; LLVM IR from tokoro10g/libamaze :: samples (sixway_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::SixWayGraph" = 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 { [1984 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, ' ', 1984>::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, ' ', 1984>::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 { [31 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::SixWayGraph.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::allocator", align 1
  %17 = alloca %"class.std::vector", align 8
  %18 = alloca %"struct.amaze::Position", align 1
  %19 = alloca %"struct.amaze::Position", align 1
  %20 = alloca %"struct.amaze::Position", align 1
  %21 = alloca %"class.amaze::maze_graph::SixWayGraph", align 8
  %22 = alloca %"class.amaze::solver::DStarLite", align 8
  %23 = alloca %"class.std::set", align 8
  %24 = alloca %"struct.amaze::AgentState", align 1
  %25 = alloca ptr, align 8
  %26 = alloca %"struct.std::_Rb_tree_const_iterator", align 8
  %27 = alloca %"struct.std::_Rb_tree_const_iterator", align 8
  %28 = alloca i16, align 2
  %29 = alloca %"struct.amaze::AgentState", align 1
  %30 = alloca %"struct.std::_Rb_tree_const_iterator", align 8
  %31 = alloca i16, align 2
  %32 = alloca %"struct.std::_Rb_tree_const_iterator", align 8
  %33 = alloca %"struct.amaze::AgentState", align 1
  %34 = alloca %"class.std::vector", align 8
  %35 = alloca %"class.std::vector", align 8
  %36 = alloca %"class.std::vector", align 8
  %37 = alloca %"class.std::vector", align 8
  %38 = alloca %"struct.amaze::AgentState", align 1
  %39 = alloca %"struct.amaze::AgentState", align 1
  %40 = alloca %"struct.amaze::AgentState", align 1
  %41 = alloca %"class.std::vector", align 8
  %42 = alloca %"class.std::vector", align 8
  %43 = alloca %"struct.amaze::AgentState", align 1
  %44 = alloca %"class.amaze::maze_graph::SixWayGraph.14", align 8
  %45 = alloca %"class.std::vector.15", align 8
  %46 = alloca ptr, align 8
  %47 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %48 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %49 = alloca %"struct.amaze::AgentState", align 1
  %50 = 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
  %51 = load i32, ptr %4, align 4, !tbaa !5
  %52 = icmp slt i32 %51, 2
  br i1 %52, label %53, label %68

53:                                               ; preds = %2
  %54 = load ptr, ptr %5, align 8, !tbaa !9
  %55 = getelementptr inbounds ptr, ptr %54, i64 0
  %56 = load ptr, ptr %55, 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 %56, ptr noundef nonnull align 1 dereferenceable(1) %7)
          to label %57 unwind label %59

57:                                               ; preds = %53
  invoke void @_Z9showUsageNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef %6)
          to label %58 unwind label %63

58:                                               ; preds = %57
  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 %389

59:                                               ; preds = %53
  %60 = landingpad { ptr, i32 }
          cleanup
  %61 = extractvalue { ptr, i32 } %60, 0
  store ptr %61, ptr %8, align 8
  %62 = extractvalue { ptr, i32 } %60, 1
  store i32 %62, ptr %9, align 4
  br label %67

63:                                               ; preds = %57
  %64 = landingpad { ptr, i32 }
          cleanup
  %65 = extractvalue { ptr, i32 } %64, 0
  store ptr %65, ptr %8, align 8
  %66 = extractvalue { ptr, i32 } %64, 1
  store i32 %66, ptr %9, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #7
  br label %67

67:                                               ; preds = %63, %59
  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 %391

68:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 32, ptr %10) #7
  %69 = load ptr, ptr %5, align 8, !tbaa !9
  %70 = getelementptr inbounds ptr, ptr %69, i64 1
  %71 = load ptr, ptr %70, 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 %71, ptr noundef nonnull align 1 dereferenceable(1) %11)
          to label %72 unwind label %126

72:                                               ; preds = %68
  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 %73 unwind label %130

73:                                               ; preds = %72
  call void @llvm.lifetime.start.p0(i64 1040, ptr %14) #7
  invoke void @_ZN5amaze4MazeILh32EEC2Ev(ptr noundef nonnull align 8 dereferenceable(1040) %14)
          to label %74 unwind label %134

74:                                               ; preds = %73
  %75 = load ptr, ptr %5, align 8, !tbaa !9
  %76 = getelementptr inbounds ptr, ptr %75, i64 1
  %77 = load ptr, ptr %76, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 1, ptr %16) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %16) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %15, ptr noundef %77, ptr noundef nonnull align 1 dereferenceable(1) %16)
          to label %78 unwind label %138

78:                                               ; preds = %74
  %79 = invoke noundef zeroext i1 @_ZN5amaze5utils16loadMazeFromFileILh32EEEbRNS_4MazeIXT_EEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(1040) %13, ptr noundef %15)
          to label %80 unwind label %142

80:                                               ; preds = %78
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %16) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %16) #7
  invoke void @_ZN5amaze5utils13loadEmptyMazeILh32EEEvRNS_4MazeIXT_EEE(ptr noundef nonnull align 8 dereferenceable(1040) %14)
          to label %81 unwind label %147

81:                                               ; preds = %80
  call void @llvm.lifetime.start.p0(i64 24, ptr %17) #7
  %82 = getelementptr inbounds %"class.amaze::Maze", ptr %13, i32 0, i32 3
  invoke void @_ZNSt6vectorIN5amaze8PositionESaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %17, ptr noundef nonnull align 8 dereferenceable(24) %82)
          to label %83 unwind label %151

83:                                               ; preds = %81
  %84 = getelementptr inbounds %"class.amaze::Maze", ptr %14, i32 0, i32 3
  %85 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN5amaze8PositionESaIS1_EEaSERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %84, ptr noundef nonnull align 8 dereferenceable(24) %17)
          to label %86 unwind label %155

86:                                               ; preds = %83
  %87 = getelementptr inbounds %"struct.amaze::Position", ptr %18, i32 0, i32 0
  store i8 1, ptr %87, align 1, !tbaa !12
  %88 = getelementptr inbounds %"struct.amaze::Position", ptr %18, i32 0, i32 1
  store i8 0, ptr %88, align 1, !tbaa !14
  %89 = load i16, ptr %18, align 1
  invoke void @_ZN5amaze4MazeILh32EE7setWallENS_8PositionEb(ptr noundef nonnull align 8 dereferenceable(1040) %14, i16 %89, i1 noundef zeroext true)
          to label %90 unwind label %155

90:                                               ; preds = %86
  %91 = getelementptr inbounds %"struct.amaze::Position", ptr %19, i32 0, i32 0
  store i8 0, ptr %91, align 1, !tbaa !12
  %92 = getelementptr inbounds %"struct.amaze::Position", ptr %19, i32 0, i32 1
  store i8 1, ptr %92, align 1, !tbaa !14
  %93 = load i16, ptr %19, align 1
  invoke void @_ZN5amaze4MazeILh32EE14setCheckedWallENS_8PositionEb(ptr noundef nonnull align 8 dereferenceable(1040) %14, i16 %93, i1 noundef zeroext true)
          to label %94 unwind label %155

94:                                               ; preds = %90
  %95 = getelementptr inbounds %"struct.amaze::Position", ptr %20, i32 0, i32 0
  store i8 1, ptr %95, align 1, !tbaa !12
  %96 = getelementptr inbounds %"struct.amaze::Position", ptr %20, i32 0, i32 1
  store i8 0, ptr %96, align 1, !tbaa !14
  %97 = load i16, ptr %20, align 1
  invoke void @_ZN5amaze4MazeILh32EE14setCheckedWallENS_8PositionEb(ptr noundef nonnull align 8 dereferenceable(1040) %14, i16 %97, i1 noundef zeroext true)
          to label %98 unwind label %155

98:                                               ; preds = %94
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #7
  invoke void @_ZN5amaze10maze_graph11SixWayGraphILb1EttLh32ELt1984EEC2ERKNS_4MazeILh32EEE(ptr noundef nonnull align 8 dereferenceable(16) %21, ptr noundef nonnull align 8 dereferenceable(1040) %14)
          to label %99 unwind label %159

99:                                               ; preds = %98
  call void @llvm.lifetime.start.p0(i64 8312, ptr %22) #7
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EEC2EPKNS_10maze_graph13MazeGraphBaseIttLh32ELt1984EEE(ptr noundef nonnull align 8 dereferenceable(8312) %22, ptr noundef %21)
          to label %100 unwind label %163

100:                                              ; preds = %99
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EE10initializeEv(ptr noundef nonnull align 8 dereferenceable(8312) %22)
          to label %101 unwind label %167

101:                                              ; preds = %100
  invoke void @_ZN5amaze5utils9printMazeILh32EEEvRKNS_4MazeIXT_EEEi(ptr noundef nonnull align 8 dereferenceable(1040) %13, i32 noundef 1)
          to label %102 unwind label %167

102:                                              ; preds = %101
  call void @llvm.lifetime.start.p0(i64 48, ptr %23) #7
  invoke void @_ZNK5amaze10maze_graph13MazeGraphBaseIttLh32ELt1984EE11goalNodeIdsEv(ptr dead_on_unwind writable sret(%"class.std::set") align 8 %23, ptr noundef nonnull align 8 dereferenceable(16) %21)
          to label %103 unwind label %171

103:                                              ; preds = %102
  %104 = 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 %105 unwind label %175

105:                                              ; preds = %103
  %106 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph11SixWayGraphILb1EttLh32ELt1984EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %21)
          to label %107 unwind label %175

107:                                              ; preds = %105
  %108 = invoke i32 @_ZNK5amaze10maze_graph11SixWayGraphILb1EttLh32ELt1984EE18agentStateByNodeIdEt(ptr noundef nonnull align 8 dereferenceable(16) %21, i16 noundef zeroext %106)
          to label %109 unwind label %175

109:                                              ; preds = %107
  store i32 %108, ptr %24, align 1
  %110 = load i32, ptr %24, align 1
  %111 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) %104, i32 %110)
          to label %112 unwind label %175

112:                                              ; preds = %109
  %113 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %111, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %114 unwind label %175

114:                                              ; preds = %112
  %115 = 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 %116 unwind label %175

116:                                              ; preds = %114
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #7
  store ptr %23, ptr %25, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #7
  %117 = load ptr, ptr %25, align 8, !tbaa !9
  %118 = call ptr @_ZNKSt3setItSt4lessItESaItEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48) %117) #7
  %119 = getelementptr inbounds %"struct.std::_Rb_tree_const_iterator", ptr %26, i32 0, i32 0
  store ptr %118, ptr %119, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #7
  %120 = load ptr, ptr %25, align 8, !tbaa !9
  %121 = call ptr @_ZNKSt3setItSt4lessItESaItEE3endEv(ptr noundef nonnull align 8 dereferenceable(48) %120) #7
  %122 = getelementptr inbounds %"struct.std::_Rb_tree_const_iterator", ptr %27, i32 0, i32 0
  store ptr %121, ptr %122, align 8
  br label %123

123:                                              ; preds = %190, %116
  %124 = call noundef zeroext i1 @_ZStneRKSt23_Rb_tree_const_iteratorItES2_(ptr noundef nonnull align 8 dereferenceable(8) %26, ptr noundef nonnull align 8 dereferenceable(8) %27) #7
  br i1 %124, label %179, label %125

125:                                              ; preds = %123
  call void @llvm.lifetime.end.p0(i64 8, 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
  br label %196

126:                                              ; preds = %68
  %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
  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 %388

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 %387

134:                                              ; preds = %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 %386

138:                                              ; preds = %74
  %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
  br label %146

142:                                              ; preds = %78
  %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
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #7
  br label %146

146:                                              ; preds = %142, %138
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %16) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %16) #7
  br label %385

147:                                              ; preds = %80
  %148 = landingpad { ptr, i32 }
          cleanup
  %149 = extractvalue { ptr, i32 } %148, 0
  store ptr %149, ptr %8, align 8
  %150 = extractvalue { ptr, i32 } %148, 1
  store i32 %150, ptr %9, align 4
  br label %385

151:                                              ; preds = %81
  %152 = landingpad { ptr, i32 }
          cleanup
  %153 = extractvalue { ptr, i32 } %152, 0
  store ptr %153, ptr %8, align 8
  %154 = extractvalue { ptr, i32 } %152, 1
  store i32 %154, ptr %9, align 4
  br label %384

155:                                              ; preds = %94, %90, %86, %83
  %156 = landingpad { ptr, i32 }
          cleanup
  %157 = extractvalue { ptr, i32 } %156, 0
  store ptr %157, ptr %8, align 8
  %158 = extractvalue { ptr, i32 } %156, 1
  store i32 %158, ptr %9, align 4
  br label %383

159:                                              ; preds = %98
  %160 = landingpad { ptr, i32 }
          cleanup
  %161 = extractvalue { ptr, i32 } %160, 0
  store ptr %161, ptr %8, align 8
  %162 = extractvalue { ptr, i32 } %160, 1
  store i32 %162, ptr %9, align 4
  br label %382

163:                                              ; preds = %99
  %164 = landingpad { ptr, i32 }
          cleanup
  %165 = extractvalue { ptr, i32 } %164, 0
  store ptr %165, ptr %8, align 8
  %166 = extractvalue { ptr, i32 } %164, 1
  store i32 %166, ptr %9, align 4
  br label %381

167:                                              ; preds = %101, %100
  %168 = landingpad { ptr, i32 }
          cleanup
  %169 = extractvalue { ptr, i32 } %168, 0
  store ptr %169, ptr %8, align 8
  %170 = extractvalue { ptr, i32 } %168, 1
  store i32 %170, ptr %9, align 4
  br label %380

171:                                              ; preds = %102
  %172 = landingpad { ptr, i32 }
          cleanup
  %173 = extractvalue { ptr, i32 } %172, 0
  store ptr %173, ptr %8, align 8
  %174 = extractvalue { ptr, i32 } %172, 1
  store i32 %174, ptr %9, align 4
  br label %379

175:                                              ; preds = %213, %210, %208, %196, %114, %112, %109, %107, %105, %103
  %176 = landingpad { ptr, i32 }
          cleanup
  %177 = extractvalue { ptr, i32 } %176, 0
  store ptr %177, ptr %8, align 8
  %178 = extractvalue { ptr, i32 } %176, 1
  store i32 %178, ptr %9, align 4
  br label %378

179:                                              ; preds = %123
  call void @llvm.lifetime.start.p0(i64 2, ptr %28) #7
  %180 = call noundef nonnull align 2 dereferenceable(2) ptr @_ZNKSt23_Rb_tree_const_iteratorItEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %26) #7
  %181 = load i16, ptr %180, align 2, !tbaa !15
  store i16 %181, ptr %28, align 2, !tbaa !15
  %182 = load i16, ptr %28, align 2, !tbaa !15
  %183 = invoke i32 @_ZNK5amaze10maze_graph11SixWayGraphILb1EttLh32ELt1984EE18agentStateByNodeIdEt(ptr noundef nonnull align 8 dereferenceable(16) %21, i16 noundef zeroext %182)
          to label %184 unwind label %192

184:                                              ; preds = %179
  store i32 %183, ptr %29, align 1
  %185 = load i32, ptr %29, align 1
  %186 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %185)
          to label %187 unwind label %192

187:                                              ; preds = %184
  %188 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %186, ptr noundef @.str.4)
          to label %189 unwind label %192

189:                                              ; preds = %187
  call void @llvm.lifetime.end.p0(i64 2, ptr %28) #7
  br label %190

190:                                              ; preds = %189
  %191 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt23_Rb_tree_const_iteratorItEppEv(ptr noundef nonnull align 8 dereferenceable(8) %26) #7
  br label %123

192:                                              ; preds = %187, %184, %179
  %193 = landingpad { ptr, i32 }
          cleanup
  %194 = extractvalue { ptr, i32 } %193, 0
  store ptr %194, ptr %8, align 8
  %195 = extractvalue { ptr, i32 } %193, 1
  store i32 %195, ptr %9, align 4
  call void @llvm.lifetime.end.p0(i64 2, ptr %28) #7
  call void @llvm.lifetime.end.p0(i64 8, 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
  br label %378

196:                                              ; preds = %125
  %197 = 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 %198 unwind label %175

198:                                              ; preds = %196
  br label %199

199:                                              ; preds = %219, %198
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #7
  call void @llvm.lifetime.start.p0(i64 2, ptr %31) #7
  %200 = invoke noundef zeroext i16 @_ZNK5amaze6solver9DStarLiteIttLh32ELt1984EE13currentNodeIdEv(ptr noundef nonnull align 8 dereferenceable(8312) %22)
          to label %201 unwind label %220

201:                                              ; preds = %199
  store i16 %200, ptr %31, align 2, !tbaa !15
  %202 = invoke ptr @_ZNSt3setItSt4lessItESaItEE4findERKt(ptr noundef nonnull align 8 dereferenceable(48) %23, ptr noundef nonnull align 2 dereferenceable(2) %31)
          to label %203 unwind label %220

203:                                              ; preds = %201
  %204 = getelementptr inbounds %"struct.std::_Rb_tree_const_iterator", ptr %30, i32 0, i32 0
  store ptr %202, ptr %204, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #7
  %205 = call ptr @_ZNKSt3setItSt4lessItESaItEE3endEv(ptr noundef nonnull align 8 dereferenceable(48) %23) #7
  %206 = getelementptr inbounds %"struct.std::_Rb_tree_const_iterator", ptr %32, i32 0, i32 0
  store ptr %205, ptr %206, align 8
  %207 = call noundef zeroext i1 @_ZSteqRKSt23_Rb_tree_const_iteratorItES2_(ptr noundef nonnull align 8 dereferenceable(8) %30, ptr noundef nonnull align 8 dereferenceable(8) %32) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #7
  call void @llvm.lifetime.end.p0(i64 2, ptr %31) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #7
  br i1 %207, label %208, label %243

208:                                              ; preds = %203
  %209 = invoke i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1984EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16) %22)
          to label %210 unwind label %175

210:                                              ; preds = %208
  store i32 %209, ptr %33, align 1
  %211 = load i32, ptr %33, align 1
  %212 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %211)
          to label %213 unwind label %175

213:                                              ; preds = %210
  %214 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %212, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %215 unwind label %175

215:                                              ; preds = %213
  call void @llvm.lifetime.start.p0(i64 24, ptr %34) #7
  invoke void @_ZN5amaze11AgentHelperINS_10maze_graph11SixWayGraphILb1EttLh32ELt1984EEENS_6solver9DStarLiteIttLh32ELt1984EEEE21currentSensePositionsERKS6_(ptr dead_on_unwind writable sret(%"class.std::vector") align 8 %34, ptr noundef nonnull align 8 dereferenceable(8312) %22)
          to label %216 unwind label %224

216:                                              ; preds = %215
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EE8preSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(8312) %22, ptr noundef nonnull align 8 dereferenceable(24) %34)
          to label %217 unwind label %228

217:                                              ; preds = %216
  call void @llvm.lifetime.start.p0(i64 24, ptr %35) #7
  invoke void @_ZN5amaze20MazeGraphFeatureBaseINS_10maze_graph11SixWayGraphILb1EttLh32ELt1984EEEE5senseERNS_4MazeILh32EEERKS6_RKSt6vectorINS_8PositionESaISB_EE(ptr dead_on_unwind writable sret(%"class.std::vector") align 8 %35, ptr noundef nonnull align 8 dereferenceable(1040) %14, ptr noundef nonnull align 8 dereferenceable(1040) %13, ptr noundef nonnull align 8 dereferenceable(24) %34)
          to label %218 unwind label %232

218:                                              ; preds = %217
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EE9postSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(8312) %22, ptr noundef nonnull align 8 dereferenceable(24) %35)
          to label %219 unwind label %236

219:                                              ; preds = %218
  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 @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %34) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %34) #7
  br label %199, !llvm.loop !17

220:                                              ; preds = %201, %199
  %221 = landingpad { ptr, i32 }
          cleanup
  %222 = extractvalue { ptr, i32 } %221, 0
  store ptr %222, ptr %8, align 8
  %223 = extractvalue { ptr, i32 } %221, 1
  store i32 %223, ptr %9, align 4
  call void @llvm.lifetime.end.p0(i64 2, ptr %31) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #7
  br label %378

224:                                              ; preds = %215
  %225 = landingpad { ptr, i32 }
          cleanup
  %226 = extractvalue { ptr, i32 } %225, 0
  store ptr %226, ptr %8, align 8
  %227 = extractvalue { ptr, i32 } %225, 1
  store i32 %227, ptr %9, align 4
  br label %242

228:                                              ; preds = %216
  %229 = landingpad { ptr, i32 }
          cleanup
  %230 = extractvalue { ptr, i32 } %229, 0
  store ptr %230, ptr %8, align 8
  %231 = extractvalue { ptr, i32 } %229, 1
  store i32 %231, ptr %9, align 4
  br label %241

232:                                              ; preds = %217
  %233 = landingpad { ptr, i32 }
          cleanup
  %234 = extractvalue { ptr, i32 } %233, 0
  store ptr %234, ptr %8, align 8
  %235 = extractvalue { ptr, i32 } %233, 1
  store i32 %235, ptr %9, align 4
  br label %240

236:                                              ; preds = %218
  %237 = landingpad { ptr, i32 }
          cleanup
  %238 = extractvalue { ptr, i32 } %237, 0
  store ptr %238, ptr %8, align 8
  %239 = extractvalue { ptr, i32 } %237, 1
  store i32 %239, ptr %9, align 4
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %35) #7
  br label %240

240:                                              ; preds = %236, %232
  call void @llvm.lifetime.end.p0(i64 24, ptr %35) #7
  br label %241

241:                                              ; preds = %240, %228
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %34) #7
  br label %242

242:                                              ; preds = %241, %224
  call void @llvm.lifetime.end.p0(i64 24, ptr %34) #7
  br label %378

243:                                              ; preds = %203
  call void @llvm.lifetime.start.p0(i64 24, ptr %36) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %37) #7
  invoke void @_ZN5amaze11AgentHelperINS_10maze_graph11SixWayGraphILb1EttLh32ELt1984EEENS_6solver9DStarLiteIttLh32ELt1984EEEE21currentSensePositionsERKS6_(ptr dead_on_unwind writable sret(%"class.std::vector") align 8 %37, ptr noundef nonnull align 8 dereferenceable(8312) %22)
          to label %244 unwind label %287

244:                                              ; preds = %243
  invoke void @_ZN5amaze20MazeGraphFeatureBaseINS_10maze_graph11SixWayGraphILb1EttLh32ELt1984EEEE5senseERNS_4MazeILh32EEERKS6_RKSt6vectorINS_8PositionESaISB_EE(ptr dead_on_unwind writable sret(%"class.std::vector") align 8 %36, ptr noundef nonnull align 8 dereferenceable(1040) %14, ptr noundef nonnull align 8 dereferenceable(1040) %13, ptr noundef nonnull align 8 dereferenceable(24) %37)
          to label %245 unwind label %291

245:                                              ; preds = %244
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %37) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %37) #7
  %246 = invoke i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1984EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16) %22)
          to label %247 unwind label %296

247:                                              ; preds = %245
  store i32 %246, ptr %38, align 1
  %248 = load i32, ptr %38, align 1
  %249 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %248)
          to label %250 unwind label %296

250:                                              ; preds = %247
  %251 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %249, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %252 unwind label %296

252:                                              ; preds = %250
  %253 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph11SixWayGraphILb1EttLh32ELt1984EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %21)
          to label %254 unwind label %296

254:                                              ; preds = %252
  invoke void @_ZN5amaze6solver10SolverBaseIttLh32ELt1984EE18changeDestinationsEt(ptr noundef nonnull align 8 dereferenceable(16) %22, i16 noundef zeroext %253)
          to label %255 unwind label %296

255:                                              ; preds = %254
  %256 = 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 %257 unwind label %296

257:                                              ; preds = %255
  %258 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph11SixWayGraphILb1EttLh32ELt1984EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %21)
          to label %259 unwind label %296

259:                                              ; preds = %257
  %260 = invoke i32 @_ZNK5amaze10maze_graph11SixWayGraphILb1EttLh32ELt1984EE18agentStateByNodeIdEt(ptr noundef nonnull align 8 dereferenceable(16) %21, i16 noundef zeroext %258)
          to label %261 unwind label %296

261:                                              ; preds = %259
  store i32 %260, ptr %39, align 1
  %262 = load i32, ptr %39, align 1
  %263 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) %256, i32 %262)
          to label %264 unwind label %296

264:                                              ; preds = %261
  %265 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %263, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %266 unwind label %296

266:                                              ; preds = %264
  br label %267

267:                                              ; preds = %286, %266
  %268 = invoke noundef zeroext i16 @_ZNK5amaze6solver9DStarLiteIttLh32ELt1984EE13currentNodeIdEv(ptr noundef nonnull align 8 dereferenceable(8312) %22)
          to label %269 unwind label %296

269:                                              ; preds = %267
  %270 = zext i16 %268 to i32
  %271 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph11SixWayGraphILb1EttLh32ELt1984EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %21)
          to label %272 unwind label %296

272:                                              ; preds = %269
  %273 = zext i16 %271 to i32
  %274 = icmp ne i32 %270, %273
  br i1 %274, label %275, label %319

275:                                              ; preds = %272
  %276 = invoke i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1984EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16) %22)
          to label %277 unwind label %296

277:                                              ; preds = %275
  store i32 %276, ptr %40, align 1
  %278 = load i32, ptr %40, align 1
  %279 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %278)
          to label %280 unwind label %296

280:                                              ; preds = %277
  %281 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %279, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %282 unwind label %296

282:                                              ; preds = %280
  call void @llvm.lifetime.start.p0(i64 24, ptr %41) #7
  invoke void @_ZN5amaze11AgentHelperINS_10maze_graph11SixWayGraphILb1EttLh32ELt1984EEENS_6solver9DStarLiteIttLh32ELt1984EEEE21currentSensePositionsERKS6_(ptr dead_on_unwind writable sret(%"class.std::vector") align 8 %41, ptr noundef nonnull align 8 dereferenceable(8312) %22)
          to label %283 unwind label %300

283:                                              ; preds = %282
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EE8preSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(8312) %22, ptr noundef nonnull align 8 dereferenceable(24) %41)
          to label %284 unwind label %304

284:                                              ; preds = %283
  call void @llvm.lifetime.start.p0(i64 24, ptr %42) #7
  invoke void @_ZN5amaze20MazeGraphFeatureBaseINS_10maze_graph11SixWayGraphILb1EttLh32ELt1984EEEE5senseERNS_4MazeILh32EEERKS6_RKSt6vectorINS_8PositionESaISB_EE(ptr dead_on_unwind writable sret(%"class.std::vector") align 8 %42, ptr noundef nonnull align 8 dereferenceable(1040) %14, ptr noundef nonnull align 8 dereferenceable(1040) %13, ptr noundef nonnull align 8 dereferenceable(24) %41)
          to label %285 unwind label %308

285:                                              ; preds = %284
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EE9postSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(8312) %22, ptr noundef nonnull align 8 dereferenceable(24) %42)
          to label %286 unwind label %312

286:                                              ; preds = %285
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %42) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %42) #7
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %41) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %41) #7
  br label %267, !llvm.loop !19

287:                                              ; preds = %243
  %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 %295

291:                                              ; preds = %244
  %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
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %37) #7
  br label %295

295:                                              ; preds = %291, %287
  call void @llvm.lifetime.end.p0(i64 24, ptr %37) #7
  br label %377

296:                                              ; preds = %326, %324, %321, %319, %280, %277, %275, %269, %267, %264, %261, %259, %257, %255, %254, %252, %250, %247, %245
  %297 = landingpad { ptr, i32 }
          cleanup
  %298 = extractvalue { ptr, i32 } %297, 0
  store ptr %298, ptr %8, align 8
  %299 = extractvalue { ptr, i32 } %297, 1
  store i32 %299, ptr %9, align 4
  br label %376

300:                                              ; preds = %282
  %301 = landingpad { ptr, i32 }
          cleanup
  %302 = extractvalue { ptr, i32 } %301, 0
  store ptr %302, ptr %8, align 8
  %303 = extractvalue { ptr, i32 } %301, 1
  store i32 %303, ptr %9, align 4
  br label %318

304:                                              ; preds = %283
  %305 = landingpad { ptr, i32 }
          cleanup
  %306 = extractvalue { ptr, i32 } %305, 0
  store ptr %306, ptr %8, align 8
  %307 = extractvalue { ptr, i32 } %305, 1
  store i32 %307, ptr %9, align 4
  br label %317

308:                                              ; preds = %284
  %309 = landingpad { ptr, i32 }
          cleanup
  %310 = extractvalue { ptr, i32 } %309, 0
  store ptr %310, ptr %8, align 8
  %311 = extractvalue { ptr, i32 } %309, 1
  store i32 %311, ptr %9, align 4
  br label %316

312:                                              ; preds = %285
  %313 = landingpad { ptr, i32 }
          cleanup
  %314 = extractvalue { ptr, i32 } %313, 0
  store ptr %314, ptr %8, align 8
  %315 = extractvalue { ptr, i32 } %313, 1
  store i32 %315, ptr %9, align 4
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %42) #7
  br label %316

316:                                              ; preds = %312, %308
  call void @llvm.lifetime.end.p0(i64 24, ptr %42) #7
  br label %317

317:                                              ; preds = %316, %304
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %41) #7
  br label %318

318:                                              ; preds = %317, %300
  call void @llvm.lifetime.end.p0(i64 24, ptr %41) #7
  br label %376

319:                                              ; preds = %272
  %320 = invoke i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1984EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16) %22)
          to label %321 unwind label %296

321:                                              ; preds = %319
  store i32 %320, ptr %43, align 1
  %322 = load i32, ptr %43, align 1
  %323 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %322)
          to label %324 unwind label %296

324:                                              ; preds = %321
  %325 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %323, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %326 unwind label %296

326:                                              ; preds = %324
  %327 = 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 %328 unwind label %296

328:                                              ; preds = %326
  call void @llvm.lifetime.start.p0(i64 16, ptr %44) #7
  invoke void @_ZN5amaze10maze_graph11SixWayGraphILb0EttLh32ELt1984EEC2ERKNS_4MazeILh32EEE(ptr noundef nonnull align 8 dereferenceable(16) %44, ptr noundef nonnull align 8 dereferenceable(1040) %14)
          to label %329 unwind label %347

329:                                              ; preds = %328
  invoke void @_ZN5amaze6solver10SolverBaseIttLh32ELt1984EE15changeMazeGraphEPKNS_10maze_graph13MazeGraphBaseIttLh32ELt1984EEE(ptr noundef nonnull align 8 dereferenceable(16) %22, ptr noundef %44)
          to label %330 unwind label %351

330:                                              ; preds = %329
  %331 = 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 %332 unwind label %351

332:                                              ; preds = %330
  %333 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %331, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %334 unwind label %351

334:                                              ; preds = %332
  call void @llvm.lifetime.start.p0(i64 24, ptr %45) #7
  %335 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph11SixWayGraphILb0EttLh32ELt1984EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %44)
          to label %336 unwind label %355

336:                                              ; preds = %334
  invoke void @_ZNK5amaze6solver9DStarLiteIttLh32ELt1984EE15reconstructPathEtRKSt3setItSt4lessItESaItEE(ptr dead_on_unwind writable sret(%"class.std::vector.15") align 8 %45, ptr noundef nonnull align 8 dereferenceable(8312) %22, i16 noundef zeroext %335, ptr noundef nonnull align 8 dereferenceable(48) %23)
          to label %337 unwind label %355

337:                                              ; preds = %336
  call void @llvm.lifetime.start.p0(i64 8, ptr %46) #7
  store ptr %45, ptr %46, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %47) #7
  %338 = load ptr, ptr %46, align 8, !tbaa !9
  %339 = call ptr @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %338) #7
  %340 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %47, i32 0, i32 0
  store ptr %339, ptr %340, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %48) #7
  %341 = load ptr, ptr %46, align 8, !tbaa !9
  %342 = call ptr @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %341) #7
  %343 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %48, i32 0, i32 0
  store ptr %342, ptr %343, align 8
  br label %344

344:                                              ; preds = %366, %337
  %345 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESC_(ptr noundef nonnull align 8 dereferenceable(8) %47, ptr noundef nonnull align 8 dereferenceable(8) %48) #7
  br i1 %345, label %359, label %346

346:                                              ; preds = %344
  call void @llvm.lifetime.end.p0(i64 8, 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
  br label %372

347:                                              ; preds = %328
  %348 = landingpad { ptr, i32 }
          cleanup
  %349 = extractvalue { ptr, i32 } %348, 0
  store ptr %349, ptr %8, align 8
  %350 = extractvalue { ptr, i32 } %348, 1
  store i32 %350, ptr %9, align 4
  br label %375

351:                                              ; preds = %332, %330, %329
  %352 = landingpad { ptr, i32 }
          cleanup
  %353 = extractvalue { ptr, i32 } %352, 0
  store ptr %353, ptr %8, align 8
  %354 = extractvalue { ptr, i32 } %352, 1
  store i32 %354, ptr %9, align 4
  br label %374

355:                                              ; preds = %336, %334
  %356 = landingpad { ptr, i32 }
          cleanup
  %357 = extractvalue { ptr, i32 } %356, 0
  store ptr %357, ptr %8, align 8
  %358 = extractvalue { ptr, i32 } %356, 1
  store i32 %358, ptr %9, align 4
  br label %373

359:                                              ; preds = %344
  call void @llvm.lifetime.start.p0(i64 4, ptr %49) #7
  %360 = call noundef nonnull align 1 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %47) #7
  call void @llvm.memcpy.p0.p0.i64(ptr align 1 %49, ptr align 1 %360, i64 4, i1 false), !tbaa.struct !20
  call void @llvm.memcpy.p0.p0.i64(ptr align 1 %50, ptr align 1 %49, i64 4, i1 false), !tbaa.struct !20
  %361 = load i32, ptr %50, align 1
  %362 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %361)
          to label %363 unwind label %368

363:                                              ; preds = %359
  %364 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %362, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %365 unwind label %368

365:                                              ; preds = %363
  call void @llvm.lifetime.end.p0(i64 4, ptr %49) #7
  br label %366

366:                                              ; preds = %365
  %367 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %47) #7
  br label %344

368:                                              ; preds = %363, %359
  %369 = landingpad { ptr, i32 }
          cleanup
  %370 = extractvalue { ptr, i32 } %369, 0
  store ptr %370, ptr %8, align 8
  %371 = extractvalue { ptr, i32 } %369, 1
  store i32 %371, ptr %9, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %49) #7
  call void @llvm.lifetime.end.p0(i64 8, 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 @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %45) #7
  br label %373

372:                                              ; preds = %346
  store i32 0, ptr %3, align 4
  call void @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %45) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %45) #7
  call void @_ZN5amaze10maze_graph13MazeGraphBaseIttLh32ELt1984EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %44) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %44) #7
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %36) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %36) #7
  call void @_ZNSt3setItSt4lessItESaItEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %23) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr %23) #7
  call void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EED2Ev(ptr noundef nonnull align 8 dereferenceable(8312) %22) #7
  call void @llvm.lifetime.end.p0(i64 8312, ptr %22) #7
  call void @_ZN5amaze10maze_graph13MazeGraphBaseIttLh32ELt1984EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %21) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #7
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %17) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %17) #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 %389

373:                                              ; preds = %368, %355
  call void @llvm.lifetime.end.p0(i64 24, ptr %45) #7
  br label %374

374:                                              ; preds = %373, %351
  call void @_ZN5amaze10maze_graph13MazeGraphBaseIttLh32ELt1984EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %44) #7
  br label %375

375:                                              ; preds = %374, %347
  call void @llvm.lifetime.end.p0(i64 16, ptr %44) #7
  br label %376

376:                                              ; preds = %375, %318, %296
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %36) #7
  br label %377

377:                                              ; preds = %376, %295
  call void @llvm.lifetime.end.p0(i64 24, ptr %36) #7
  br label %378

378:                                              ; preds = %377, %242, %220, %192, %175
  call void @_ZNSt3setItSt4lessItESaItEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %23) #7
  br label %379

379:                                              ; preds = %378, %171
  call void @llvm.lifetime.end.p0(i64 48, ptr %23) #7
  br label %380

380:                                              ; preds = %379, %167
  call void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EED2Ev(ptr noundef nonnull align 8 dereferenceable(8312) %22) #7
  br label %381

381:                                              ; preds = %380, %163
  call void @llvm.lifetime.end.p0(i64 8312, ptr %22) #7
  call void @_ZN5amaze10maze_graph13MazeGraphBaseIttLh32ELt1984EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %21) #7
  br label %382

382:                                              ; preds = %381, %159
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #7
  br label %383

383:                                              ; preds = %382, %155
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %17) #7
  br label %384

384:                                              ; preds = %383, %151
  call void @llvm.lifetime.end.p0(i64 24, ptr %17) #7
  br label %385

385:                                              ; preds = %384, %147, %146
  call void @_ZN5amaze4MazeILh32EED2Ev(ptr noundef nonnull align 8 dereferenceable(1040) %14) #7
  br label %386

386:                                              ; preds = %385, %134
  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 %387

387:                                              ; preds = %386, %130
  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 %388

388:                                              ; preds = %387, %126
  call void @llvm.lifetime.end.p0(i64 32, ptr %10) #7
  br label %391

389:                                              ; preds = %372, %58
  %390 = load i32, ptr %3, align 4
  ret i32 %390

391:                                              ; preds = %388, %67
  %392 = load ptr, ptr %8, align 8
  %393 = load i32, ptr %9, align 4
  %394 = insertvalue { ptr, i32 } poison, ptr %392, 0
  %395 = insertvalue { ptr, i32 } %394, i32 %393, 1
  resume { ptr, i32 } %395
}

; 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 noundef zeroext i1 @_ZN5amaze5utils16loadMazeFromFileILh32EEEbRNS_4MazeIXT_EEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(1040), ptr noundef) #0

; 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 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_graph11SixWayGraphILb1EttLh32ELt1984EEC2ERKNS_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 @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EEC2EPKNS_10maze_graph13MazeGraphBaseIttLh32ELt1984EEE(ptr noundef nonnull align 8 dereferenceable(8312), ptr noundef) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EE10initializeEv(ptr noundef nonnull align 8 dereferenceable(8312)) 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_graph13MazeGraphBaseIttLh32ELt1984EE11goalNodeIdsEv(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_graph11SixWayGraphILb1EttLh32ELt1984EE18agentStateByNodeIdEt(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_graph11SixWayGraphILb1EttLh32ELt1984EE11startNodeIdEv(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 @_ZNK5amaze6solver9DStarLiteIttLh32ELt1984EE13currentNodeIdEv(ptr noundef nonnull align 8 dereferenceable(8312)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1984EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16)) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze11AgentHelperINS_10maze_graph11SixWayGraphILb1EttLh32ELt1984EEENS_6solver9DStarLiteIttLh32ELt1984EEEE21currentSensePositionsERKS6_(ptr dead_on_unwind noalias writable sret(%"class.std::vector") align 8, ptr noundef nonnull align 8 dereferenceable(8312)) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EE8preSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(8312), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze20MazeGraphFeatureBaseINS_10maze_graph11SixWayGraphILb1EttLh32ELt1984EEEE5senseERNS_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 @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EE9postSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(8312), 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 @_ZN5amaze6solver10SolverBaseIttLh32ELt1984EE18changeDestinationsEt(ptr noundef nonnull align 8 dereferenceable(16), i16 noundef zeroext) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5amaze10maze_graph11SixWayGraphILb0EttLh32ELt1984EEC2ERKNS_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 @_ZN5amaze6solver10SolverBaseIttLh32ELt1984EE15changeMazeGraphEPKNS_10maze_graph13MazeGraphBaseIttLh32ELt1984EEE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5amaze6solver9DStarLiteIttLh32ELt1984EE15reconstructPathEtRKSt3setItSt4lessItESaItEE(ptr dead_on_unwind noalias writable sret(%"class.std::vector.15") align 8, ptr noundef nonnull align 8 dereferenceable(8312), i16 noundef zeroext, ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i16 @_ZNK5amaze10maze_graph11SixWayGraphILb0EttLh32ELt1984EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16)) 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 @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EED2Ev(ptr noundef nonnull align 8 dereferenceable(8312)) 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_graph13MazeGraphBaseIttLh32ELt1984EED2Ev(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::SixWayGraph" = 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 { [1984 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, ' ', 1984>::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, ' ', 1984>::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 { [31 x i64] }
%"struct.std::_Rb_tree_const_iterator" = type { ptr }
%"class.amaze::maze_graph::SixWayGraph.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::allocator", align 1
  %11 = alloca %"class.std::vector", align 8
  %12 = alloca %"class.amaze::maze_graph::SixWayGraph", align 8
  %13 = alloca %"class.amaze::solver::DStarLite", align 8
  %14 = alloca %"class.std::set", align 8
  %15 = alloca %"struct.std::_Rb_tree_const_iterator", align 8
  %16 = alloca %"struct.std::_Rb_tree_const_iterator", align 8
  %17 = alloca %"struct.std::_Rb_tree_const_iterator", align 8
  %18 = alloca i16, align 2
  %19 = alloca %"struct.std::_Rb_tree_const_iterator", 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.std::vector", align 8
  %26 = alloca %"class.amaze::maze_graph::SixWayGraph.14", align 8
  %27 = alloca %"class.std::vector.15", align 8
  %28 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %29 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %30 = icmp slt i32 %0, 2
  br i1 %30, label %31, label %40

31:                                               ; preds = %2
  %32 = 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 %32, ptr noundef nonnull align 1 dereferenceable(1) %4)
          to label %33 unwind label %35

33:                                               ; preds = %31
  invoke void @_Z9showUsageNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull %3)
          to label %34 unwind label %37

34:                                               ; preds = %33
  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 %229

35:                                               ; preds = %31
  %36 = landingpad { ptr, i32 }
          cleanup
  br label %39

37:                                               ; preds = %33
  %38 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #6
  br label %39

39:                                               ; preds = %37, %35
  %.pn70 = phi { ptr, i32 } [ %38, %37 ], [ %36, %35 ]
  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 %230

40:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %5) #6
  %41 = getelementptr inbounds i8, ptr %1, i64 8
  %42 = load ptr, ptr %41, 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 %42, ptr noundef nonnull align 1 dereferenceable(1) %6)
          to label %43 unwind label %78

43:                                               ; preds = %40
  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)
  %44 = load ptr, ptr %41, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %10) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %10) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %9, ptr noundef %44, ptr noundef nonnull align 1 dereferenceable(1) %10)
          to label %45 unwind label %80

45:                                               ; preds = %43
  %46 = invoke noundef zeroext i1 @_ZN5amaze5utils16loadMazeFromFileILh32EEEbRNS_4MazeIXT_EEENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(1040) %7, ptr noundef nonnull %9)
          to label %47 unwind label %82

47:                                               ; preds = %45
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %10) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %10) #6
  invoke void @_ZN5amaze5utils13loadEmptyMazeILh32EEEvRNS_4MazeIXT_EEE(ptr noundef nonnull align 8 dereferenceable(1040) %8)
          to label %48 unwind label %85

48:                                               ; preds = %47
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %11) #6
  %49 = getelementptr inbounds i8, ptr %7, i64 1016
  invoke void @_ZNSt6vectorIN5amaze8PositionESaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %11, ptr noundef nonnull align 8 dereferenceable(24) %49)
          to label %50 unwind label %87

50:                                               ; preds = %48
  %51 = getelementptr inbounds i8, ptr %8, i64 1016
  %52 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIN5amaze8PositionESaIS1_EEaSERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %51, ptr noundef nonnull align 8 dereferenceable(24) %11)
          to label %53 unwind label %89

53:                                               ; preds = %50
  invoke void @_ZN5amaze4MazeILh32EE7setWallENS_8PositionEb(ptr noundef nonnull align 8 dereferenceable(1040) %8, i16 1, i1 noundef zeroext true)
          to label %54 unwind label %89

54:                                               ; preds = %53
  invoke void @_ZN5amaze4MazeILh32EE14setCheckedWallENS_8PositionEb(ptr noundef nonnull align 8 dereferenceable(1040) %8, i16 256, i1 noundef zeroext true)
          to label %55 unwind label %89

55:                                               ; preds = %54
  invoke void @_ZN5amaze4MazeILh32EE14setCheckedWallENS_8PositionEb(ptr noundef nonnull align 8 dereferenceable(1040) %8, i16 1, i1 noundef zeroext true)
          to label %56 unwind label %89

56:                                               ; preds = %55
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #6
  invoke void @_ZN5amaze10maze_graph11SixWayGraphILb1EttLh32ELt1984EEC2ERKNS_4MazeILh32EEE(ptr noundef nonnull align 8 dereferenceable(16) %12, ptr noundef nonnull align 8 dereferenceable(1040) %8)
          to label %57 unwind label %91

57:                                               ; preds = %56
  call void @llvm.lifetime.start.p0(i64 8312, ptr nonnull %13) #6
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EEC2EPKNS_10maze_graph13MazeGraphBaseIttLh32ELt1984EEE(ptr noundef nonnull align 8 dereferenceable(8312) %13, ptr noundef nonnull %12)
          to label %58 unwind label %93

58:                                               ; preds = %57
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EE10initializeEv(ptr noundef nonnull align 8 dereferenceable(8312) %13)
          to label %59 unwind label %95

59:                                               ; preds = %58
  invoke void @_ZN5amaze5utils9printMazeILh32EEEvRKNS_4MazeIXT_EEEi(ptr noundef nonnull align 8 dereferenceable(1040) %7, i32 noundef 1)
          to label %60 unwind label %95

60:                                               ; preds = %59
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %14) #6
  invoke void @_ZNK5amaze10maze_graph13MazeGraphBaseIttLh32ELt1984EE11goalNodeIdsEv(ptr dead_on_unwind nonnull writable sret(%"class.std::set") align 8 %14, ptr noundef nonnull align 8 dereferenceable(16) %12)
          to label %61 unwind label %97

61:                                               ; preds = %60
  %62 = 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 %63 unwind label %.loopexit.split-lp75

63:                                               ; preds = %61
  %64 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph11SixWayGraphILb1EttLh32ELt1984EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %12)
          to label %65 unwind label %.loopexit.split-lp75

65:                                               ; preds = %63
  %66 = invoke i32 @_ZNK5amaze10maze_graph11SixWayGraphILb1EttLh32ELt1984EE18agentStateByNodeIdEt(ptr noundef nonnull align 8 dereferenceable(16) %12, i16 noundef zeroext %64)
          to label %67 unwind label %.loopexit.split-lp75

67:                                               ; preds = %65
  %68 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) %62, i32 %66)
          to label %69 unwind label %.loopexit.split-lp75

69:                                               ; preds = %67
  %70 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %68, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %71 unwind label %.loopexit.split-lp75

71:                                               ; preds = %69
  %72 = 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 %73 unwind label %.loopexit.split-lp75

73:                                               ; preds = %71
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #6
  %74 = call ptr @_ZNKSt3setItSt4lessItESaItEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48) %14) #6
  store ptr %74, ptr %15, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #6
  %75 = call ptr @_ZNKSt3setItSt4lessItESaItEE3endEv(ptr noundef nonnull align 8 dereferenceable(48) %14) #6
  store ptr %75, ptr %16, align 8
  %76 = call noundef zeroext i1 @_ZStneRKSt23_Rb_tree_const_iteratorItES2_(ptr noundef nonnull align 8 dereferenceable(8) %15, ptr noundef nonnull align 8 dereferenceable(8) %16) #6
  br i1 %76, label %.lr.ph, label %._crit_edge

._crit_edge:                                      ; preds = %106, %73
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #6
  %77 = 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 %.preheader73 unwind label %.loopexit.split-lp75

78:                                               ; preds = %40
  %79 = 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 %228

80:                                               ; preds = %43
  %81 = landingpad { ptr, i32 }
          cleanup
  br label %84

82:                                               ; preds = %45
  %83 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #6
  br label %84

84:                                               ; preds = %82, %80
  %.pn = phi { ptr, i32 } [ %83, %82 ], [ %81, %80 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %10) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %10) #6
  br label %227

85:                                               ; preds = %47
  %86 = landingpad { ptr, i32 }
          cleanup
  br label %227

87:                                               ; preds = %48
  %88 = landingpad { ptr, i32 }
          cleanup
  br label %226

89:                                               ; preds = %55, %54, %53, %50
  %90 = landingpad { ptr, i32 }
          cleanup
  br label %225

91:                                               ; preds = %56
  %92 = landingpad { ptr, i32 }
          cleanup
  br label %224

93:                                               ; preds = %57
  %94 = landingpad { ptr, i32 }
          cleanup
  br label %223

95:                                               ; preds = %59, %58
  %96 = landingpad { ptr, i32 }
          cleanup
  br label %222

97:                                               ; preds = %60
  %98 = landingpad { ptr, i32 }
          cleanup
  br label %221

.loopexit74:                                      ; preds = %116, %118, %120
  %lpad.loopexit76 = landingpad { ptr, i32 }
          cleanup
  br label %220

.loopexit.split-lp75:                             ; preds = %61, %63, %65, %67, %69, %71, %._crit_edge
  %lpad.loopexit.split-lp77 = landingpad { ptr, i32 }
          cleanup
  br label %220

.lr.ph:                                           ; preds = %73, %106
  %99 = call noundef nonnull align 2 dereferenceable(2) ptr @_ZNKSt23_Rb_tree_const_iteratorItEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %15) #6
  %100 = load i16, ptr %99, align 2, !tbaa !9
  %101 = invoke i32 @_ZNK5amaze10maze_graph11SixWayGraphILb1EttLh32ELt1984EE18agentStateByNodeIdEt(ptr noundef nonnull align 8 dereferenceable(16) %12, i16 noundef zeroext %100)
          to label %102 unwind label %109

102:                                              ; preds = %.lr.ph
  %103 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %101)
          to label %104 unwind label %109

104:                                              ; preds = %102
  %105 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %103, ptr noundef nonnull @.str.4)
          to label %106 unwind label %109

106:                                              ; preds = %104
  %107 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt23_Rb_tree_const_iteratorItEppEv(ptr noundef nonnull align 8 dereferenceable(8) %15) #6
  %108 = call noundef zeroext i1 @_ZStneRKSt23_Rb_tree_const_iteratorItES2_(ptr noundef nonnull align 8 dereferenceable(8) %15, ptr noundef nonnull align 8 dereferenceable(8) %16) #6
  br i1 %108, label %.lr.ph, label %._crit_edge

109:                                              ; preds = %104, %102, %.lr.ph
  %110 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #6
  br label %220

.preheader73:                                     ; preds = %._crit_edge, %125
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #6
  call void @llvm.lifetime.start.p0(i64 2, ptr nonnull %18) #6
  %111 = call noundef zeroext i16 @_ZNK5amaze6solver9DStarLiteIttLh32ELt1984EE13currentNodeIdEv(ptr noundef nonnull align 8 dereferenceable(8312) %13)
  store i16 %111, ptr %18, align 2, !tbaa !9
  %112 = invoke ptr @_ZNSt3setItSt4lessItESaItEE4findERKt(ptr noundef nonnull align 8 dereferenceable(48) %14, ptr noundef nonnull align 2 dereferenceable(2) %18)
          to label %113 unwind label %126

113:                                              ; preds = %.preheader73
  store ptr %112, ptr %17, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %19) #6
  %114 = call ptr @_ZNKSt3setItSt4lessItESaItEE3endEv(ptr noundef nonnull align 8 dereferenceable(48) %14) #6
  store ptr %114, ptr %19, align 8
  %115 = call noundef zeroext i1 @_ZSteqRKSt23_Rb_tree_const_iteratorItES2_(ptr noundef nonnull align 8 dereferenceable(8) %17, ptr noundef nonnull align 8 dereferenceable(8) %19) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #6
  call void @llvm.lifetime.end.p0(i64 2, ptr nonnull %18) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #6
  br i1 %115, label %116, label %136

116:                                              ; preds = %113
  %117 = invoke i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1984EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16) %13)
          to label %118 unwind label %.loopexit74

118:                                              ; preds = %116
  %119 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %117)
          to label %120 unwind label %.loopexit74

120:                                              ; preds = %118
  %121 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %119, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %122 unwind label %.loopexit74

122:                                              ; preds = %120
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %20) #6
  invoke void @_ZN5amaze11AgentHelperINS_10maze_graph11SixWayGraphILb1EttLh32ELt1984EEENS_6solver9DStarLiteIttLh32ELt1984EEEE21currentSensePositionsERKS6_(ptr dead_on_unwind nonnull writable sret(%"class.std::vector") align 8 %20, ptr noundef nonnull align 8 dereferenceable(8312) %13)
          to label %123 unwind label %128

123:                                              ; preds = %122
  call void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EE8preSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(8312) %13, ptr noundef nonnull align 8 dereferenceable(24) %20)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %21) #6
  invoke void @_ZN5amaze20MazeGraphFeatureBaseINS_10maze_graph11SixWayGraphILb1EttLh32ELt1984EEEE5senseERNS_4MazeILh32EEERKS6_RKSt6vectorINS_8PositionESaISB_EE(ptr dead_on_unwind nonnull writable sret(%"class.std::vector") align 8 %21, ptr noundef nonnull align 8 dereferenceable(1040) %8, ptr noundef nonnull align 8 dereferenceable(1040) %7, ptr noundef nonnull align 8 dereferenceable(24) %20)
          to label %124 unwind label %130

124:                                              ; preds = %123
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EE9postSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(8312) %13, ptr noundef nonnull align 8 dereferenceable(24) %21)
          to label %125 unwind label %132

125:                                              ; preds = %124
  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 @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %20) #6
  br label %.preheader73, !llvm.loop !11

126:                                              ; preds = %.preheader73
  %127 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 2, ptr nonnull %18) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #6
  br label %220

128:                                              ; preds = %122
  %129 = landingpad { ptr, i32 }
          cleanup
  br label %135

130:                                              ; preds = %123
  %131 = landingpad { ptr, i32 }
          cleanup
  br label %134

132:                                              ; preds = %124
  %133 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %21) #6
  br label %134

134:                                              ; preds = %132, %130
  %.pn57 = phi { ptr, i32 } [ %133, %132 ], [ %131, %130 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %21) #6
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #6
  br label %135

135:                                              ; preds = %134, %128
  %.pn57.pn = phi { ptr, i32 } [ %.pn57, %134 ], [ %129, %128 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %20) #6
  br label %220

136:                                              ; preds = %113
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %22) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %23) #6
  invoke void @_ZN5amaze11AgentHelperINS_10maze_graph11SixWayGraphILb1EttLh32ELt1984EEENS_6solver9DStarLiteIttLh32ELt1984EEEE21currentSensePositionsERKS6_(ptr dead_on_unwind nonnull writable sret(%"class.std::vector") align 8 %23, ptr noundef nonnull align 8 dereferenceable(8312) %13)
          to label %137 unwind label %170

137:                                              ; preds = %136
  invoke void @_ZN5amaze20MazeGraphFeatureBaseINS_10maze_graph11SixWayGraphILb1EttLh32ELt1984EEEE5senseERNS_4MazeILh32EEERKS6_RKSt6vectorINS_8PositionESaISB_EE(ptr dead_on_unwind nonnull writable sret(%"class.std::vector") align 8 %22, ptr noundef nonnull align 8 dereferenceable(1040) %8, ptr noundef nonnull align 8 dereferenceable(1040) %7, ptr noundef nonnull align 8 dereferenceable(24) %23)
          to label %138 unwind label %172

138:                                              ; preds = %137
  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
  %139 = invoke i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1984EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16) %13)
          to label %140 unwind label %.loopexit.split-lp

140:                                              ; preds = %138
  %141 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %139)
          to label %142 unwind label %.loopexit.split-lp

142:                                              ; preds = %140
  %143 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %141, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %144 unwind label %.loopexit.split-lp

144:                                              ; preds = %142
  %145 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph11SixWayGraphILb1EttLh32ELt1984EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %12)
          to label %146 unwind label %.loopexit.split-lp

146:                                              ; preds = %144
  invoke void @_ZN5amaze6solver10SolverBaseIttLh32ELt1984EE18changeDestinationsEt(ptr noundef nonnull align 8 dereferenceable(16) %13, i16 noundef zeroext %145)
          to label %147 unwind label %.loopexit.split-lp

147:                                              ; preds = %146
  %148 = 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 %149 unwind label %.loopexit.split-lp

149:                                              ; preds = %147
  %150 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph11SixWayGraphILb1EttLh32ELt1984EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %12)
          to label %151 unwind label %.loopexit.split-lp

151:                                              ; preds = %149
  %152 = invoke i32 @_ZNK5amaze10maze_graph11SixWayGraphILb1EttLh32ELt1984EE18agentStateByNodeIdEt(ptr noundef nonnull align 8 dereferenceable(16) %12, i16 noundef zeroext %150)
          to label %153 unwind label %.loopexit.split-lp

153:                                              ; preds = %151
  %154 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) %148, i32 %152)
          to label %155 unwind label %.loopexit.split-lp

155:                                              ; preds = %153
  %156 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %154, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %.preheader unwind label %.loopexit.split-lp

.preheader:                                       ; preds = %155, %169
  %157 = call noundef zeroext i16 @_ZNK5amaze6solver9DStarLiteIttLh32ELt1984EE13currentNodeIdEv(ptr noundef nonnull align 8 dereferenceable(8312) %13)
  %158 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph11SixWayGraphILb1EttLh32ELt1984EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %12)
          to label %159 unwind label %.loopexit

159:                                              ; preds = %.preheader
  %.not = icmp eq i16 %157, %158
  br i1 %.not, label %183, label %160

160:                                              ; preds = %159
  %161 = invoke i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1984EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16) %13)
          to label %162 unwind label %.loopexit

162:                                              ; preds = %160
  %163 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %161)
          to label %164 unwind label %.loopexit

164:                                              ; preds = %162
  %165 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %163, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %166 unwind label %.loopexit

166:                                              ; preds = %164
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %24) #6
  invoke void @_ZN5amaze11AgentHelperINS_10maze_graph11SixWayGraphILb1EttLh32ELt1984EEENS_6solver9DStarLiteIttLh32ELt1984EEEE21currentSensePositionsERKS6_(ptr dead_on_unwind nonnull writable sret(%"class.std::vector") align 8 %24, ptr noundef nonnull align 8 dereferenceable(8312) %13)
          to label %167 unwind label %175

167:                                              ; preds = %166
  call void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EE8preSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(8312) %13, ptr noundef nonnull align 8 dereferenceable(24) %24)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %25) #6
  invoke void @_ZN5amaze20MazeGraphFeatureBaseINS_10maze_graph11SixWayGraphILb1EttLh32ELt1984EEEE5senseERNS_4MazeILh32EEERKS6_RKSt6vectorINS_8PositionESaISB_EE(ptr dead_on_unwind nonnull writable sret(%"class.std::vector") align 8 %25, ptr noundef nonnull align 8 dereferenceable(1040) %8, ptr noundef nonnull align 8 dereferenceable(1040) %7, ptr noundef nonnull align 8 dereferenceable(24) %24)
          to label %168 unwind label %177

168:                                              ; preds = %167
  invoke void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EE9postSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(8312) %13, ptr noundef nonnull align 8 dereferenceable(24) %25)
          to label %169 unwind label %179

169:                                              ; preds = %168
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %25) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %25) #6
  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
  br label %.preheader, !llvm.loop !13

170:                                              ; preds = %136
  %171 = landingpad { ptr, i32 }
          cleanup
  br label %174

172:                                              ; preds = %137
  %173 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %23) #6
  br label %174

174:                                              ; preds = %172, %170
  %.pn47 = phi { ptr, i32 } [ %173, %172 ], [ %171, %170 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %23) #6
  br label %219

.loopexit:                                        ; preds = %.preheader, %160, %162, %164
  %lpad.loopexit = landingpad { ptr, i32 }
          cleanup
  br label %218

.loopexit.split-lp:                               ; preds = %138, %140, %142, %144, %146, %147, %149, %151, %153, %155, %183, %185, %187, %189
  %lpad.loopexit.split-lp = landingpad { ptr, i32 }
          cleanup
  br label %218

175:                                              ; preds = %166
  %176 = landingpad { ptr, i32 }
          cleanup
  br label %182

177:                                              ; preds = %167
  %178 = landingpad { ptr, i32 }
          cleanup
  br label %181

179:                                              ; preds = %168
  %180 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %25) #6
  br label %181

181:                                              ; preds = %179, %177
  %.pn52 = phi { ptr, i32 } [ %180, %179 ], [ %178, %177 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %25) #6
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %24) #6
  br label %182

182:                                              ; preds = %181, %175
  %.pn52.pn = phi { ptr, i32 } [ %.pn52, %181 ], [ %176, %175 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %24) #6
  br label %218

183:                                              ; preds = %159
  %184 = invoke i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1984EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16) %13)
          to label %185 unwind label %.loopexit.split-lp

185:                                              ; preds = %183
  %186 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5amazelsERSoNS_10AgentStateE(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, i32 %184)
          to label %187 unwind label %.loopexit.split-lp

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

189:                                              ; preds = %187
  %190 = 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 %191 unwind label %.loopexit.split-lp

191:                                              ; preds = %189
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %26) #6
  call void @_ZN5amaze10maze_graph11SixWayGraphILb0EttLh32ELt1984EEC2ERKNS_4MazeILh32EEE(ptr noundef nonnull align 8 dereferenceable(16) %26, ptr noundef nonnull align 8 dereferenceable(1040) %8)
  invoke void @_ZN5amaze6solver10SolverBaseIttLh32ELt1984EE15changeMazeGraphEPKNS_10maze_graph13MazeGraphBaseIttLh32ELt1984EEE(ptr noundef nonnull align 8 dereferenceable(16) %13, ptr noundef nonnull %26)
          to label %192 unwind label %203

192:                                              ; preds = %191
  %193 = 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 %194 unwind label %203

194:                                              ; preds = %192
  %195 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %193, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %196 unwind label %203

196:                                              ; preds = %194
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %27) #6
  %197 = invoke noundef zeroext i16 @_ZNK5amaze10maze_graph11SixWayGraphILb0EttLh32ELt1984EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16) %26)
          to label %198 unwind label %205

198:                                              ; preds = %196
  invoke void @_ZNK5amaze6solver9DStarLiteIttLh32ELt1984EE15reconstructPathEtRKSt3setItSt4lessItESaItEE(ptr dead_on_unwind nonnull writable sret(%"class.std::vector.15") align 8 %27, ptr noundef nonnull align 8 dereferenceable(8312) %13, i16 noundef zeroext %197, ptr noundef nonnull align 8 dereferenceable(48) %14)
          to label %199 unwind label %205

199:                                              ; preds = %198
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %28) #6
  %200 = call ptr @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %27) #6
  store ptr %200, ptr %28, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %29) #6
  %201 = call ptr @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %27) #6
  store ptr %201, ptr %29, align 8
  %202 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESC_(ptr noundef nonnull align 8 dereferenceable(8) %28, ptr noundef nonnull align 8 dereferenceable(8) %29) #6
  br i1 %202, label %.lr.ph80, label %._crit_edge81

._crit_edge81:                                    ; preds = %211, %199
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %29) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #6
  call void @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %27) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %27) #6
  call void @_ZN5amaze10maze_graph13MazeGraphBaseIttLh32ELt1984EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %26) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %26) #6
  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
  call void @_ZNSt3setItSt4lessItESaItEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %14) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %14) #6
  call void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EED2Ev(ptr noundef nonnull align 8 dereferenceable(8312) %13) #6
  call void @llvm.lifetime.end.p0(i64 8312, ptr nonnull %13) #6
  call void @_ZN5amaze10maze_graph13MazeGraphBaseIttLh32ELt1984EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %12) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #6
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #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 %229

203:                                              ; preds = %194, %192, %191
  %204 = landingpad { ptr, i32 }
          cleanup
  br label %217

205:                                              ; preds = %198, %196
  %206 = landingpad { ptr, i32 }
          cleanup
  br label %216

.lr.ph80:                                         ; preds = %199, %211
  %207 = call noundef nonnull align 1 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %28) #6
  %.sroa.01.0.copyload = load i32, ptr %207, align 1
  %208 = 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 %209 unwind label %214

209:                                              ; preds = %.lr.ph80
  %210 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %208, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %211 unwind label %214

211:                                              ; preds = %209
  %212 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %28) #6
  %213 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPN5amaze10AgentStateESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESC_(ptr noundef nonnull align 8 dereferenceable(8) %28, ptr noundef nonnull align 8 dereferenceable(8) %29) #6
  br i1 %213, label %.lr.ph80, label %._crit_edge81

214:                                              ; preds = %209, %.lr.ph80
  %215 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %29) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #6
  call void @_ZNSt6vectorIN5amaze10AgentStateESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %27) #6
  br label %216

216:                                              ; preds = %214, %205
  %.pn49 = phi { ptr, i32 } [ %215, %214 ], [ %206, %205 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %27) #6
  br label %217

217:                                              ; preds = %216, %203
  %.pn49.pn = phi { ptr, i32 } [ %.pn49, %216 ], [ %204, %203 ]
  call void @_ZN5amaze10maze_graph13MazeGraphBaseIttLh32ELt1984EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %26) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %26) #6
  br label %218

218:                                              ; preds = %.loopexit, %.loopexit.split-lp, %217, %182
  %.pn52.pn.pn = phi { ptr, i32 } [ %.pn52.pn, %182 ], [ %.pn49.pn, %217 ], [ %lpad.loopexit, %.loopexit ], [ %lpad.loopexit.split-lp, %.loopexit.split-lp ]
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %22) #6
  br label %219

219:                                              ; preds = %218, %174
  %.pn52.pn.pn.pn = phi { ptr, i32 } [ %.pn52.pn.pn, %218 ], [ %.pn47, %174 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %22) #6
  br label %220

220:                                              ; preds = %.loopexit74, %.loopexit.split-lp75, %219, %135, %126, %109
  %.pn60 = phi { ptr, i32 } [ %110, %109 ], [ %.pn57.pn, %135 ], [ %.pn52.pn.pn.pn, %219 ], [ %127, %126 ], [ %lpad.loopexit76, %.loopexit74 ], [ %lpad.loopexit.split-lp77, %.loopexit.split-lp75 ]
  call void @_ZNSt3setItSt4lessItESaItEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %14) #6
  br label %221

221:                                              ; preds = %220, %97
  %.pn60.pn = phi { ptr, i32 } [ %.pn60, %220 ], [ %98, %97 ]
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %14) #6
  br label %222

222:                                              ; preds = %221, %95
  %.pn60.pn.pn = phi { ptr, i32 } [ %.pn60.pn, %221 ], [ %96, %95 ]
  call void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EED2Ev(ptr noundef nonnull align 8 dereferenceable(8312) %13) #6
  br label %223

223:                                              ; preds = %222, %93
  %.pn60.pn.pn.pn = phi { ptr, i32 } [ %.pn60.pn.pn, %222 ], [ %94, %93 ]
  call void @llvm.lifetime.end.p0(i64 8312, ptr nonnull %13) #6
  call void @_ZN5amaze10maze_graph13MazeGraphBaseIttLh32ELt1984EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %12) #6
  br label %224

224:                                              ; preds = %223, %91
  %.pn60.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn60.pn.pn.pn, %223 ], [ %92, %91 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #6
  br label %225

225:                                              ; preds = %224, %89
  %.pn60.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn60.pn.pn.pn.pn, %224 ], [ %90, %89 ]
  call void @_ZNSt6vectorIN5amaze8PositionESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #6
  br label %226

226:                                              ; preds = %225, %87
  %.pn60.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn60.pn.pn.pn.pn.pn, %225 ], [ %88, %87 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #6
  br label %227

227:                                              ; preds = %226, %85, %84
  %.pn60.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn60.pn.pn.pn.pn.pn.pn, %226 ], [ %86, %85 ], [ %.pn, %84 ]
  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 %228

228:                                              ; preds = %227, %78
  %.pn60.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn60.pn.pn.pn.pn.pn.pn.pn, %227 ], [ %79, %78 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #6
  br label %230

229:                                              ; preds = %._crit_edge81, %34
  ret i32 0

230:                                              ; preds = %228, %39
  %.pn70.pn = phi { ptr, i32 } [ %.pn70, %39 ], [ %.pn60.pn.pn.pn.pn.pn.pn.pn.pn, %228 ]
  resume { ptr, i32 } %.pn70.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 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 dso_local void @_ZN5amaze5utils13loadEmptyMazeILh32EEEvRNS_4MazeIXT_EEE(ptr noundef nonnull align 8 dereferenceable(1040)) local_unnamed_addr #0

; 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_graph11SixWayGraphILb1EttLh32ELt1984EEC2ERKNS_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 @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EEC2EPKNS_10maze_graph13MazeGraphBaseIttLh32ELt1984EEE(ptr noundef nonnull align 8 dereferenceable(8312), ptr noundef) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EE10initializeEv(ptr noundef nonnull align 8 dereferenceable(8312)) 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_graph13MazeGraphBaseIttLh32ELt1984EE11goalNodeIdsEv(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_graph11SixWayGraphILb1EttLh32ELt1984EE18agentStateByNodeIdEt(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_graph11SixWayGraphILb1EttLh32ELt1984EE11startNodeIdEv(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 @_ZNK5amaze6solver9DStarLiteIttLh32ELt1984EE13currentNodeIdEv(ptr noundef nonnull align 8 dereferenceable(8312)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local i32 @_ZNK5amaze6solver10SolverBaseIttLh32ELt1984EE17currentAgentStateEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze11AgentHelperINS_10maze_graph11SixWayGraphILb1EttLh32ELt1984EEENS_6solver9DStarLiteIttLh32ELt1984EEEE21currentSensePositionsERKS6_(ptr dead_on_unwind noalias writable sret(%"class.std::vector") align 8, ptr noundef nonnull align 8 dereferenceable(8312)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EE8preSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(8312), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5amaze20MazeGraphFeatureBaseINS_10maze_graph11SixWayGraphILb1EttLh32ELt1984EEEE5senseERNS_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 @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EE9postSenseERKSt6vectorINS_8PositionESaIS4_EE(ptr noundef nonnull align 8 dereferenceable(8312), 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 @_ZN5amaze6solver10SolverBaseIttLh32ELt1984EE18changeDestinationsEt(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_graph11SixWayGraphILb0EttLh32ELt1984EEC2ERKNS_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 @_ZN5amaze6solver10SolverBaseIttLh32ELt1984EE15changeMazeGraphEPKNS_10maze_graph13MazeGraphBaseIttLh32ELt1984EEE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5amaze6solver9DStarLiteIttLh32ELt1984EE15reconstructPathEtRKSt3setItSt4lessItESaItEE(ptr dead_on_unwind noalias writable sret(%"class.std::vector.15") align 8, ptr noundef nonnull align 8 dereferenceable(8312), i16 noundef zeroext, ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i16 @_ZNK5amaze10maze_graph11SixWayGraphILb0EttLh32ELt1984EE11startNodeIdEv(ptr noundef nonnull align 8 dereferenceable(16)) 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 @_ZN5amaze6solver9DStarLiteIttLh32ELt1984EED2Ev(ptr noundef nonnull align 8 dereferenceable(8312)) 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_graph13MazeGraphBaseIttLh32ELt1984EED2Ev(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