalue { ptr, i32 } %139, 0
  store ptr %140, ptr %8, align 8
  %141 = extractvalue { ptr, i32 } %139, 1
  store i32 %141, ptr %9, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #7
  br label %376

142:                                              ; preds = %77
  %143 = landingpad { ptr, i32 }
          cleanup
  %144 = extractvalue { ptr, i32 } %143, 0
  store ptr %144, ptr %8, align 8
  %145 = extractvalue { ptr, i32 } %143, 1
  store i32 %145, ptr %9, align 4
  br label %375

146:                                              ; preds = %90, %86, %82, %79
  %147 = landingpad { ptr, i32 }
          cleanup
  %148 = extractvalue { ptr, i32 } %147, 0
  store ptr %148, ptr %8, align 8
  %149 = extractvalue { ptr, i32 } %147, 1
  store i32 %149, ptr %9, align 4
  br label %374

150:                                              ; preds = %94
  %151 = landingpad { ptr, i32 }
          cleanup
  %152 = extractvalue { ptr, i32 } %151, 0
  store ptr %152, ptr %8, align 8
  %153 = extractvalue { ptr, i32 } %151, 1
  store i32 %153, ptr %9, align 4
  br label %373

154:                                              ; preds = %95
  %155 = landingpad { ptr, i32 }
          cleanup
  %156 = extractvalue { ptr, i32 } %155, 0
  store ptr %156, ptr %8, align 8
  %157 = extractvalue { ptr, i32 } %155, 1
  store i32 %157, ptr %9, align 4
  br label %372

158:                                              ; preds = %97, %96
  %159 = landingpad { ptr, i32 }
          cleanup
  %160 = extractvalue { ptr, i32 } %159, 0
  store ptr %160, ptr %8, align 8
  %161 = extractvalue { ptr, i32 } %159, 1
  store i32 %161, ptr %9, align 4
  br label %371

162:                                              ; preds = %98
  %163 = landingpad { ptr, i32 }
          cleanup
  %164 = extractvalue { ptr, i32 } %163, 0
  store ptr %164, ptr %8, align 8
  %165 = extractvalue { ptr, i32 } %163, 1
  store i32 %165, ptr %9, align 4
  br label %370

166:                                              ; preds = %204, %201, %199, %187, %110, %108, %105, %103, %101, %99
  %167 = landingpad { ptr, i32 }
          cleanup
  %168 = extractvalue { ptr, i32 } %167, 0
  store ptr %168, ptr %8, align 8
  %169 = extractvalue { ptr, i32 } %167, 1
  store i32 %169, ptr %9, align 4
  br label %369

170:                                              ; preds = %119
  call void @llvm.lifetime.start.p0(i64 2, ptr %27) #7
  %171 = call noundef nonnull align 2 dereferenceable(2) ptr @_ZNKSt23_Rb_tree_const_iteratorItEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %25) #7
  %172 = load i16, ptr %171, align 2, !tbaa !15
  store i16 %172, ptr %27, align 2, !tbaa !15
  %173 = load i16, ptr %27, align 2, !tbaa !15
  %174 = invoke i32 @_ZNK5amaze10maze_graph12FourWayGraphILb1EttLh32ELt1024EE18agentStateByNodeIdEt(ptr noundef nonnull align 8 dereferenceable(16) %20, i16 noundef zeroext %173)
          to label %175 unwind label %183

175:                                              ; preds = %170
  store i32 %174, ptr %28, align 1
  %176 = load i32, ptr %28, align 1
  %177 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %176)
          to label %178 unwind label %183

178:                                              ; preds = %175
  %179 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %177, ptr noundef @.str.4)
          to label %180 unwind label %183

180:                                              ; preds = %178
  call void @llvm.lifetime.end.p0(i64 2, ptr %27) #7
  br label %181

181:                                              ; preds = %180
  %182 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt23_Rb_tree_const_iteratorItEppEv(ptr noundef nonnull align 8 dereferenceable(8) %25) #7
  br label %119

183:                                              ; preds = %178, %175, %170
  %184 = landingpad { ptr, i32 }
          cleanup
  %185 = extractvalue { ptr, i32 } %184, 0
  store ptr %185, ptr %8, align 8
  %186 = extractvalue { ptr, i32 } %184, 1
  store i32 %186, ptr %9, align 4
  call void @llvm.lifetime.end.p0(i64 2, ptr %27) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #7
  br label %369

187:                                              ; preds = %121
  %188 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %189 unwind label %166

189:                                              ; preds = %187
  br label %190

190:                                              ; preds = %210, %189
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #7
  call void @llvm.lifetime.start.p0(i64 2, ptr %30) #7
  %191 = invoke noundef zeroext i16 @_ZNK5amaze6solver9DStarLiteIttLh32ELt1024EE13currentNodeIdEv(ptr noundef nonnull align 8 dereferenceable(4352) %21)
          to label %192 unwind label %211

192:                                              ; preds = %190
  store i16 %191, ptr %30, align 2, !tbaa !15
  %193 = invoke ptr @_ZNSt3setItSt4lessItESaItEE4findERKt(ptr noundef nonnull align 8 dereferenceable(48) %22, ptr noundef nonnull align 2 dereferenceable(2) %30)
          to label %194 unwind label %211

194:                                              ; preds = %192
  %195 = getelementptr inbounds %"struct.std::_Rb_tree_const_iterator", ptr %29, i32 0, i32 0
  store ptr %193, ptr %195, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #7
  %196 = call ptr @_ZNKSt3setItSt4lessItESaItEE3endEv(ptr noundef nonnull align 8 dereferenceable(48) %22) #7
  %197 = getelementptr inbounds %"struct.std::_Rb_tree_const_iterator", ptr %31, i32 0, i32 0
  store ptr %196, ptr %197, align 8
  %198 = call noundef zeroext i1 @_ZSteqRKSt23_Rb_tree_const_iteratorItES2_(ptr noundef nonnull align 8 dereferenceable(8) %29, ptr noundef nonnull align 8 dereferenceable(8) %31) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #7
  call void @llvm.lifetime.end.p0(i64 2, ptr %30) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #7
  br i1 %198, label %199, label %234

199:                                              ; preds = %194
  %200 = invoke i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1024EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16) %21)
          to label %201 unwind label %166

201:                                              ; preds = %199
  store i32 %200, ptr %32, align 1
  %202 = load i32, ptr %32, align 1
  %203 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %202)
          to label %204 unwind label %166

204:                                              ; preds = %201
  %205 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %203, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %206 unwind label %166

206:                                              ; preds = %204
  call void @llvm.lifetime.start.p0(i64 24, ptr %33) #7
  invoke void @_ZN5amaze11AgentHelperINS_10maze_graph12FourWayGraphILb1EttLh32ELt1024EEENS_6solver9DStarLiteIttLh32ELt1024EEEE21currentSensePositionsERKS6_(ptr dead_on_unwind writable sret(%"class.std::vector") align 8 %33, ptr noundef nonnull align 8 dereferenceable(4352) %21)
          to label %207 unwind label %215

207:                                              ; preds = %206
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EE8preSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(4352) %21, ptr noundef nonnull align 8 dereferenceable(24) %33)
          to label %208 unwind label %219

208:                                              ; preds = %207
  call void @llvm.lifetime.start.p0(i64 24, ptr %34) #7
  invoke void @_ZN5amaze20MazeGraphFeatureBaseINS_10maze_graph12FourWayGraphILb1EttLh32ELt1024EEEE5senseERNS_4MazeILh32EEERKS6_RKSt6vectorINS_8PositionESaISB_EE(ptr dead_on_unwind writable sret(%"class.std::vector") align 8 %34, ptr noundef nonnull align 8 dereferenceable(1040) %13, ptr noundef nonnull align 8 dereferenceable(1040) %14, ptr noundef nonnull align 8 dereferenceable(24) %33)
          to label %209 unwind label %223

209:                                              ; preds = %208
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EE9postSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(4352) %21, ptr noundef nonnull align 8 dereferenceable(24) %34)
          to label %210 unwind label %227

210:                                              ; preds = %209
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %34) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %34) #7
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %33) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %33) #7
  br label %190, !llvm.loop !17

211:                                              ; preds = %192, %190
  %212 = landingpad { ptr, i32 }
          cleanup
  %213 = extractvalue { ptr, i32 } %212, 0
  store ptr %213, ptr %8, align 8
  %214 = extractvalue { ptr, i32 } %212, 1
  store i32 %214, ptr %9, align 4
  call void @llvm.lifetime.end.p0(i64 2, ptr %30) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #7
  br label %369

215:                                              ; preds = %206
  %216 = landingpad { ptr, i32 }
          cleanup
  %217 = extractvalue { ptr, i32 } %216, 0
  store ptr %217, ptr %8, align 8
  %218 = extractvalue { ptr, i32 } %216, 1
  store i32 %218, ptr %9, align 4
  br label %233

219:                                              ; preds = %207
  %220 = landingpad { ptr, i32 }
          cleanup
  %221 = extractvalue { ptr, i32 } %220, 0
  store ptr %221, ptr %8, align 8
  %222 = extractvalue { ptr, i32 } %220, 1
  store i32 %222, ptr %9, align 4
  br label %232

223:                                              ; preds = %208
  %224 = landingpad { ptr, i32 }
          cleanup
  %225 = extractvalue { ptr, i32 } %224, 0
  store ptr %225, ptr %8, align 8
  %226 = extractvalue { ptr, i32 } %224, 1
  store i32 %226, ptr %9, align 4
  br label %231

227:                                              ; preds = %209
  %228 = landingpad { ptr, i32 }
          cleanup
  %229 = extractvalue { ptr, i32 } %228, 0
  store ptr %229, ptr %8, align 8
  %230 = extractvalue { ptr, i32 } %228, 1
  store i32 %230, ptr %9, align 4
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %34) #7
  br label %231

231:                                              ; preds = %227, %223
  call void @llvm.lifetime.end.p0(i64 24, ptr %34) #7
  br label %232

232:                                              ; preds = %231, %219
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %33) #7
  br label %233

233:                                              ; preds = %232, %215
  call void @llvm.lifetime.end.p0(i64 24, ptr %33) #7
  br label %369

234:                                              ; preds = %194
  call void @llvm.lifetime.start.p0(i64 24, ptr %35) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %36) #7
  invoke void @_ZN5amaze11AgentHelperINS_10maze_graph12FourWayGraphILb1EttLh32ELt1024EEENS_6solver9DStarLiteIttLh32ELt1024EEEE21currentSensePositionsERKS6_(ptr dead_on_unwind writable sret(%"class.std::vector") align 8 %36, ptr noundef nonnull align 8 dereferenceable(4352) %21)
          to label %235 unwind label %278

235:                                              ; preds = %234
  invoke void @_ZN5amaze20MazeGraphFeatureBaseINS_10maze_graph12FourWayGraphILb1EttLh32ELt1024EEEE5senseERNS_4MazeILh32EEERKS6_RKSt6vectorINS_8PositionESaISB_EE(ptr dead_on_unwind writable sret(%"class.std::vector") align 8 %35, ptr noundef nonnull align 8 dereferenceable(1040) %13, ptr noundef nonnull align 8 dereferenceable(1040) %14, ptr noundef nonnull align 8 dereferenceable(24) %36)
          to label %236 unwind label %282

236:                                              ; preds = %235
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %36) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %36) #7
  %237 = invoke i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1024EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16) %21)
          to label %238 unwind label %287

238:                                              ; preds = %236
  store i32 %237, ptr %37, align 1
  %239 = load i32, ptr %37, align 1
  %240 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %239)
          to label %241 unwind label %287

241:                                              ; preds = %238
  %242 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %240, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %243 unwind label %287

243:                                              ; preds = %241
  %244 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %20)
          to label %245 unwind label %287

245:                                              ; preds = %243
  invoke void @_ZN5amaze6solver10SolverBaseIttLh32ELt1024EE18changeDestinationsEt(ptr noundef nonnull align 8 dereferenceable(16) %21, i16 noundef zeroext %244)
          to label %246 unwind label %287

246:                                              ; preds = %245
  %247 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.5)
          to label %248 unwind label %287

248:                                              ; preds = %246
  %249 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %20)
          to label %250 unwind label %287

250:                                              ; preds = %248
  %251 = invoke i32 @_ZNK5amaze10maze_graph12FourWayGraphILb1EttLh32ELt1024EE18agentStateByNodeIdEt(ptr noundef nonnull align 8 dereferenceable(16) %20, i16 noundef zeroext %249)
          to label %252 unwind label %287

252:                                              ; preds = %250
  store i32 %251, ptr %38, align 1
  %253 = load i32, ptr %38, align 1
  %254 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) %247, i32 %253)
          to label %255 unwind label %287

255:                                              ; preds = %252
  %256 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %254, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %257 unwind label %287

257:                                              ; preds = %255
  br label %258

258:                                              ; preds = %277, %257
  %259 = invoke noundef zeroext i16 @_ZNK5amaze6solver9DStarLiteIttLh32ELt1024EE13currentNodeIdEv(ptr noundef nonnull align 8 dereferenceable(4352) %21)
          to label %260 unwind label %287

260:                                              ; preds = %258
  %261 = zext i16 %259 to i32
  %262 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %20)
          to label %263 unwind label %287

263:                                              ; preds = %260
  %264 = zext i16 %262 to i32
  %265 = icmp ne i32 %261, %264
  br i1 %265, label %266, label %310

266:                                              ; preds = %263
  %267 = invoke i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1024EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16) %21)
          to label %268 unwind label %287

268:                                              ; preds = %266
  store i32 %267, ptr %39, align 1
  %269 = load i32, ptr %39, align 1
  %270 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %269)
          to label %271 unwind label %287

271:                                              ; preds = %268
  %272 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %270, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %273 unwind label %287

273:                                              ; preds = %271
  call void @llvm.lifetime.start.p0(i64 24, ptr %40) #7
  invoke void @_ZN5amaze11AgentHelperINS_10maze_graph12FourWayGraphILb1EttLh32ELt1024EEENS_6solver9DStarLiteIttLh32ELt1024EEEE21currentSensePositionsERKS6_(ptr dead_on_unwind writable sret(%"class.std::vector") align 8 %40, ptr noundef nonnull align 8 dereferenceable(4352) %21)
          to label %274 unwind label %291

274:                                              ; preds = %273
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EE8preSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(4352) %21, ptr noundef nonnull align 8 dereferenceable(24) %40)
          to label %275 unwind label %295

275:                                              ; preds = %274
  call void @llvm.lifetime.start.p0(i64 24, ptr %41) #7
  invoke void @_ZN5amaze20MazeGraphFeatureBaseINS_10maze_graph12FourWayGraphILb1EttLh32ELt1024EEEE5senseERNS_4MazeILh32EEERKS6_RKSt6vectorINS_8PositionESaISB_EE(ptr dead_on_unwind writable sret(%"class.std::vector") align 8 %41, ptr noundef nonnull align 8 dereferenceable(1040) %13, ptr noundef nonnull align 8 dereferenceable(1040) %14, ptr noundef nonnull align 8 dereferenceable(24) %40)
          to label %276 unwind label %299

276:                                              ; preds = %275
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EE9postSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(4352) %21, ptr noundef nonnull align 8 dereferenceable(24) %41)
          to label %277 unwind label %303

277:                                              ; preds = %276
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %41) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %41) #7
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %40) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %40) #7
  br label %258, !llvm.loop !19

278:                                              ; preds = %234
  %279 = landingpad { ptr, i32 }
          cleanup
  %280 = extractvalue { ptr, i32 } %279, 0
  store ptr %280, ptr %8, align 8
  %281 = extractvalue { ptr, i32 } %279, 1
  store i32 %281, ptr %9, align 4
  br label %286

282:                                              ; preds = %235
  %283 = landingpad { ptr, i32 }
          cleanup
  %284 = extractvalue { ptr, i32 } %283, 0
  store ptr %284, ptr %8, align 8
  %285 = extractvalue { ptr, i32 } %283, 1
  store i32 %285, ptr %9, align 4
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %36) #7
  br label %286

286:                                              ; preds = %282, %278
  call void @llvm.lifetime.end.p0(i64 24, ptr %36) #7
  br label %368

287:                                              ; preds = %317, %315, %312, %310, %271, %268, %266, %260, %258, %255, %252, %250, %248, %246, %245, %243, %241, %238, %236
  %288 = landingpad { ptr, i32 }
          cleanup
  %289 = extractvalue { ptr, i32 } %288, 0
  store ptr %289, ptr %8, align 8
  %290 = extractvalue { ptr, i32 } %288, 1
  store i32 %290, ptr %9, align 4
  br label %367

291:                                              ; preds = %273
  %292 = landingpad { ptr, i32 }
          cleanup
  %293 = extractvalue { ptr, i32 } %292, 0
  store ptr %293, ptr %8, align 8
  %294 = extractvalue { ptr, i32 } %292, 1
  store i32 %294, ptr %9, align 4
  br label %309

295:                                              ; preds = %274
  %296 = landingpad { ptr, i32 }
          cleanup
  %297 = extractvalue { ptr, i32 } %296, 0
  store ptr %297, ptr %8, align 8
  %298 = extractvalue { ptr, i32 } %296, 1
  store i32 %298, ptr %9, align 4
  br label %308

299:                                              ; preds = %275
  %300 = landingpad { ptr, i32 }
          cleanup
  %301 = extractvalue { ptr, i32 } %300, 0
  store ptr %301, ptr %8, align 8
  %302 = extractvalue { ptr, i32 } %300, 1
  store i32 %302, ptr %9, align 4
  br label %307

303:                                              ; preds = %276
  %304 = landingpad { ptr, i32 }
          cleanup
  %305 = extractvalue { ptr, i32 } %304, 0
  store ptr %305, ptr %8, align 8
  %306 = extractvalue { ptr, i32 } %304, 1
  store i32 %306, ptr %9, align 4
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %41) #7
  br label %307

307:                                              ; preds = %303, %299
  call void @llvm.lifetime.end.p0(i64 24, ptr %41) #7
  br label %308

308:                                              ; preds = %307, %295
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %40) #7
  br label %309

309:                                              ; preds = %308, %291
  call void @llvm.lifetime.end.p0(i64 24, ptr %40) #7
  br label %367

310:                                              ; preds = %263
  %311 = invoke i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1024EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16) %21)
          to label %312 unwind label %287

312:                                              ; preds = %310
  store i32 %311, ptr %42, align 1
  %313 = load i32, ptr %42, align 1
  %314 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %313)
          to label %315 unwind label %287

315:                                              ; preds = %312
  %316 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %314, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %317 unwind label %287

317:                                              ; preds = %315
  %318 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %319 unwind label %287

319:                                              ; preds = %317
  call void @llvm.lifetime.start.p0(i64 16, ptr %43) #7
  invoke void @_ZN5amaze10maze_graph12FourWayGraphILb0EttLh32ELt1024EEC2ERKNS_4MazeILh32EEE(ptr noundef nonnull align 8 dereferenceable(16) %43, ptr noundef nonnull align 8 dereferenceable(1040) %13)
          to label %320 unwind label %338

320:                                              ; preds = %319
  invoke void @_ZN5amaze6solver10SolverBaseIttLh32ELt1024EE15changeMazeGraphEPKNS_10maze_graph13MazeGraphBaseIttLh32ELt1024EEE(ptr noundef nonnull align 8 dereferenceable(16) %21, ptr noundef %43)
          to label %321 unwind label %342

321:                                              ; preds = %320
  %322 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.6)
          to label %323 unwind label %342

323:                                              ; preds = %321
  %324 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %322, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %325 unwind label %342

325:                                              ; preds = %323
  call void @llvm.lifetime.start.p0(i64 24, ptr %44) #7
  %326 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %43)
          to label %327 unwind label %346

327:                                              ; preds = %325
  invoke void @_ZNK5amaze6solver9DStarLiteIttLh32ELt1024EE15reconstructPathEtRKSt3setItSt4lessItESaItEE(ptr dead_on_unwind writable sret(%"class.std::vector.15") align 8 %44, ptr noundef nonnull align 8 dereferenceable(4352) %21, i16 noundef zeroext %326, ptr noundef nonnull align 8 dereferenceable(48) %22)
          to label %328 unwind label %346

328:                                              ; preds = %327
  call void @llvm.lifetime.start.p0(i64 8, ptr %45) #7
  store ptr %44, ptr %45, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %46) #7
  %329 = load ptr, ptr %45, align 8, !tbaa !9
  %330 = call ptr @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %329) #7
  %331 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %46, i32 0, i32 0
  store ptr %330, ptr %331, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %47) #7
  %332 = load ptr, ptr %45, align 8, !tbaa !9
  %333 = call ptr @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %332) #7
  %334 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %47, i32 0, i32 0
  store ptr %333, ptr %334, align 8
  br label %335

335:                                              ; preds = %357, %328
  %336 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESC_(ptr noundef nonnull align 8 dereferenceable(8) %46, ptr noundef nonnull align 8 dereferenceable(8) %47) #7
  br i1 %336, label %350, label %337

337:                                              ; preds = %335
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %45) #7
  br label %363

338:                                              ; preds = %319
  %339 = landingpad { ptr, i32 }
          cleanup
  %340 = extractvalue { ptr, i32 } %339, 0
  store ptr %340, ptr %8, align 8
  %341 = extractvalue { ptr, i32 } %339, 1
  store i32 %341, ptr %9, align 4
  br label %366

342:                                              ; preds = %323, %321, %320
  %343 = landingpad { ptr, i32 }
          cleanup
  %344 = extractvalue { ptr, i32 } %343, 0
  store ptr %344, ptr %8, align 8
  %345 = extractvalue { ptr, i32 } %343, 1
  store i32 %345, ptr %9, align 4
  br label %365

346:                                              ; preds = %327, %325
  %347 = landingpad { ptr, i32 }
          cleanup
  %348 = extractvalue { ptr, i32 } %347, 0
  store ptr %348, ptr %8, align 8
  %349 = extractvalue { ptr, i32 } %347, 1
  store i32 %349, ptr %9, align 4
  br label %364

350:                                              ; preds = %335
  call void @llvm.lifetime.start.p0(i64 4, ptr %48) #7
  %351 = call noundef nonnull align 1 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %46) #7
  call void @llvm.memcpy.p0.p0.i64(ptr align 1 %48, ptr align 1 %351, i64 4, i1 false), !tbaa.struct !20
  call void @llvm.memcpy.p0.p0.i64(ptr align 1 %49, ptr align 1 %48, i64 4, i1 false), !tbaa.struct !20
  %352 = load i32, ptr %49, align 1
  %353 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %352)
          to label %354 unwind label %359

354:                                              ; preds = %350
  %355 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %353, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %356 unwind label %359

356:                                              ; preds = %354
  call void @llvm.lifetime.end.p0(i64 4, ptr %48) #7
  br label %357

357:                                              ; preds = %356
  %358 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %46) #7
  br label %335

359:                                              ; preds = %354, %350
  %360 = landingpad { ptr, i32 }
          cleanup
  %361 = extractvalue { ptr, i32 } %360, 0
  store ptr %361, ptr %8, align 8
  %362 = extractvalue { ptr, i32 } %360, 1
  store i32 %362, ptr %9, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %48) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %45) #7
  call void @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %44) #7
  br label %364

363:                                              ; preds = %337
  store i32 0, ptr %3, align 4
  call void @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %44) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %44) #7
  call void @_ZN5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %43) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %43) #7
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %35) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %35) #7
  call void @_ZNSt3setItSt4lessItESaItEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %22) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr %22) #7
  call void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EED2Ev(ptr noundef nonnull align 8 dereferenceable(4352) %21) #7
  call void @llvm.lifetime.end.p0(i64 4352, ptr %21) #7
  call void @_ZN5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %20) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %20) #7
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %16) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %16) #7
  call void @_ZN5amaze4MazeILh32EED2Ev(ptr noundef nonnull align 8 dereferenceable(1040) %14) #7
  call void @llvm.lifetime.end.p0(i64 1040, ptr %14) #7
  call void @_ZN5amaze4MazeILh32EED2Ev(ptr noundef nonnull align 8 dereferenceable(1040) %13) #7
  call void @llvm.lifetime.end.p0(i64 1040, ptr %13) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %12) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %10) #7
  br label %380

364:                                              ; preds = %359, %346
  call void @llvm.lifetime.end.p0(i64 24, ptr %44) #7
  br label %365

365:                                              ; preds = %364, %342
  call void @_ZN5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %43) #7
  br label %366

366:                                              ; preds = %365, %338
  call void @llvm.lifetime.end.p0(i64 16, ptr %43) #7
  br label %367

367:                                              ; preds = %366, %309, %287
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %35) #7
  br label %368

368:                                              ; preds = %367, %286
  call void @llvm.lifetime.end.p0(i64 24, ptr %35) #7
  br label %369

369:                                              ; preds = %368, %233, %211, %183, %166
  call void @_ZNSt3setItSt4lessItESaItEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %22) #7
  br label %370

370:                                              ; preds = %369, %162
  call void @llvm.lifetime.end.p0(i64 48, ptr %22) #7
  br label %371

371:                                              ; preds = %370, %158
  call void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EED2Ev(ptr noundef nonnull align 8 dereferenceable(4352) %21) #7
  br label %372

372:                                              ; preds = %371, %154
  call void @llvm.lifetime.end.p0(i64 4352, ptr %21) #7
  call void @_ZN5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %20) #7
  br label %373

373:                                              ; preds = %372, %150
  call void @llvm.lifetime.end.p0(i64 16, ptr %20) #7
  br label %374

374:                                              ; preds = %373, %146
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %16) #7
  br label %375

375:                                              ; preds = %374, %142
  call void @llvm.lifetime.end.p0(i64 24, ptr %16) #7
  br label %376

376:                                              ; preds = %375, %138, %134
  call void @_ZN5amaze4MazeILh32EED2Ev(ptr noundef nonnull align 8 dereferenceable(1040) %14) #7
  br label %377

377:                                              ; preds = %376, %130
  call void @llvm.lifetime.end.p0(i64 1040, ptr %14) #7
  call void @_ZN5amaze4MazeILh32EED2Ev(ptr noundef nonnull align 8 dereferenceable(1040) %13) #7
  br label %378

378:                                              ; preds = %377, %126
  call void @llvm.lifetime.end.p0(i64 1040, ptr %13) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %12) #7
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #7
  br label %379

379:                                              ; preds = %378, %122
  call void @llvm.lifetime.end.p0(i64 32, ptr %10) #7
  br label %382

380:                                              ; preds = %363, %57
  %381 = load i32, ptr %3, align 4
  ret i32 %381

382:                                              ; preds = %379, %66
  %383 = load ptr, ptr %8, align 8
  %384 = load i32, ptr %9, align 4
  %385 = insertvalue { ptr, i32 } poison, ptr %383, 0
  %386 = insertvalue { ptr, i32 } %385, i32 %384, 1
  resume { ptr, i32 } %386
}

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

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

declare i32 @__gxx_personality_v0(...)

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5amaze4MazeILh32EEC2Ev(ptr noundef nonnull align 8 dereferenceable(1040)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze5utils13loadEmptyMazeILh32EEEvRNS_4MazeIXT_EEE(ptr noundef nonnull align 8 dereferenceable(1040)) #0

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN5amaze5utils16loadMazeFromFileILh32EEEbRNS_4MazeIXT_EEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(1040), ptr noundef) #0

; Function Attrs: mustprogress uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2ERKS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIN5amaze8PositionESaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN5amaze8PositionESaIS1_EEaSERKS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze4MazeILh32EE7setWallENS_8PositionEb(ptr noundef nonnull align 8 dereferenceable(1040), i16, i1 noundef zeroext) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze4MazeILh32EE14setCheckedWallENS_8PositionEb(ptr noundef nonnull align 8 dereferenceable(1040), i16, i1 noundef zeroext) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze10maze_graph12FourWayGraphILb1EttLh32ELt1024EEC2ERKNS_4MazeILh32EEE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(1040)) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EEC2EPKNS_10maze_graph13MazeGraphBaseIttLh32ELt1024EEE(ptr noundef nonnull align 8 dereferenceable(4352), ptr noundef) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EE10initializeEv(ptr noundef nonnull align 8 dereferenceable(4352)) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze5utils9printMazeILh32EEEvRKNS_4MazeIXT_EEEi(ptr noundef nonnull align 8 dereferenceable(1040), i32 noundef) #0

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EE11goalNodeIdsEv(ptr dead_on_unwind noalias writable sret(%"class.std::set") align 8, ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8), i32) #1

; Function Attrs: mustprogress uwtable
declare dso_local i32 @_ZNK5amaze10maze_graph12FourWayGraphILb1EttLh32ELt1024EE18agentStateByNodeIdEt(ptr noundef nonnull align 8 dereferenceable(16), i16 noundef zeroext) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i16 @_ZNK5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNKSt3setItSt4lessItESaItEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNKSt3setItSt4lessItESaItEE3endEv(ptr noundef nonnull align 8 dereferenceable(48)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZStneRKSt23_Rb_tree_const_iteratorItES2_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 2 dereferenceable(2) ptr @_ZNKSt23_Rb_tree_const_iteratorItEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt23_Rb_tree_const_iteratorItEppEv(ptr noundef nonnull align 8 dereferenceable(8)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZSteqRKSt23_Rb_tree_const_iteratorItES2_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #4

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZNSt3setItSt4lessItESaItEE4findERKt(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef nonnull align 2 dereferenceable(2)) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i16 @_ZNK5amaze6solver9DStarLiteIttLh32ELt1024EE13currentNodeIdEv(ptr noundef nonnull align 8 dereferenceable(4352)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1024EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16)) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze11AgentHelperINS_10maze_graph12FourWayGraphILb1EttLh32ELt1024EEENS_6solver9DStarLiteIttLh32ELt1024EEEE21currentSensePositionsERKS6_(ptr dead_on_unwind noalias writable sret(%"class.std::vector") align 8, ptr noundef nonnull align 8 dereferenceable(4352)) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EE8preSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(4352), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze20MazeGraphFeatureBaseINS_10maze_graph12FourWayGraphILb1EttLh32ELt1024EEEE5senseERNS_4MazeILh32EEERKS6_RKSt6vectorINS_8PositionESaISB_EE(ptr dead_on_unwind noalias writable sret(%"class.std::vector") align 8, ptr noundef nonnull align 8 dereferenceable(1040), ptr noundef nonnull align 8 dereferenceable(1040), ptr noundef nonnull align 8 dereferenceable(24)) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EE9postSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(4352), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze6solver10SolverBaseIttLh32ELt1024EE18changeDestinationsEt(ptr noundef nonnull align 8 dereferenceable(16), i16 noundef zeroext) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5amaze10maze_graph12FourWayGraphILb0EttLh32ELt1024EEC2ERKNS_4MazeILh32EEE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(1040)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze6solver10SolverBaseIttLh32ELt1024EE15changeMazeGraphEPKNS_10maze_graph13MazeGraphBaseIttLh32ELt1024EEE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5amaze6solver9DStarLiteIttLh32ELt1024EE15reconstructPathEtRKSt3setItSt4lessItESaItEE(ptr dead_on_unwind noalias writable sret(%"class.std::vector.15") align 8, ptr noundef nonnull align 8 dereferenceable(4352), i16 noundef zeroext, ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESC_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 1 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #4 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3setItSt4lessItESaItEED2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EED2Ev(ptr noundef nonnull align 8 dereferenceable(4352)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5amaze4MazeILh32EED2Ev(ptr noundef nonnull align 8 dereferenceable(1040)) unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #4 align 2

attributes #0 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress norecurse uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 #6 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #7 = { 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 = !{!7, !7, i64 0}
!12 = !{!13, !7, i64 0}
!13 = !{!"_ZTSN5amaze8PositionE", !7, i64 0, !7, i64 1}
!14 = !{!13, !7, i64 1}
!15 = !{!16, !16, i64 0}
!16 = !{!"short", !7, i64 0}
!17 = distinct !{!17, !18}
!18 = !{!"llvm.loop.mustprogress"}
!19 = distinct !{!19, !18}
!20 = !{i64 0, i64 1, !11, i64 1, i64 1, !11, i64 2, i64 1, !11, i64 3, i64 1, !11}


; 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.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator" = type { i8 }
%"class.amaze::Maze" = type { %"class.std::bitset", %"class.std::bitset", %"struct.amaze::Position", %"class.std::vector" }
%"class.std::bitset" = type { %"struct.std::_Base_bitset" }
%"struct.std::_Base_bitset" = type { [63 x i64] }
%"struct.amaze::Position" = type { i8, i8 }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<amaze::Position, std::allocator<amaze::Position>>::_Vector_impl" }
%"struct.std::_Vector_base<amaze::Position, std::allocator<amaze::Position>>::_Vector_impl" = type { %"struct.std::_Vector_base<amaze::Position, std::allocator<amaze::Position>>::_Vector_impl_data" }
%"struct.std::_Vector_base<amaze::Position, std::allocator<amaze::Position>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.amaze::maze_graph::FourWayGraph" = type { %"class.amaze::maze_graph::MazeGraphBase" }
%"class.amaze::maze_graph::MazeGraphBase" = type { ptr, ptr }
%"class.amaze::solver::DStarLite" = type { %"class.amaze::solver::SolverBase", i16, %"class.std::set", i16, i16, i16, %"struct.std::array", %"struct.std::array", %"class.std::set.6", %"class.std::bitset.12" }
%"class.amaze::solver::SolverBase" = type { ptr, ptr }
%"class.std::set" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<unsigned short, unsigned short, std::_Identity<unsigned short>, std::less<unsigned short>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<unsigned short, unsigned short, std::_Identity<unsigned short>, std::less<unsigned short>>::_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 }
%"struct.std::array" = type { [1024 x i16] }
%"class.std::set.6" = type { %"class.std::_Rb_tree.7" }
%"class.std::_Rb_tree.7" = type { %"struct.std::_Rb_tree<std::pair<std::pair<unsigned short, unsigned short>, unsigned short>, std::pair<std::pair<unsigned short, unsigned short>, unsigned short>, std::_Identity<std::pair<std::pair<unsigned short, unsigned short>, unsigned short>>, amaze::solver::DStarLite<unsigned short, unsigned short, ' ', 1024>::KeyCompare>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::pair<std::pair<unsigned short, unsigned short>, unsigned short>, std::pair<std::pair<unsigned short, unsigned short>, unsigned short>, std::_Identity<std::pair<std::pair<unsigned short, unsigned short>, unsigned short>>, amaze::solver::DStarLite<unsigned short, unsigned short, ' ', 1024>::KeyCompare>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"class.std::bitset.12" = type { %"struct.std::_Base_bitset.13" }
%"struct.std::_Base_bitset.13" = type { [16 x i64] }
%"struct.std::_Rb_tree_const_iterator" = type { ptr }
%"class.amaze::maze_graph::FourWayGraph.14" = type { %"class.amaze::maze_graph::MazeGraphBase" }
%"class.std::vector.15" = type { %"struct.std::_Vector_base.16" }
%"struct.std::_Vector_base.16" = type { %"struct.std::_Vector_base<amaze::AgentState, std::allocator<amaze::AgentState>>::_Vector_impl" }
%"struct.std::_Vector_base<amaze::AgentState, std::allocator<amaze::AgentState>>::_Vector_impl" = type { %"struct.std::_Vector_base<amaze::AgentState, std::allocator<amaze::AgentState>>::_Vector_impl_data" }
%"struct.std::_Vector_base<amaze::AgentState, std::allocator<amaze::AgentState>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }

@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.2 = external hidden unnamed_addr constant [14 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [15 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [13 x i8], align 1

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z9showUsageNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef) local_unnamed_addr #0

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #1

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

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

; Function Attrs: mustprogress norecurse uwtable
define dso_local noundef i32 @main(i32 noundef %0, ptr nocapture noundef readonly %1) local_unnamed_addr #2 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.std::__cxx11::basic_string", align 8
  %4 = alloca %"class.std::allocator", align 1
  %5 = alloca %"class.std::__cxx11::basic_string", align 8
  %6 = alloca %"class.std::allocator", align 1
  %7 = alloca %"class.amaze::Maze", align 8
  %8 = alloca %"class.amaze::Maze", align 8
  %9 = alloca %"class.std::__cxx11::basic_string", align 8
  %10 = alloca %"class.std::vector", align 8
  %11 = alloca %"class.amaze::maze_graph::FourWayGraph", align 8
  %12 = alloca %"class.amaze::solver::DStarLite", align 8
  %13 = alloca %"class.std::set", align 8
  %14 = alloca %"struct.std::_Rb_tree_const_iterator", align 8
  %15 = alloca %"struct.std::_Rb_tree_const_iterator", align 8
  %16 = alloca %"struct.std::_Rb_tree_const_iterator", align 8
  %17 = alloca i16, align 2
  %18 = alloca %"struct.std::_Rb_tree_const_iterator", align 8
  %19 = alloca %"class.std::vector", align 8
  %20 = alloca %"class.std::vector", align 8
  %21 = alloca %"class.std::vector", align 8
  %22 = alloca %"class.std::vector", align 8
  %23 = alloca %"class.std::vector", align 8
  %24 = alloca %"class.std::vector", align 8
  %25 = alloca %"class.amaze::maze_graph::FourWayGraph.14", align 8
  %26 = alloca %"class.std::vector.15", align 8
  %27 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %28 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %29 = icmp slt i32 %0, 2
  br i1 %29, label %30, label %39

30:                                               ; preds = %2
  %31 = load ptr, ptr %1, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %4) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %3, ptr noundef %31, ptr noundef nonnull align 1 dereferenceable(1) %4)
          to label %32 unwind label %34

32:                                               ; preds = %30
  invoke void @_Z9showUsageNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull %3)
          to label %33 unwind label %36

33:                                               ; preds = %32
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #6
  br label %224

34:                                               ; preds = %30
  %35 = landingpad { ptr, i32 }
          cleanup
  br label %38

36:                                               ; preds = %32
  %37 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #6
  br label %38

38:                                               ; preds = %36, %34
  %.pn66 = phi { ptr, i32 } [ %37, %36 ], [ %35, %34 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #6
  br label %225

39:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %5) #6
  %40 = getelementptr inbounds i8, ptr %1, i64 8
  %41 = load ptr, ptr %40, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %6) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %5, ptr noundef %41, ptr noundef nonnull align 1 dereferenceable(1) %6)
          to label %42 unwind label %76

42:                                               ; preds = %39
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %6) #6
  call void @llvm.lifetime.start.p0(i64 1040, ptr nonnull %7) #6
  call void @_ZN5amaze4MazeILh32EEC2Ev(ptr noundef nonnull align 8 dereferenceable(1040) %7)
  call void @llvm.lifetime.start.p0(i64 1040, ptr nonnull %8) #6
  call void @_ZN5amaze4MazeILh32EEC2Ev(ptr noundef nonnull align 8 dereferenceable(1040) %8)
  invoke void @_ZN5amaze5utils13loadEmptyMazeILh32EEEvRNS_4MazeIXT_EEE(ptr noundef nonnull align 8 dereferenceable(1040) %7)
          to label %43 unwind label %78

43:                                               ; preds = %42
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2ERKS4_(ptr noundef nonnull align 8 dereferenceable(32) %9, ptr noundef nonnull align 8 dereferenceable(32) %5)
          to label %44 unwind label %78

44:                                               ; preds = %43
  %45 = invoke noundef zeroext i1 @_ZN5amaze5utils16loadMazeFromFileILh32EEEbRNS_4MazeIXT_EEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(1040) %8, ptr noundef nonnull %9)
          to label %46 unwind label %80

46:                                               ; preds = %44
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %10) #6
  %47 = getelementptr inbounds i8, ptr %8, i64 1016
  invoke void @_ZNSt6vectorIN5amaze8PositionESaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %10, ptr noundef nonnull align 8 dereferenceable(24) %47)
          to label %48 unwind label %82

48:                                               ; preds = %46
  %49 = getelementptr inbounds i8, ptr %7, i64 1016
  %50 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN5amaze8PositionESaIS1_EEaSERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %49, ptr noundef nonnull align 8 dereferenceable(24) %10)
          to label %51 unwind label %84

51:                                               ; preds = %48
  invoke void @_ZN5amaze4MazeILh32EE7setWallENS_8PositionEb(ptr noundef nonnull align 8 dereferenceable(1040) %7, i16 1, i1 noundef zeroext true)
          to label %52 unwind label %84

52:                                               ; preds = %51
  invoke void @_ZN5amaze4MazeILh32EE14setCheckedWallENS_8PositionEb(ptr noundef nonnull align 8 dereferenceable(1040) %7, i16 256, i1 noundef zeroext true)
          to label %53 unwind label %84

53:                                               ; preds = %52
  invoke void @_ZN5amaze4MazeILh32EE14setCheckedWallENS_8PositionEb(ptr noundef nonnull align 8 dereferenceable(1040) %7, i16 1, i1 noundef zeroext true)
          to label %54 unwind label %84

54:                                               ; preds = %53
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #6
  invoke void @_ZN5amaze10maze_graph12FourWayGraphILb1EttLh32ELt1024EEC2ERKNS_4MazeILh32EEE(ptr noundef nonnull align 8 dereferenceable(16) %11, ptr noundef nonnull align 8 dereferenceable(1040) %7)
          to label %55 unwind label %86

55:                                               ; preds = %54
  call void @llvm.lifetime.start.p0(i64 4352, ptr nonnull %12) #6
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EEC2EPKNS_10maze_graph13MazeGraphBaseIttLh32ELt1024EEE(ptr noundef nonnull align 8 dereferenceable(4352) %12, ptr noundef nonnull %11)
          to label %56 unwind label %88

56:                                               ; preds = %55
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EE10initializeEv(ptr noundef nonnull align 8 dereferenceable(4352) %12)
          to label %57 unwind label %90

57:                                               ; preds = %56
  invoke void @_ZN5amaze5utils9printMazeILh32EEEvRKNS_4MazeIXT_EEEi(ptr noundef nonnull align 8 dereferenceable(1040) %8, i32 noundef 1)
          to label %58 unwind label %90

58:                                               ; preds = %57
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %13) #6
  invoke void @_ZNK5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EE11goalNodeIdsEv(ptr dead_on_unwind nonnull writable sret(%"class.std::set") align 8 %13, ptr noundef nonnull align 8 dereferenceable(16) %11)
          to label %59 unwind label %92

59:                                               ; preds = %58
  %60 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.2)
          to label %61 unwind label %.loopexit.split-lp71

61:                                               ; preds = %59
  %62 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %11)
          to label %63 unwind label %.loopexit.split-lp71

63:                                               ; preds = %61
  %64 = invoke i32 @_ZNK5amaze10maze_graph12FourWayGraphILb1EttLh32ELt1024EE18agentStateByNodeIdEt(ptr noundef nonnull align 8 dereferenceable(16) %11, i16 noundef zeroext %62)
          to label %65 unwind label %.loopexit.split-lp71

65:                                               ; preds = %63
  %66 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) %60, i32 %64)
          to label %67 unwind label %.loopexit.split-lp71

67:                                               ; preds = %65
  %68 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %66, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %69 unwind label %.loopexit.split-lp71

69:                                               ; preds = %67
  %70 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.3)
          to label %71 unwind label %.loopexit.split-lp71

71:                                               ; preds = %69
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #6
  %72 = call ptr @_ZNKSt3setItSt4lessItESaItEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48) %13) #6
  store ptr %72, ptr %14, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #6
  %73 = call ptr @_ZNKSt3setItSt4lessItESaItEE3endEv(ptr noundef nonnull align 8 dereferenceable(48) %13) #6
  store ptr %73, ptr %15, align 8
  %74 = call noundef zeroext i1 @_ZStneRKSt23_Rb_tree_const_iteratorItES2_(ptr noundef nonnull align 8 dereferenceable(8) %14, ptr noundef nonnull align 8 dereferenceable(8) %15) #6
  br i1 %74, label %.lr.ph, label %._crit_edge

._crit_edge:                                      ; preds = %101, %71
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #6
  %75 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %.preheader69 unwind label %.loopexit.split-lp71

76:                                               ; preds = %39
  %77 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %6) #6
  br label %223

78:                                               ; preds = %43, %42
  %79 = landingpad { ptr, i32 }
          cleanup
  br label %222

80:                                               ; preds = %44
  %81 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #6
  br label %222

82:                                               ; preds = %46
  %83 = landingpad { ptr, i32 }
          cleanup
  br label %221

84:                                               ; preds = %53, %52, %51, %48
  %85 = landingpad { ptr, i32 }
          cleanup
  br label %220

86:                                               ; preds = %54
  %87 = landingpad { ptr, i32 }
          cleanup
  br label %219

88:                                               ; preds = %55
  %89 = landingpad { ptr, i32 }
          cleanup
  br label %218

90:                                               ; preds = %57, %56
  %91 = landingpad { ptr, i32 }
          cleanup
  br label %217

92:                                               ; preds = %58
  %93 = landingpad { ptr, i32 }
          cleanup
  br label %216

.loopexit70:                                      ; preds = %111, %113, %115
  %lpad.loopexit72 = landingpad { ptr, i32 }
          cleanup
  br label %215

.loopexit.split-lp71:                             ; preds = %59, %61, %63, %65, %67, %69, %._crit_edge
  %lpad.loopexit.split-lp73 = landingpad { ptr, i32 }
          cleanup
  br label %215

.lr.ph:                                           ; preds = %71, %101
  %94 = call noundef nonnull align 2 dereferenceable(2) ptr @_ZNKSt23_Rb_tree_const_iteratorItEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %14) #6
  %95 = load i16, ptr %94, align 2, !tbaa !9
  %96 = invoke i32 @_ZNK5amaze10maze_graph12FourWayGraphILb1EttLh32ELt1024EE18agentStateByNodeIdEt(ptr noundef nonnull align 8 dereferenceable(16) %11, i16 noundef zeroext %95)
          to label %97 unwind label %104

97:                                               ; preds = %.lr.ph
  %98 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %96)
          to label %99 unwind label %104

99:                                               ; preds = %97
  %100 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %98, ptr noundef nonnull @.str.4)
          to label %101 unwind label %104

101:                                              ; preds = %99
  %102 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt23_Rb_tree_const_iteratorItEppEv(ptr noundef nonnull align 8 dereferenceable(8) %14) #6
  %103 = call noundef zeroext i1 @_ZStneRKSt23_Rb_tree_const_iteratorItES2_(ptr noundef nonnull align 8 dereferenceable(8) %14, ptr noundef nonnull align 8 dereferenceable(8) %15) #6
  br i1 %103, label %.lr.ph, label %._crit_edge

104:                                              ; preds = %99, %97, %.lr.ph
  %105 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #6
  br label %215

.preheader69:                                     ; preds = %._crit_edge, %120
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #6
  call void @llvm.lifetime.start.p0(i64 2, ptr nonnull %17) #6
  %106 = call noundef zeroext i16 @_ZNK5amaze6solver9DStarLiteIttLh32ELt1024EE13currentNodeIdEv(ptr noundef nonnull align 8 dereferenceable(4352) %12)
  store i16 %106, ptr %17, align 2, !tbaa !9
  %107 = invoke ptr @_ZNSt3setItSt4lessItESaItEE4findERKt(ptr noundef nonnull align 8 dereferenceable(48) %13, ptr noundef nonnull align 2 dereferenceable(2) %17)
          to label %108 unwind label %121

108:                                              ; preds = %.preheader69
  store ptr %107, ptr %16, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %18) #6
  %109 = call ptr @_ZNKSt3setItSt4lessItESaItEE3endEv(ptr noundef nonnull align 8 dereferenceable(48) %13) #6
  store ptr %109, ptr %18, align 8
  %110 = call noundef zeroext i1 @_ZSteqRKSt23_Rb_tree_const_iteratorItES2_(ptr noundef nonnull align 8 dereferenceable(8) %16, ptr noundef nonnull align 8 dereferenceable(8) %18) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #6
  call void @llvm.lifetime.end.p0(i64 2, ptr nonnull %17) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #6
  br i1 %110, label %111, label %131

111:                                              ; preds = %108
  %112 = invoke i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1024EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16) %12)
          to label %113 unwind label %.loopexit70

113:                                              ; preds = %111
  %114 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %112)
          to label %115 unwind label %.loopexit70

115:                                              ; preds = %113
  %116 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %114, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %117 unwind label %.loopexit70

117:                                              ; preds = %115
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %19) #6
  invoke void @_ZN5amaze11AgentHelperINS_10maze_graph12FourWayGraphILb1EttLh32ELt1024EEENS_6solver9DStarLiteIttLh32ELt1024EEEE21currentSensePositionsERKS6_(ptr dead_on_unwind nonnull writable sret(%"class.std::vector") align 8 %19, ptr noundef nonnull align 8 dereferenceable(4352) %12)
          to label %118 unwind label %123

118:                                              ; preds = %117
  call void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EE8preSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(4352) %12, ptr noundef nonnull align 8 dereferenceable(24) %19)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %20) #6
  invoke void @_ZN5amaze20MazeGraphFeatureBaseINS_10maze_graph12FourWayGraphILb1EttLh32ELt1024EEEE5senseERNS_4MazeILh32EEERKS6_RKSt6vectorINS_8PositionESaISB_EE(ptr dead_on_unwind nonnull writable sret(%"class.std::vector") align 8 %20, ptr noundef nonnull align 8 dereferenceable(1040) %7, ptr noundef nonnull align 8 dereferenceable(1040) %8, ptr noundef nonnull align 8 dereferenceable(24) %19)
          to label %119 unwind label %125

119:                                              ; preds = %118
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EE9postSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(4352) %12, ptr noundef nonnull align 8 dereferenceable(24) %20)
          to label %120 unwind label %127

120:                                              ; preds = %119
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %20) #6
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %19) #6
  br label %.preheader69, !llvm.loop !11

121:                                              ; preds = %.preheader69
  %122 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 2, ptr nonnull %17) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #6
  br label %215

123:                                              ; preds = %117
  %124 = landingpad { ptr, i32 }
          cleanup
  br label %130

125:                                              ; preds = %118
  %126 = landingpad { ptr, i32 }
          cleanup
  br label %129

127:                                              ; preds = %119
  %128 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #6
  br label %129

129:                                              ; preds = %127, %125
  %.pn53 = phi { ptr, i32 } [ %128, %127 ], [ %126, %125 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %20) #6
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #6
  br label %130

130:                                              ; preds = %129, %123
  %.pn53.pn = phi { ptr, i32 } [ %.pn53, %129 ], [ %124, %123 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %19) #6
  br label %215

131:                                              ; preds = %108
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %21) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %22) #6
  invoke void @_ZN5amaze11AgentHelperINS_10maze_graph12FourWayGraphILb1EttLh32ELt1024EEENS_6solver9DStarLiteIttLh32ELt1024EEEE21currentSensePositionsERKS6_(ptr dead_on_unwind nonnull writable sret(%"class.std::vector") align 8 %22, ptr noundef nonnull align 8 dereferenceable(4352) %12)
          to label %132 unwind label %165

132:                                              ; preds = %131
  invoke void @_ZN5amaze20MazeGraphFeatureBaseINS_10maze_graph12FourWayGraphILb1EttLh32ELt1024EEEE5senseERNS_4MazeILh32EEERKS6_RKSt6vectorINS_8PositionESaISB_EE(ptr dead_on_unwind nonnull writable sret(%"class.std::vector") align 8 %21, ptr noundef nonnull align 8 dereferenceable(1040) %7, ptr noundef nonnull align 8 dereferenceable(1040) %8, ptr noundef nonnull align 8 dereferenceable(24) %22)
          to label %133 unwind label %167

133:                                              ; preds = %132
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %22) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %22) #6
  %134 = invoke i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1024EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16) %12)
          to label %135 unwind label %.loopexit.split-lp

135:                                              ; preds = %133
  %136 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %134)
          to label %137 unwind label %.loopexit.split-lp

137:                                              ; preds = %135
  %138 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %136, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %139 unwind label %.loopexit.split-lp

139:                                              ; preds = %137
  %140 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %11)
          to label %141 unwind label %.loopexit.split-lp

141:                                              ; preds = %139
  invoke void @_ZN5amaze6solver10SolverBaseIttLh32ELt1024EE18changeDestinationsEt(ptr noundef nonnull align 8 dereferenceable(16) %12, i16 noundef zeroext %140)
          to label %142 unwind label %.loopexit.split-lp

142:                                              ; preds = %141
  %143 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.5)
          to label %144 unwind label %.loopexit.split-lp

144:                                              ; preds = %142
  %145 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %11)
          to label %146 unwind label %.loopexit.split-lp

146:                                              ; preds = %144
  %147 = invoke i32 @_ZNK5amaze10maze_graph12FourWayGraphILb1EttLh32ELt1024EE18agentStateByNodeIdEt(ptr noundef nonnull align 8 dereferenceable(16) %11, i16 noundef zeroext %145)
          to label %148 unwind label %.loopexit.split-lp

148:                                              ; preds = %146
  %149 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) %143, i32 %147)
          to label %150 unwind label %.loopexit.split-lp

150:                                              ; preds = %148
  %151 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %149, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %.preheader unwind label %.loopexit.split-lp

.preheader:                                       ; preds = %150, %164
  %152 = call noundef zeroext i16 @_ZNK5amaze6solver9DStarLiteIttLh32ELt1024EE13currentNodeIdEv(ptr noundef nonnull align 8 dereferenceable(4352) %12)
  %153 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %11)
          to label %154 unwind label %.loopexit

154:                                              ; preds = %.preheader
  %.not = icmp eq i16 %152, %153
  br i1 %.not, label %178, label %155

155:                                              ; preds = %154
  %156 = invoke i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1024EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16) %12)
          to label %157 unwind label %.loopexit

157:                                              ; preds = %155
  %158 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %156)
          to label %159 unwind label %.loopexit

159:                                              ; preds = %157
  %160 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %158, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %161 unwind label %.loopexit

161:                                              ; preds = %159
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %23) #6
  invoke void @_ZN5amaze11AgentHelperINS_10maze_graph12FourWayGraphILb1EttLh32ELt1024EEENS_6solver9DStarLiteIttLh32ELt1024EEEE21currentSensePositionsERKS6_(ptr dead_on_unwind nonnull writable sret(%"class.std::vector") align 8 %23, ptr noundef nonnull align 8 dereferenceable(4352) %12)
          to label %162 unwind label %170

162:                                              ; preds = %161
  call void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EE8preSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(4352) %12, ptr noundef nonnull align 8 dereferenceable(24) %23)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %24) #6
  invoke void @_ZN5amaze20MazeGraphFeatureBaseINS_10maze_graph12FourWayGraphILb1EttLh32ELt1024EEEE5senseERNS_4MazeILh32EEERKS6_RKSt6vectorINS_8PositionESaISB_EE(ptr dead_on_unwind nonnull writable sret(%"class.std::vector") align 8 %24, ptr noundef nonnull align 8 dereferenceable(1040) %7, ptr noundef nonnull align 8 dereferenceable(1040) %8, ptr noundef nonnull align 8 dereferenceable(24) %23)
          to label %163 unwind label %172

163:                                              ; preds = %162
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EE9postSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(4352) %12, ptr noundef nonnull align 8 dereferenceable(24) %24)
          to label %164 unwind label %174

164:                                              ; preds = %163
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %24) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %24) #6
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %23) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %23) #6
  br label %.preheader, !llvm.loop !13

165:                                              ; preds = %131
  %166 = landingpad { ptr, i32 }
          cleanup
  br label %169

167:                                              ; preds = %132
  %168 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %22) #6
  br label %169

169:                                              ; preds = %167, %165
  %.pn = phi { ptr, i32 } [ %168, %167 ], [ %166, %165 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %22) #6
  br label %214

.loopexit:                                        ; preds = %.preheader, %155, %157, %159
  %lpad.loopexit = landingpad { ptr, i32 }
          cleanup
  br label %213

.loopexit.split-lp:                               ; preds = %133, %135, %137, %139, %141, %142, %144, %146, %148, %150, %178, %180, %182, %184
  %lpad.loopexit.split-lp = landingpad { ptr, i32 }
          cleanup
  br label %213

170:                                              ; preds = %161
  %171 = landingpad { ptr, i32 }
          cleanup
  br label %177

172:                                              ; preds = %162
  %173 = landingpad { ptr, i32 }
          cleanup
  br label %176

174:                                              ; preds = %163
  %175 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %24) #6
  br label %176

176:                                              ; preds = %174, %172
  %.pn48 = phi { ptr, i32 } [ %175, %174 ], [ %173, %172 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %24) #6
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %23) #6
  br label %177

177:                                              ; preds = %176, %170
  %.pn48.pn = phi { ptr, i32 } [ %.pn48, %176 ], [ %171, %170 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %23) #6
  br label %213

178:                                              ; preds = %154
  %179 = invoke i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1024EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16) %12)
          to label %180 unwind label %.loopexit.split-lp

180:                                              ; preds = %178
  %181 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %179)
          to label %182 unwind label %.loopexit.split-lp

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

184:                                              ; preds = %182
  %185 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %186 unwind label %.loopexit.split-lp

186:                                              ; preds = %184
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %25) #6
  call void @_ZN5amaze10maze_graph12FourWayGraphILb0EttLh32ELt1024EEC2ERKNS_4MazeILh32EEE(ptr noundef nonnull align 8 dereferenceable(16) %25, ptr noundef nonnull align 8 dereferenceable(1040) %7)
  invoke void @_ZN5amaze6solver10SolverBaseIttLh32ELt1024EE15changeMazeGraphEPKNS_10maze_graph13MazeGraphBaseIttLh32ELt1024EEE(ptr noundef nonnull align 8 dereferenceable(16) %12, ptr noundef nonnull %25)
          to label %187 unwind label %198

187:                                              ; preds = %186
  %188 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.6)
          to label %189 unwind label %198

189:                                              ; preds = %187
  %190 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %188, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %191 unwind label %198

191:                                              ; preds = %189
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %26) #6
  %192 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %25)
          to label %193 unwind label %200

193:                                              ; preds = %191
  invoke void @_ZNK5amaze6solver9DStarLiteIttLh32ELt1024EE15reconstructPathEtRKSt3setItSt4lessItESaItEE(ptr dead_on_unwind nonnull writable sret(%"class.std::vector.15") align 8 %26, ptr noundef nonnull align 8 dereferenceable(4352) %12, i16 noundef zeroext %192, ptr noundef nonnull align 8 dereferenceable(48) %13)
          to label %194 unwind label %200

194:                                              ; preds = %193
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %27) #6
  %195 = call ptr @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %26) #6
  store ptr %195, ptr %27, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %28) #6
  %196 = call ptr @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %26) #6
  store ptr %196, ptr %28, align 8
  %197 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESC_(ptr noundef nonnull align 8 dereferenceable(8) %27, ptr noundef nonnull align 8 dereferenceable(8) %28) #6
  br i1 %197, label %.lr.ph76, label %._crit_edge77

._crit_edge77:                                    ; preds = %206, %194
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %27) #6
  call void @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %26) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %26) #6
  call void @_ZN5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %25) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %25) #6
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %21) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %21) #6
  call void @_ZNSt3setItSt4lessItESaItEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %13) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %13) #6
  call void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EED2Ev(ptr noundef nonnull align 8 dereferenceable(4352) %12) #6
  call void @llvm.lifetime.end.p0(i64 4352, ptr nonnull %12) #6
  call void @_ZN5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %11) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #6
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #6
  call void @_ZN5amaze4MazeILh32EED2Ev(ptr noundef nonnull align 8 dereferenceable(1040) %8) #6
  call void @llvm.lifetime.end.p0(i64 1040, ptr nonnull %8) #6
  call void @_ZN5amaze4MazeILh32EED2Ev(ptr noundef nonnull align 8 dereferenceable(1040) %7) #6
  call void @llvm.lifetime.end.p0(i64 1040, ptr nonnull %7) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #6
  br label %224

198:                                              ; preds = %189, %187, %186
  %199 = landingpad { ptr, i32 }
          cleanup
  br label %212

200:                                              ; preds = %193, %191
  %201 = landingpad { ptr, i32 }
          cleanup
  br label %211

.lr.ph76:                                         ; preds = %194, %206
  %202 = call noundef nonnull align 1 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %27) #6
  %.sroa.01.0.copyload = load i32, ptr %202, align 1
  %203 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %.sroa.01.0.copyload)
          to label %204 unwind label %209

204:                                              ; preds = %.lr.ph76
  %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 %209

206:                                              ; preds = %204
  %207 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %27) #6
  %208 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESC_(ptr noundef nonnull align 8 dereferenceable(8) %27, ptr noundef nonnull align 8 dereferenceable(8) %28) #6
  br i1 %208, label %.lr.ph76, label %._crit_edge77

209:                                              ; preds = %204, %.lr.ph76
  %210 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %27) #6
  call void @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %26) #6
  br label %211

211:                                              ; preds = %209, %200
  %.pn45 = phi { ptr, i32 } [ %210, %209 ], [ %201, %200 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %26) #6
  br label %212

212:                                              ; preds = %211, %198
  %.pn45.pn = phi { ptr, i32 } [ %.pn45, %211 ], [ %199, %198 ]
  call void @_ZN5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %25) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %25) #6
  br label %213

213:                                              ; preds = %.loopexit, %.loopexit.split-lp, %212, %177
  %.pn48.pn.pn = phi { ptr, i32 } [ %.pn48.pn, %177 ], [ %.pn45.pn, %212 ], [ %lpad.loopexit, %.loopexit ], [ %lpad.loopexit.split-lp, %.loopexit.split-lp ]
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %21) #6
  br label %214

214:                                              ; preds = %213, %169
  %.pn48.pn.pn.pn = phi { ptr, i32 } [ %.pn48.pn.pn, %213 ], [ %.pn, %169 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %21) #6
  br label %215

215:                                              ; preds = %.loopexit70, %.loopexit.split-lp71, %214, %130, %121, %104
  %.pn56 = phi { ptr, i32 } [ %105, %104 ], [ %.pn53.pn, %130 ], [ %.pn48.pn.pn.pn, %214 ], [ %122, %121 ], [ %lpad.loopexit72, %.loopexit70 ], [ %lpad.loopexit.split-lp73, %.loopexit.split-lp71 ]
  call void @_ZNSt3setItSt4lessItESaItEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %13) #6
  br label %216

216:                                              ; preds = %215, %92
  %.pn56.pn = phi { ptr, i32 } [ %.pn56, %215 ], [ %93, %92 ]
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %13) #6
  br label %217

217:                                              ; preds = %216, %90
  %.pn56.pn.pn = phi { ptr, i32 } [ %.pn56.pn, %216 ], [ %91, %90 ]
  call void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EED2Ev(ptr noundef nonnull align 8 dereferenceable(4352) %12) #6
  br label %218

218:                                              ; preds = %217, %88
  %.pn56.pn.pn.pn = phi { ptr, i32 } [ %.pn56.pn.pn, %217 ], [ %89, %88 ]
  call void @llvm.lifetime.end.p0(i64 4352, ptr nonnull %12) #6
  call void @_ZN5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %11) #6
  br label %219

219:                                              ; preds = %218, %86
  %.pn56.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn56.pn.pn.pn, %218 ], [ %87, %86 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #6
  br label %220

220:                                              ; preds = %219, %84
  %.pn56.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn56.pn.pn.pn.pn, %219 ], [ %85, %84 ]
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #6
  br label %221

221:                                              ; preds = %220, %82
  %.pn56.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn56.pn.pn.pn.pn.pn, %220 ], [ %83, %82 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #6
  br label %222

222:                                              ; preds = %221, %80, %78
  %.pn56.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn56.pn.pn.pn.pn.pn.pn, %221 ], [ %81, %80 ], [ %79, %78 ]
  call void @_ZN5amaze4MazeILh32EED2Ev(ptr noundef nonnull align 8 dereferenceable(1040) %8) #6
  call void @llvm.lifetime.end.p0(i64 1040, ptr nonnull %8) #6
  call void @_ZN5amaze4MazeILh32EED2Ev(ptr noundef nonnull align 8 dereferenceable(1040) %7) #6
  call void @llvm.lifetime.end.p0(i64 1040, ptr nonnull %7) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #6
  br label %223

223:                                              ; preds = %222, %76
  %.pn56.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn56.pn.pn.pn.pn.pn.pn.pn, %222 ], [ %77, %76 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #6
  br label %225

224:                                              ; preds = %._crit_edge77, %33
  ret i32 0

225:                                              ; preds = %223, %38
  %.pn66.pn = phi { ptr, i32 } [ %.pn66, %38 ], [ %.pn56.pn.pn.pn.pn.pn.pn.pn.pn, %223 ]
  resume { ptr, i32 } %.pn66.pn
}

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

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

declare i32 @__gxx_personality_v0(...)

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5amaze4MazeILh32EEC2Ev(ptr noundef nonnull align 8 dereferenceable(1040)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze5utils13loadEmptyMazeILh32EEEvRNS_4MazeIXT_EEE(ptr noundef nonnull align 8 dereferenceable(1040)) local_unnamed_addr #0

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN5amaze5utils16loadMazeFromFileILh32EEEbRNS_4MazeIXT_EEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(1040), ptr noundef) local_unnamed_addr #0

; Function Attrs: mustprogress uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2ERKS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIN5amaze8PositionESaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN5amaze8PositionESaIS1_EEaSERKS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze4MazeILh32EE7setWallENS_8PositionEb(ptr noundef nonnull align 8 dereferenceable(1040), i16, i1 noundef zeroext) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze4MazeILh32EE14setCheckedWallENS_8PositionEb(ptr noundef nonnull align 8 dereferenceable(1040), i16, i1 noundef zeroext) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze10maze_graph12FourWayGraphILb1EttLh32ELt1024EEC2ERKNS_4MazeILh32EEE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(1040)) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EEC2EPKNS_10maze_graph13MazeGraphBaseIttLh32ELt1024EEE(ptr noundef nonnull align 8 dereferenceable(4352), ptr noundef) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EE10initializeEv(ptr noundef nonnull align 8 dereferenceable(4352)) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze5utils9printMazeILh32EEEvRKNS_4MazeIXT_EEEi(ptr noundef nonnull align 8 dereferenceable(1040), i32 noundef) local_unnamed_addr #0

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EE11goalNodeIdsEv(ptr dead_on_unwind noalias writable sret(%"class.std::set") align 8, ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8), i32) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local i32 @_ZNK5amaze10maze_graph12FourWayGraphILb1EttLh32ELt1024EE18agentStateByNodeIdEt(ptr noundef nonnull align 8 dereferenceable(16), i16 noundef zeroext) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i16 @_ZNK5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNKSt3setItSt4lessItESaItEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNKSt3setItSt4lessItESaItEE3endEv(ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZStneRKSt23_Rb_tree_const_iteratorItES2_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 2 dereferenceable(2) ptr @_ZNKSt23_Rb_tree_const_iteratorItEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt23_Rb_tree_const_iteratorItEppEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZSteqRKSt23_Rb_tree_const_iteratorItES2_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZNSt3setItSt4lessItESaItEE4findERKt(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef nonnull align 2 dereferenceable(2)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i16 @_ZNK5amaze6solver9DStarLiteIttLh32ELt1024EE13currentNodeIdEv(ptr noundef nonnull align 8 dereferenceable(4352)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1024EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze11AgentHelperINS_10maze_graph12FourWayGraphILb1EttLh32ELt1024EEENS_6solver9DStarLiteIttLh32ELt1024EEEE21currentSensePositionsERKS6_(ptr dead_on_unwind noalias writable sret(%"class.std::vector") align 8, ptr noundef nonnull align 8 dereferenceable(4352)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EE8preSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(4352), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze20MazeGraphFeatureBaseINS_10maze_graph12FourWayGraphILb1EttLh32ELt1024EEEE5senseERNS_4MazeILh32EEERKS6_RKSt6vectorINS_8PositionESaISB_EE(ptr dead_on_unwind noalias writable sret(%"class.std::vector") align 8, ptr noundef nonnull align 8 dereferenceable(1040), ptr noundef nonnull align 8 dereferenceable(1040), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EE9postSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(4352), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze6solver10SolverBaseIttLh32ELt1024EE18changeDestinationsEt(ptr noundef nonnull align 8 dereferenceable(16), i16 noundef zeroext) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5amaze10maze_graph12FourWayGraphILb0EttLh32ELt1024EEC2ERKNS_4MazeILh32EEE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(1040)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze6solver10SolverBaseIttLh32ELt1024EE15changeMazeGraphEPKNS_10maze_graph13MazeGraphBaseIttLh32ELt1024EEE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5amaze6solver9DStarLiteIttLh32ELt1024EE15reconstructPathEtRKSt3setItSt4lessItESaItEE(ptr dead_on_unwind noalias writable sret(%"class.std::vector.15") align 8, ptr noundef nonnull align 8 dereferenceable(4352), i16 noundef zeroext, ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESC_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 1 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3setItSt4lessItESaItEED2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5amaze6solver9DStarLiteIttLh32ELt1024EED2Ev(ptr noundef nonnull align 8 dereferenceable(4352)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5amaze4MazeILh32EED2Ev(ptr noundef nonnull align 8 dereferenceable(1040)) unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5amaze10maze_graph13MazeGraphBaseIttLh32ELt1024EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #4 align 2

attributes #0 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress norecurse uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 #6 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"short", !7, i64 0}
!11 = distinct !{!11, !12}
!12 = !{!"llvm.loop.mustprogress"}
!13 = distinct !{!13, !12}


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