; LLVM IR from ethz-asl/mav_trajectory_generation :: mav_trajectory_generation/src (timing)

; 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::__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] }
%"struct.std::_Rb_tree_iterator" = type { ptr }
%"struct.std::pair" = type { %"class.std::__cxx11::basic_string", i64 }
%"class.mav_trajectory_generation::timing::Timing" = type { %"class.std::vector", %"class.std::map", i64 }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<mav_trajectory_generation::timing::TimerMapValue, std::allocator<mav_trajectory_generation::timing::TimerMapValue>>::_Vector_impl" }
%"struct.std::_Vector_base<mav_trajectory_generation::timing::TimerMapValue, std::allocator<mav_trajectory_generation::timing::TimerMapValue>>::_Vector_impl" = type { %"struct.std::_Vector_base<mav_trajectory_generation::timing::TimerMapValue, std::allocator<mav_trajectory_generation::timing::TimerMapValue>>::_Vector_impl_data" }
%"struct.std::_Vector_base<mav_trajectory_generation::timing::TimerMapValue, std::allocator<mav_trajectory_generation::timing::TimerMapValue>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned long>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned long>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned long>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned long>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"struct.std::_Rb_tree_header" = type { %"struct.std::_Rb_tree_node_base", i64 }
%"struct.std::_Rb_tree_node_base" = type { i32, ptr, ptr, ptr }

@.str.1 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.7 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.8 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [2 x i8], align 1

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZN25mav_trajectory_generation6timing6Timing8InstanceEv() #0 align 2

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmSt4lessIS5_ESaISt4pairIKS5_mEEE3endEv(ptr noundef nonnull align 8 dereferenceable(48)) #2 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmSt4lessIS5_ESaISt4pairIKS5_mEEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmEESB_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZNKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmEC2ERKS7_(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNSt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmED2Ev(ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef double @_ZN25mav_trajectory_generation6timing6Timing15GetTotalSecondsEm(i64 noundef) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef double @_ZN25mav_trajectory_generation6timing6Timing14GetMeanSecondsEm(i64 noundef) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZN25mav_trajectory_generation6timing6Timing13GetNumSamplesEm(i64 noundef) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef double @_ZN25mav_trajectory_generation6timing6Timing18GetVarianceSecondsEm(i64 noundef) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef double @_ZN25mav_trajectory_generation6timing6Timing13GetMinSecondsEm(i64 noundef) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef double @_ZN25mav_trajectory_generation6timing6Timing13GetMaxSecondsEm(i64 noundef) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN25mav_trajectory_generation6timing6Timing19SecondsToTimeStringB5cxx11Ed(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, double noundef) #0 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN25mav_trajectory_generation6timing6Timing5PrintERSo(ptr noundef nonnull align 8 dereferenceable(8) %0) #0 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca ptr, align 8
  %3 = alloca ptr, align 8
  %4 = alloca i32, align 4
  %5 = alloca ptr, align 8
  %6 = alloca %"struct.std::_Rb_tree_iterator", align 8
  %7 = alloca %"struct.std::_Rb_tree_iterator", align 8
  %8 = alloca %"struct.std::pair", align 8
  %9 = alloca i64, align 8
  %10 = alloca ptr, align 8
  %11 = alloca i32, align 4
  %12 = alloca %"class.std::__cxx11::basic_string", align 8
  %13 = alloca double, align 8
  %14 = alloca double, align 8
  %15 = alloca %"class.std::__cxx11::basic_string", align 8
  %16 = alloca %"class.std::__cxx11::basic_string", align 8
  %17 = alloca double, align 8
  %18 = alloca double, align 8
  %19 = alloca %"class.std::__cxx11::basic_string", align 8
  %20 = alloca %"class.std::__cxx11::basic_string", align 8
  store ptr %0, ptr %2, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %3) #6
  %21 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZN25mav_trajectory_generation6timing6Timing8InstanceEv()
  %22 = getelementptr inbounds %"class.mav_trajectory_generation::timing::Timing", ptr %21, i32 0, i32 1
  store ptr %22, ptr %3, align 8, !tbaa !5
  %23 = load ptr, ptr %3, align 8, !tbaa !5
  %24 = call noundef zeroext i1 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmSt4lessIS5_ESaISt4pairIKS5_mEEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(48) %23) #6
  br i1 %24, label %25, label %26

25:                                               ; preds = %1
  store i32 1, ptr %4, align 4
  br label %227

26:                                               ; preds = %1
  %27 = load ptr, ptr %2, align 8, !tbaa !5
  %28 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %27, ptr noundef @.str.1)
  %29 = load ptr, ptr %2, align 8, !tbaa !5
  %30 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %29, ptr noundef @.str.2)
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #6
  %31 = load ptr, ptr %3, align 8, !tbaa !5
  store ptr %31, ptr %5, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #6
  %32 = load ptr, ptr %5, align 8, !tbaa !5
  %33 = call ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmSt4lessIS5_ESaISt4pairIKS5_mEEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48) %32) #6
  %34 = getelementptr inbounds %"struct.std::_Rb_tree_iterator", ptr %6, i32 0, i32 0
  store ptr %33, ptr %34, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #6
  %35 = load ptr, ptr %5, align 8, !tbaa !5
  %36 = call ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmSt4lessIS5_ESaISt4pairIKS5_mEEE3endEv(ptr noundef nonnull align 8 dereferenceable(48) %35) #6
  %37 = getelementptr inbounds %"struct.std::_Rb_tree_iterator", ptr %7, i32 0, i32 0
  store ptr %36, ptr %37, align 8
  br label %38

38:                                               ; preds = %223, %26
  %39 = call noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmEESB_(ptr noundef nonnull align 8 dereferenceable(8) %6, ptr noundef nonnull align 8 dereferenceable(8) %7) #6
  br i1 %39, label %41, label %40

40:                                               ; preds = %38
  store i32 2, ptr %4, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #6
  br label %226

41:                                               ; preds = %38
  call void @llvm.lifetime.start.p0(i64 40, ptr %8) #6
  %42 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %6) #6
  call void @_ZNSt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmEC2ERKS7_(ptr noundef nonnull align 8 dereferenceable(40) %8, ptr noundef nonnull align 8 dereferenceable(40) %42)
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #6
  %43 = getelementptr inbounds %"struct.std::pair", ptr %8, i32 0, i32 1
  %44 = load i64, ptr %43, align 8, !tbaa !9
  store i64 %44, ptr %9, align 8, !tbaa !14
  %45 = load ptr, ptr %2, align 8, !tbaa !5
  %46 = load ptr, ptr %45, align 8, !tbaa !15
  %47 = getelementptr i8, ptr %46, i64 -24
  %48 = load i64, ptr %47, align 8
  %49 = getelementptr inbounds i8, ptr %45, i64 %48
  %50 = invoke noundef nonnull align 8 dereferenceable(80) ptr @_ZN25mav_trajectory_generation6timing6Timing8InstanceEv()
          to label %51 unwind label %149

51:                                               ; preds = %41
  %52 = getelementptr inbounds %"class.mav_trajectory_generation::timing::Timing", ptr %50, i32 0, i32 2
  %53 = load i64, ptr %52, align 8, !tbaa !17
  %54 = invoke noundef i64 @_ZNSt8ios_base5widthEl(ptr noundef nonnull align 8 dereferenceable(216) %49, i64 noundef %53)
          to label %55 unwind label %149

55:                                               ; preds = %51
  %56 = load ptr, ptr %2, align 8, !tbaa !5
  %57 = load ptr, ptr %56, align 8, !tbaa !15
  %58 = getelementptr i8, ptr %57, i64 -24
  %59 = load i64, ptr %58, align 8
  %60 = getelementptr inbounds i8, ptr %56, i64 %59
  %61 = invoke noundef i32 @_ZNSt8ios_base4setfESt13_Ios_FmtflagsS0_(ptr noundef nonnull align 8 dereferenceable(216) %60, i32 noundef 32, i32 noundef 176)
          to label %62 unwind label %149

62:                                               ; preds = %55
  %63 = load ptr, ptr %2, align 8, !tbaa !5
  %64 = getelementptr inbounds %"struct.std::pair", ptr %8, i32 0, i32 0
  %65 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %63, ptr noundef nonnull align 8 dereferenceable(32) %64)
          to label %66 unwind label %149

66:                                               ; preds = %62
  %67 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %65, ptr noundef @.str.3)
          to label %68 unwind label %149

68:                                               ; preds = %66
  %69 = load ptr, ptr %2, align 8, !tbaa !5
  %70 = load ptr, ptr %69, align 8, !tbaa !15
  %71 = getelementptr i8, ptr %70, i64 -24
  %72 = load i64, ptr %71, align 8
  %73 = getelementptr inbounds i8, ptr %69, i64 %72
  %74 = invoke noundef i64 @_ZNSt8ios_base5widthEl(ptr noundef nonnull align 8 dereferenceable(216) %73, i64 noundef 7)
          to label %75 unwind label %149

75:                                               ; preds = %68
  %76 = load ptr, ptr %2, align 8, !tbaa !5
  %77 = load ptr, ptr %76, align 8, !tbaa !15
  %78 = getelementptr i8, ptr %77, i64 -24
  %79 = load i64, ptr %78, align 8
  %80 = getelementptr inbounds i8, ptr %76, i64 %79
  %81 = invoke noundef i32 @_ZNSt8ios_base4setfESt13_Ios_FmtflagsS0_(ptr noundef nonnull align 8 dereferenceable(216) %80, i32 noundef 128, i32 noundef 176)
          to label %82 unwind label %149

82:                                               ; preds = %75
  %83 = load ptr, ptr %2, align 8, !tbaa !5
  %84 = load i64, ptr %9, align 8, !tbaa !14
  %85 = invoke noundef i64 @_ZN25mav_trajectory_generation6timing6Timing13GetNumSamplesEm(i64 noundef %84)
          to label %86 unwind label %149

86:                                               ; preds = %82
  %87 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %83, i64 noundef %85)
          to label %88 unwind label %149

88:                                               ; preds = %86
  %89 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %87, ptr noundef @.str.3)
          to label %90 unwind label %149

90:                                               ; preds = %88
  %91 = load i64, ptr %9, align 8, !tbaa !14
  %92 = invoke noundef i64 @_ZN25mav_trajectory_generation6timing6Timing13GetNumSamplesEm(i64 noundef %91)
          to label %93 unwind label %149

93:                                               ; preds = %90
  %94 = icmp ugt i64 %92, 0
  br i1 %94, label %95, label %219

95:                                               ; preds = %93
  %96 = load ptr, ptr %2, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %12) #6
  %97 = load i64, ptr %9, align 8, !tbaa !14
  %98 = invoke noundef double @_ZN25mav_trajectory_generation6timing6Timing15GetTotalSecondsEm(i64 noundef %97)
          to label %99 unwind label %153

99:                                               ; preds = %95
  invoke void @_ZN25mav_trajectory_generation6timing6Timing19SecondsToTimeStringB5cxx11Ed(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %12, double noundef %98)
          to label %100 unwind label %153

100:                                              ; preds = %99
  %101 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %96, ptr noundef nonnull align 8 dereferenceable(32) %12)
          to label %102 unwind label %157

102:                                              ; preds = %100
  %103 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %101, ptr noundef @.str.3)
          to label %104 unwind label %157

104:                                              ; preds = %102
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %12) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #6
  %105 = load i64, ptr %9, align 8, !tbaa !14
  %106 = invoke noundef double @_ZN25mav_trajectory_generation6timing6Timing14GetMeanSecondsEm(i64 noundef %105)
          to label %107 unwind label %162

107:                                              ; preds = %104
  store double %106, ptr %13, align 8, !tbaa !31
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #6
  %108 = load i64, ptr %9, align 8, !tbaa !14
  %109 = invoke noundef double @_ZN25mav_trajectory_generation6timing6Timing18GetVarianceSecondsEm(i64 noundef %108)
          to label %110 unwind label %166

110:                                              ; preds = %107
  %111 = call double @sqrt(double noundef %109) #6
  store double %111, ptr %14, align 8, !tbaa !31
  %112 = load ptr, ptr %2, align 8, !tbaa !5
  %113 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %112, ptr noundef @.str.4)
          to label %114 unwind label %166

114:                                              ; preds = %110
  call void @llvm.lifetime.start.p0(i64 32, ptr %15) #6
  %115 = load double, ptr %13, align 8, !tbaa !31
  invoke void @_ZN25mav_trajectory_generation6timing6Timing19SecondsToTimeStringB5cxx11Ed(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %15, double noundef %115)
          to label %116 unwind label %170

116:                                              ; preds = %114
  %117 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %113, ptr noundef nonnull align 8 dereferenceable(32) %15)
          to label %118 unwind label %174

118:                                              ; preds = %116
  %119 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %117, ptr noundef @.str.5)
          to label %120 unwind label %174

120:                                              ; preds = %118
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %15) #6
  %121 = load ptr, ptr %2, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %16) #6
  %122 = load double, ptr %14, align 8, !tbaa !31
  invoke void @_ZN25mav_trajectory_generation6timing6Timing19SecondsToTimeStringB5cxx11Ed(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %16, double noundef %122)
          to label %123 unwind label %179

123:                                              ; preds = %120
  %124 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %121, ptr noundef nonnull align 8 dereferenceable(32) %16)
          to label %125 unwind label %183

125:                                              ; preds = %123
  %126 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %124, ptr noundef @.str.6)
          to label %127 unwind label %183

127:                                              ; preds = %125
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %16) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #6
  %128 = load i64, ptr %9, align 8, !tbaa !14
  %129 = invoke noundef double @_ZN25mav_trajectory_generation6timing6Timing13GetMinSecondsEm(i64 noundef %128)
          to label %130 unwind label %188

130:                                              ; preds = %127
  store double %129, ptr %17, align 8, !tbaa !31
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #6
  %131 = load i64, ptr %9, align 8, !tbaa !14
  %132 = invoke noundef double @_ZN25mav_trajectory_generation6timing6Timing13GetMaxSecondsEm(i64 noundef %131)
          to label %133 unwind label %192

133:                                              ; preds = %130
  store double %132, ptr %18, align 8, !tbaa !31
  %134 = load ptr, ptr %2, align 8, !tbaa !5
  %135 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %134, ptr noundef @.str.7)
          to label %136 unwind label %192

136:                                              ; preds = %133
  call void @llvm.lifetime.start.p0(i64 32, ptr %19) #6
  %137 = load double, ptr %17, align 8, !tbaa !31
  invoke void @_ZN25mav_trajectory_generation6timing6Timing19SecondsToTimeStringB5cxx11Ed(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %19, double noundef %137)
          to label %138 unwind label %196

138:                                              ; preds = %136
  %139 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %135, ptr noundef nonnull align 8 dereferenceable(32) %19)
          to label %140 unwind label %200

140:                                              ; preds = %138
  %141 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %139, ptr noundef @.str.8)
          to label %142 unwind label %200

142:                                              ; preds = %140
  call void @llvm.lifetime.start.p0(i64 32, ptr %20) #6
  %143 = load double, ptr %18, align 8, !tbaa !31
  invoke void @_ZN25mav_trajectory_generation6timing6Timing19SecondsToTimeStringB5cxx11Ed(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %20, double noundef %143)
          to label %144 unwind label %204

144:                                              ; preds = %142
  %145 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %141, ptr noundef nonnull align 8 dereferenceable(32) %20)
          to label %146 unwind label %208

146:                                              ; preds = %144
  %147 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %145, ptr noundef @.str.9)
          to label %148 unwind label %208

148:                                              ; preds = %146
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %20) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %19) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #6
  br label %219

149:                                              ; preds = %219, %90, %88, %86, %82, %75, %68, %66, %62, %55, %51, %41
  %150 = landingpad { ptr, i32 }
          cleanup
  %151 = extractvalue { ptr, i32 } %150, 0
  store ptr %151, ptr %10, align 8
  %152 = extractvalue { ptr, i32 } %150, 1
  store i32 %152, ptr %11, align 4
  br label %225

153:                                              ; preds = %99, %95
  %154 = landingpad { ptr, i32 }
          cleanup
  %155 = extractvalue { ptr, i32 } %154, 0
  store ptr %155, ptr %10, align 8
  %156 = extractvalue { ptr, i32 } %154, 1
  store i32 %156, ptr %11, align 4
  br label %161

157:                                              ; preds = %102, %100
  %158 = landingpad { ptr, i32 }
          cleanup
  %159 = extractvalue { ptr, i32 } %158, 0
  store ptr %159, ptr %10, align 8
  %160 = extractvalue { ptr, i32 } %158, 1
  store i32 %160, ptr %11, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #6
  br label %161

161:                                              ; preds = %157, %153
  call void @llvm.lifetime.end.p0(i64 32, ptr %12) #6
  br label %225

162:                                              ; preds = %104
  %163 = landingpad { ptr, i32 }
          cleanup
  %164 = extractvalue { ptr, i32 } %163, 0
  store ptr %164, ptr %10, align 8
  %165 = extractvalue { ptr, i32 } %163, 1
  store i32 %165, ptr %11, align 4
  br label %218

166:                                              ; preds = %110, %107
  %167 = landingpad { ptr, i32 }
          cleanup
  %168 = extractvalue { ptr, i32 } %167, 0
  store ptr %168, ptr %10, align 8
  %169 = extractvalue { ptr, i32 } %167, 1
  store i32 %169, ptr %11, align 4
  br label %217

170:                                              ; preds = %114
  %171 = landingpad { ptr, i32 }
          cleanup
  %172 = extractvalue { ptr, i32 } %171, 0
  store ptr %172, ptr %10, align 8
  %173 = extractvalue { ptr, i32 } %171, 1
  store i32 %173, ptr %11, align 4
  br label %178

174:                                              ; preds = %118, %116
  %175 = landingpad { ptr, i32 }
          cleanup
  %176 = extractvalue { ptr, i32 } %175, 0
  store ptr %176, ptr %10, align 8
  %177 = extractvalue { ptr, i32 } %175, 1
  store i32 %177, ptr %11, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #6
  br label %178

178:                                              ; preds = %174, %170
  call void @llvm.lifetime.end.p0(i64 32, ptr %15) #6
  br label %217

179:                                              ; preds = %120
  %180 = landingpad { ptr, i32 }
          cleanup
  %181 = extractvalue { ptr, i32 } %180, 0
  store ptr %181, ptr %10, align 8
  %182 = extractvalue { ptr, i32 } %180, 1
  store i32 %182, ptr %11, align 4
  br label %187

183:                                              ; preds = %125, %123
  %184 = landingpad { ptr, i32 }
          cleanup
  %185 = extractvalue { ptr, i32 } %184, 0
  store ptr %185, ptr %10, align 8
  %186 = extractvalue { ptr, i32 } %184, 1
  store i32 %186, ptr %11, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %16) #6
  br label %187

187:                                              ; preds = %183, %179
  call void @llvm.lifetime.end.p0(i64 32, ptr %16) #6
  br label %217

188:                                              ; preds = %127
  %189 = landingpad { ptr, i32 }
          cleanup
  %190 = extractvalue { ptr, i32 } %189, 0
  store ptr %190, ptr %10, align 8
  %191 = extractvalue { ptr, i32 } %189, 1
  store i32 %191, ptr %11, align 4
  br label %216

192:                                              ; preds = %133, %130
  %193 = landingpad { ptr, i32 }
          cleanup
  %194 = extractvalue { ptr, i32 } %193, 0
  store ptr %194, ptr %10, align 8
  %195 = extractvalue { ptr, i32 } %193, 1
  store i32 %195, ptr %11, align 4
  br label %215

196:                                              ; preds = %136
  %197 = landingpad { ptr, i32 }
          cleanup
  %198 = extractvalue { ptr, i32 } %197, 0
  store ptr %198, ptr %10, align 8
  %199 = extractvalue { ptr, i32 } %197, 1
  store i32 %199, ptr %11, align 4
  br label %214

200:                                              ; preds = %140, %138
  %201 = landingpad { ptr, i32 }
          cleanup
  %202 = extractvalue { ptr, i32 } %201, 0
  store ptr %202, ptr %10, align 8
  %203 = extractvalue { ptr, i32 } %201, 1
  store i32 %203, ptr %11, align 4
  br label %213

204:                                              ; preds = %142
  %205 = landingpad { ptr, i32 }
          cleanup
  %206 = extractvalue { ptr, i32 } %205, 0
  store ptr %206, ptr %10, align 8
  %207 = extractvalue { ptr, i32 } %205, 1
  store i32 %207, ptr %11, align 4
  br label %212

208:                                              ; preds = %146, %144
  %209 = landingpad { ptr, i32 }
          cleanup
  %210 = extractvalue { ptr, i32 } %209, 0
  store ptr %210, ptr %10, align 8
  %211 = extractvalue { ptr, i32 } %209, 1
  store i32 %211, ptr %11, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20) #6
  br label %212

212:                                              ; preds = %208, %204
  call void @llvm.lifetime.end.p0(i64 32, ptr %20) #6
  br label %213

213:                                              ; preds = %212, %200
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #6
  br label %214

214:                                              ; preds = %213, %196
  call void @llvm.lifetime.end.p0(i64 32, ptr %19) #6
  br label %215

215:                                              ; preds = %214, %192
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #6
  br label %216

216:                                              ; preds = %215, %188
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #6
  br label %217

217:                                              ; preds = %216, %187, %178, %166
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #6
  br label %218

218:                                              ; preds = %217, %162
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #6
  br label %225

219:                                              ; preds = %148, %93
  %220 = load ptr, ptr %2, align 8, !tbaa !5
  %221 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %220, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %222 unwind label %149

222:                                              ; preds = %219
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #6
  call void @_ZNSt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %8) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %8) #6
  br label %223

223:                                              ; preds = %222
  %224 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %6) #6
  br label %38

225:                                              ; preds = %218, %161, %149
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #6
  call void @_ZNSt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %8) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %8) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %3) #6
  br label %230

226:                                              ; preds = %40
  store i32 0, ptr %4, align 4
  br label %227

227:                                              ; preds = %226, %25
  call void @llvm.lifetime.end.p0(i64 8, ptr %3) #6
  %228 = load i32, ptr %4, align 4
  switch i32 %228, label %235 [
    i32 0, label %229
    i32 1, label %229
  ]

229:                                              ; preds = %227, %227
  ret void

230:                                              ; preds = %225
  %231 = load ptr, ptr %10, align 8
  %232 = load i32, ptr %11, align 4
  %233 = insertvalue { ptr, i32 } poison, ptr %231, 0
  %234 = insertvalue { ptr, i32 } %233, i32 %232, 1
  resume { ptr, i32 } %234

235:                                              ; preds = %227
  unreachable
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmSt4lessIS5_ESaISt4pairIKS5_mEEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(48)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNSt8ios_base5widthEl(ptr noundef nonnull align 8 dereferenceable(216), i64 noundef) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZNSt8ios_base4setfESt13_Ios_FmtflagsS0_(ptr noundef nonnull align 8 dereferenceable(216), i32 noundef, i32 noundef) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(32)) #4

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) #0 align 2

; Function Attrs: nounwind
declare double @sqrt(double noundef) #5

; 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)) #4

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 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { 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 #4 = { 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 #5 = { nounwind "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, !13, i64 32}
!10 = !{!"_ZTSSt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmE", !11, i64 0, !13, i64 32}
!11 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !12, i64 0, !13, i64 8, !7, i64 16}
!12 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !6, i64 0}
!13 = !{!"long", !7, i64 0}
!14 = !{!13, !13, i64 0}
!15 = !{!16, !16, i64 0}
!16 = !{!"vtable pointer", !8, i64 0}
!17 = !{!18, !13, i64 72}
!18 = !{!"_ZTSN25mav_trajectory_generation6timing6TimingE", !19, i64 0, !23, i64 24, !13, i64 72}
!19 = !{!"_ZTSSt6vectorIN25mav_trajectory_generation6timing13TimerMapValueESaIS2_EE", !20, i64 0}
!20 = !{!"_ZTSSt12_Vector_baseIN25mav_trajectory_generation6timing13TimerMapValueESaIS2_EE", !21, i64 0}
!21 = !{!"_ZTSNSt12_Vector_baseIN25mav_trajectory_generation6timing13TimerMapValueESaIS2_EE12_Vector_implE", !22, i64 0}
!22 = !{!"_ZTSNSt12_Vector_baseIN25mav_trajectory_generation6timing13TimerMapValueESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!23 = !{!"_ZTSSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmSt4lessIS5_ESaISt4pairIKS5_mEEE", !24, i64 0}
!24 = !{!"_ZTSSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_mESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE", !25, i64 0}
!25 = !{!"_ZTSNSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_mESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE13_Rb_tree_implISC_Lb1EEE", !26, i64 0, !28, i64 8}
!26 = !{!"_ZTSSt20_Rb_tree_key_compareISt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEE", !27, i64 0}
!27 = !{!"_ZTSSt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE"}
!28 = !{!"_ZTSSt15_Rb_tree_header", !29, i64 0, !13, i64 32}
!29 = !{!"_ZTSSt18_Rb_tree_node_base", !30, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!30 = !{!"_ZTSSt14_Rb_tree_color", !7, i64 0}
!31 = !{!32, !32, i64 0}
!32 = !{!"double", !7, i64 0}


; Optimized IR (opt -passes='default<O3>'):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%"class.std::__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] }
%"struct.std::_Rb_tree_iterator" = type { ptr }
%"struct.std::pair" = type { %"class.std::__cxx11::basic_string", i64 }

@.str.1 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.7 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.8 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [2 x i8], align 1

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZN25mav_trajectory_generation6timing6Timing8InstanceEv() local_unnamed_addr #0 align 2

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmSt4lessIS5_ESaISt4pairIKS5_mEEE3endEv(ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #2 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmSt4lessIS5_ESaISt4pairIKS5_mEEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmEESB_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZNKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmEC2ERKS7_(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNSt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmED2Ev(ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef double @_ZN25mav_trajectory_generation6timing6Timing15GetTotalSecondsEm(i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef double @_ZN25mav_trajectory_generation6timing6Timing14GetMeanSecondsEm(i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZN25mav_trajectory_generation6timing6Timing13GetNumSamplesEm(i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef double @_ZN25mav_trajectory_generation6timing6Timing18GetVarianceSecondsEm(i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef double @_ZN25mav_trajectory_generation6timing6Timing13GetMinSecondsEm(i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef double @_ZN25mav_trajectory_generation6timing6Timing13GetMaxSecondsEm(i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN25mav_trajectory_generation6timing6Timing19SecondsToTimeStringB5cxx11Ed(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, double noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN25mav_trajectory_generation6timing6Timing5PrintERSo(ptr noundef nonnull align 8 dereferenceable(8) %0) local_unnamed_addr #0 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca %"struct.std::_Rb_tree_iterator", align 8
  %3 = alloca %"struct.std::_Rb_tree_iterator", align 8
  %4 = alloca %"struct.std::pair", align 8
  %5 = alloca %"class.std::__cxx11::basic_string", align 8
  %6 = alloca %"class.std::__cxx11::basic_string", align 8
  %7 = alloca %"class.std::__cxx11::basic_string", align 8
  %8 = alloca %"class.std::__cxx11::basic_string", align 8
  %9 = alloca %"class.std::__cxx11::basic_string", align 8
  %10 = tail call noundef nonnull align 8 dereferenceable(80) ptr @_ZN25mav_trajectory_generation6timing6Timing8InstanceEv()
  %11 = getelementptr inbounds i8, ptr %10, i64 24
  %12 = tail call noundef zeroext i1 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmSt4lessIS5_ESaISt4pairIKS5_mEEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(48) %11) #6
  br i1 %12, label %144, label %13

13:                                               ; preds = %1
  %14 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %0, ptr noundef nonnull @.str.1)
  %15 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %0, ptr noundef nonnull @.str.2)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %2) #6
  %16 = tail call ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmSt4lessIS5_ESaISt4pairIKS5_mEEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48) %11) #6
  store ptr %16, ptr %2, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #6
  %17 = tail call ptr @_ZNSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmSt4lessIS5_ESaISt4pairIKS5_mEEE3endEv(ptr noundef nonnull align 8 dereferenceable(48) %11) #6
  store ptr %17, ptr %3, align 8
  %18 = call noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmEESB_(ptr noundef nonnull align 8 dereferenceable(8) %2, ptr noundef nonnull align 8 dereferenceable(8) %3) #6
  br i1 %18, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %13
  %19 = getelementptr inbounds i8, ptr %4, i64 32
  br label %20

._crit_edge:                                      ; preds = %140, %13
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %2) #6
  br label %144

20:                                               ; preds = %.lr.ph, %140
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %4) #6
  %21 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %2) #6
  call void @_ZNSt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmEC2ERKS7_(ptr noundef nonnull align 8 dereferenceable(40) %4, ptr noundef nonnull align 8 dereferenceable(40) %21)
  %22 = load i64, ptr %19, align 8, !tbaa !5
  %23 = load ptr, ptr %0, align 8, !tbaa !13
  %24 = getelementptr i8, ptr %23, i64 -24
  %25 = load i64, ptr %24, align 8
  %26 = invoke noundef nonnull align 8 dereferenceable(80) ptr @_ZN25mav_trajectory_generation6timing6Timing8InstanceEv()
          to label %27 unwind label %102

27:                                               ; preds = %20
  %28 = getelementptr inbounds i8, ptr %0, i64 %25
  %29 = getelementptr inbounds i8, ptr %26, i64 72
  %30 = load i64, ptr %29, align 8, !tbaa !15
  %31 = call noundef i64 @_ZNSt8ios_base5widthEl(ptr noundef nonnull align 8 dereferenceable(216) %28, i64 noundef %30)
  %32 = load ptr, ptr %0, align 8, !tbaa !13
  %33 = getelementptr i8, ptr %32, i64 -24
  %34 = load i64, ptr %33, align 8
  %35 = getelementptr inbounds i8, ptr %0, i64 %34
  %36 = invoke noundef i32 @_ZNSt8ios_base4setfESt13_Ios_FmtflagsS0_(ptr noundef nonnull align 8 dereferenceable(216) %35, i32 noundef 32, i32 noundef 176)
          to label %37 unwind label %102

37:                                               ; preds = %27
  %38 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %0, ptr noundef nonnull align 8 dereferenceable(32) %4)
          to label %39 unwind label %102

39:                                               ; preds = %37
  %40 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %38, ptr noundef nonnull @.str.3)
          to label %41 unwind label %102

41:                                               ; preds = %39
  %42 = load ptr, ptr %0, align 8, !tbaa !13
  %43 = getelementptr i8, ptr %42, i64 -24
  %44 = load i64, ptr %43, align 8
  %45 = getelementptr inbounds i8, ptr %0, i64 %44
  %46 = call noundef i64 @_ZNSt8ios_base5widthEl(ptr noundef nonnull align 8 dereferenceable(216) %45, i64 noundef 7)
  %47 = load ptr, ptr %0, align 8, !tbaa !13
  %48 = getelementptr i8, ptr %47, i64 -24
  %49 = load i64, ptr %48, align 8
  %50 = getelementptr inbounds i8, ptr %0, i64 %49
  %51 = invoke noundef i32 @_ZNSt8ios_base4setfESt13_Ios_FmtflagsS0_(ptr noundef nonnull align 8 dereferenceable(216) %50, i32 noundef 128, i32 noundef 176)
          to label %52 unwind label %102

52:                                               ; preds = %41
  %53 = invoke noundef i64 @_ZN25mav_trajectory_generation6timing6Timing13GetNumSamplesEm(i64 noundef %22)
          to label %54 unwind label %102

54:                                               ; preds = %52
  %55 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %0, i64 noundef %53)
          to label %56 unwind label %102

56:                                               ; preds = %54
  %57 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %55, ptr noundef nonnull @.str.3)
          to label %58 unwind label %102

58:                                               ; preds = %56
  %59 = invoke noundef i64 @_ZN25mav_trajectory_generation6timing6Timing13GetNumSamplesEm(i64 noundef %22)
          to label %60 unwind label %102

60:                                               ; preds = %58
  %.not = icmp eq i64 %59, 0
  br i1 %.not, label %138, label %61

61:                                               ; preds = %60
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %5) #6
  %62 = invoke noundef double @_ZN25mav_trajectory_generation6timing6Timing15GetTotalSecondsEm(i64 noundef %22)
          to label %63 unwind label %104

63:                                               ; preds = %61
  invoke void @_ZN25mav_trajectory_generation6timing6Timing19SecondsToTimeStringB5cxx11Ed(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %5, double noundef %62)
          to label %64 unwind label %104

64:                                               ; preds = %63
  %65 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %0, ptr noundef nonnull align 8 dereferenceable(32) %5)
          to label %66 unwind label %106

66:                                               ; preds = %64
  %67 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %65, ptr noundef nonnull @.str.3)
          to label %68 unwind label %106

68:                                               ; preds = %66
  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
  %69 = invoke noundef double @_ZN25mav_trajectory_generation6timing6Timing14GetMeanSecondsEm(i64 noundef %22)
          to label %70 unwind label %109

70:                                               ; preds = %68
  %71 = invoke noundef double @_ZN25mav_trajectory_generation6timing6Timing18GetVarianceSecondsEm(i64 noundef %22)
          to label %72 unwind label %111

72:                                               ; preds = %70
  %73 = call double @sqrt(double noundef %71) #6
  %74 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %0, ptr noundef nonnull @.str.4)
          to label %75 unwind label %111

75:                                               ; preds = %72
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %6) #6
  invoke void @_ZN25mav_trajectory_generation6timing6Timing19SecondsToTimeStringB5cxx11Ed(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %6, double noundef %69)
          to label %76 unwind label %113

76:                                               ; preds = %75
  %77 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %74, ptr noundef nonnull align 8 dereferenceable(32) %6)
          to label %78 unwind label %115

78:                                               ; preds = %76
  %79 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %77, ptr noundef nonnull @.str.5)
          to label %80 unwind label %115

80:                                               ; preds = %78
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %7) #6
  invoke void @_ZN25mav_trajectory_generation6timing6Timing19SecondsToTimeStringB5cxx11Ed(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %7, double noundef %73)
          to label %81 unwind label %118

81:                                               ; preds = %80
  %82 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %0, ptr noundef nonnull align 8 dereferenceable(32) %7)
          to label %83 unwind label %120

83:                                               ; preds = %81
  %84 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %82, ptr noundef nonnull @.str.6)
          to label %85 unwind label %120

85:                                               ; preds = %83
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %7) #6
  %86 = invoke noundef double @_ZN25mav_trajectory_generation6timing6Timing13GetMinSecondsEm(i64 noundef %22)
          to label %87 unwind label %123

87:                                               ; preds = %85
  %88 = invoke noundef double @_ZN25mav_trajectory_generation6timing6Timing13GetMaxSecondsEm(i64 noundef %22)
          to label %89 unwind label %125

89:                                               ; preds = %87
  %90 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %0, ptr noundef nonnull @.str.7)
          to label %91 unwind label %125

91:                                               ; preds = %89
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %8) #6
  invoke void @_ZN25mav_trajectory_generation6timing6Timing19SecondsToTimeStringB5cxx11Ed(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %8, double noundef %86)
          to label %92 unwind label %127

92:                                               ; preds = %91
  %93 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %90, ptr noundef nonnull align 8 dereferenceable(32) %8)
          to label %94 unwind label %129

94:                                               ; preds = %92
  %95 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %93, ptr noundef nonnull @.str.8)
          to label %96 unwind label %129

96:                                               ; preds = %94
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %9) #6
  invoke void @_ZN25mav_trajectory_generation6timing6Timing19SecondsToTimeStringB5cxx11Ed(ptr dead_on_unwind nonnull writable sret(%"class.std::__cxx11::basic_string") align 8 %9, double noundef %88)
          to label %97 unwind label %131

97:                                               ; preds = %96
  %98 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8) %95, ptr noundef nonnull align 8 dereferenceable(32) %9)
          to label %99 unwind label %133

99:                                               ; preds = %97
  %100 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %98, ptr noundef nonnull @.str.9)
          to label %101 unwind label %133

101:                                              ; preds = %99
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %9) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #6
  br label %138

102:                                              ; preds = %138, %58, %56, %54, %52, %41, %39, %37, %27, %20
  %103 = landingpad { ptr, i32 }
          cleanup
  br label %143

104:                                              ; preds = %63, %61
  %105 = landingpad { ptr, i32 }
          cleanup
  br label %108

106:                                              ; preds = %66, %64
  %107 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #6
  br label %108

108:                                              ; preds = %106, %104
  %.pn = phi { ptr, i32 } [ %107, %106 ], [ %105, %104 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #6
  br label %143

109:                                              ; preds = %68
  %110 = landingpad { ptr, i32 }
          cleanup
  br label %143

111:                                              ; preds = %72, %70
  %112 = landingpad { ptr, i32 }
          cleanup
  br label %143

113:                                              ; preds = %75
  %114 = landingpad { ptr, i32 }
          cleanup
  br label %117

115:                                              ; preds = %78, %76
  %116 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #6
  br label %117

117:                                              ; preds = %115, %113
  %.pn41 = phi { ptr, i32 } [ %116, %115 ], [ %114, %113 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #6
  br label %143

118:                                              ; preds = %80
  %119 = landingpad { ptr, i32 }
          cleanup
  br label %122

120:                                              ; preds = %83, %81
  %121 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %7) #6
  br label %122

122:                                              ; preds = %120, %118
  %.pn43 = phi { ptr, i32 } [ %121, %120 ], [ %119, %118 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %7) #6
  br label %143

123:                                              ; preds = %85
  %124 = landingpad { ptr, i32 }
          cleanup
  br label %143

125:                                              ; preds = %89, %87
  %126 = landingpad { ptr, i32 }
          cleanup
  br label %143

127:                                              ; preds = %91
  %128 = landingpad { ptr, i32 }
          cleanup
  br label %137

129:                                              ; preds = %94, %92
  %130 = landingpad { ptr, i32 }
          cleanup
  br label %136

131:                                              ; preds = %96
  %132 = landingpad { ptr, i32 }
          cleanup
  br label %135

133:                                              ; preds = %99, %97
  %134 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #6
  br label %135

135:                                              ; preds = %133, %131
  %.pn45 = phi { ptr, i32 } [ %134, %133 ], [ %132, %131 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %9) #6
  br label %136

136:                                              ; preds = %135, %129
  %.pn45.pn = phi { ptr, i32 } [ %.pn45, %135 ], [ %130, %129 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #6
  br label %137

137:                                              ; preds = %136, %127
  %.pn45.pn.pn = phi { ptr, i32 } [ %.pn45.pn, %136 ], [ %128, %127 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #6
  br label %143

138:                                              ; preds = %101, %60
  %139 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %0, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %140 unwind label %102

140:                                              ; preds = %138
  call void @_ZNSt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %4) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %4) #6
  %141 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %2) #6
  %142 = call noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmEESB_(ptr noundef nonnull align 8 dereferenceable(8) %2, ptr noundef nonnull align 8 dereferenceable(8) %3) #6
  br i1 %142, label %20, label %._crit_edge

143:                                              ; preds = %109, %123, %137, %125, %122, %117, %111, %108, %102
  %.pn53 = phi { ptr, i32 } [ %103, %102 ], [ %.pn, %108 ], [ %110, %109 ], [ %.pn43, %122 ], [ %.pn41, %117 ], [ %112, %111 ], [ %124, %123 ], [ %.pn45.pn.pn, %137 ], [ %126, %125 ]
  call void @_ZNSt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %4) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %4) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %2) #6
  resume { ptr, i32 } %.pn53

144:                                              ; preds = %1, %._crit_edge
  ret void
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmSt4lessIS5_ESaISt4pairIKS5_mEEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNSt8ios_base5widthEl(ptr noundef nonnull align 8 dereferenceable(216), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZNSt8ios_base4setfESt13_Ios_FmtflagsS0_(ptr noundef nonnull align 8 dereferenceable(216), i32 noundef, i32 noundef) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsIcSt11char_traitsIcESaIcEERSt13basic_ostreamIT_T0_ES7_RKNSt7__cxx1112basic_stringIS4_S5_T1_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nofree nounwind willreturn memory(write)
declare double @sqrt(double noundef) local_unnamed_addr #5

; 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)) #4

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 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { 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 #4 = { 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 #5 = { mustprogress nofree nounwind willreturn memory(write) "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, !12, i64 32}
!6 = !{!"_ZTSSt4pairIKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmE", !7, i64 0, !12, i64 32}
!7 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !8, i64 0, !12, i64 8, !10, i64 16}
!8 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !9, i64 0}
!9 = !{!"any pointer", !10, i64 0}
!10 = !{!"omnipotent char", !11, i64 0}
!11 = !{!"Simple C++ TBAA"}
!12 = !{!"long", !10, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"vtable pointer", !11, i64 0}
!15 = !{!16, !12, i64 72}
!16 = !{!"_ZTSN25mav_trajectory_generation6timing6TimingE", !17, i64 0, !21, i64 24, !12, i64 72}
!17 = !{!"_ZTSSt6vectorIN25mav_trajectory_generation6timing13TimerMapValueESaIS2_EE", !18, i64 0}
!18 = !{!"_ZTSSt12_Vector_baseIN25mav_trajectory_generation6timing13TimerMapValueESaIS2_EE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseIN25mav_trajectory_generation6timing13TimerMapValueESaIS2_EE12_Vector_implE", !20, i64 0}
!20 = !{!"_ZTSNSt12_Vector_baseIN25mav_trajectory_generation6timing13TimerMapValueESaIS2_EE17_Vector_impl_dataE", !9, i64 0, !9, i64 8, !9, i64 16}
!21 = !{!"_ZTSSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEmSt4lessIS5_ESaISt4pairIKS5_mEEE", !22, i64 0}
!22 = !{!"_ZTSSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_mESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE", !23, i64 0}
!23 = !{!"_ZTSNSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_mESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE13_Rb_tree_implISC_Lb1EEE", !24, i64 0, !26, i64 8}
!24 = !{!"_ZTSSt20_Rb_tree_key_compareISt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEE", !25, i64 0}
!25 = !{!"_ZTSSt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE"}
!26 = !{!"_ZTSSt15_Rb_tree_header", !27, i64 0, !12, i64 32}
!27 = !{!"_ZTSSt18_Rb_tree_node_base", !28, i64 0, !9, i64 8, !9, i64 16, !9, i64 24}
!28 = !{!"_ZTSSt14_Rb_tree_color", !10, i64 0}


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