; LLVM IR from BehaviorTree/BehaviorTree.CPP :: examples (t10_observer)

; 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.BT::BehaviorTreeFactory" = type { %"class.std::unique_ptr.3" }
%"class.std::unique_ptr.3" = type { %"struct.std::__uniq_ptr_data.4" }
%"struct.std::__uniq_ptr_data.4" = type { %"class.std::__uniq_ptr_impl.5" }
%"class.std::__uniq_ptr_impl.5" = type { %"class.std::tuple.6" }
%"class.std::tuple.6" = type { %"struct.std::_Tuple_impl.7" }
%"struct.std::_Tuple_impl.7" = type { %"struct.std::_Head_base.10" }
%"struct.std::_Head_base.10" = 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.BT::Tree" = type <{ %"class.std::vector", %"class.std::unordered_map", %"class.std::shared_ptr", i16, [6 x i8] }>
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<std::shared_ptr<BT::Tree::Subtree>, std::allocator<std::shared_ptr<BT::Tree::Subtree>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::shared_ptr<BT::Tree::Subtree>, std::allocator<std::shared_ptr<BT::Tree::Subtree>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::shared_ptr<BT::Tree::Subtree>, std::allocator<std::shared_ptr<BT::Tree::Subtree>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::shared_ptr<BT::Tree::Subtree>, std::allocator<std::shared_ptr<BT::Tree::Subtree>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::unordered_map" = type { %"class.std::_Hashtable" }
%"class.std::_Hashtable" = type { ptr, i64, %"struct.std::__detail::_Hash_node_base", i64, %"struct.std::__detail::_Prime_rehash_policy", ptr }
%"struct.std::__detail::_Hash_node_base" = type { ptr }
%"struct.std::__detail::_Prime_rehash_policy" = type { float, i64 }
%"class.std::shared_ptr" = type { %"class.std::__shared_ptr" }
%"class.std::__shared_ptr" = type { ptr, %"class.std::__shared_count" }
%"class.std::__shared_count" = type { ptr }
%"class.std::shared_ptr.19" = type { %"class.std::__shared_ptr.20" }
%"class.std::__shared_ptr.20" = type { ptr, %"class.std::__shared_count" }
%"class.BT::TreeObserver" = type { %"class.BT::StatusChangeLogger", %"class.std::unordered_map.27", %"class.std::unordered_map.47", %"class.std::map" }
%"class.BT::StatusChangeLogger" = type { ptr, i8, i8, %"class.std::vector.22", i32, %"class.std::chrono::time_point", %"class.std::mutex" }
%"class.std::vector.22" = type { %"struct.std::_Vector_base.23" }
%"struct.std::_Vector_base.23" = type { %"struct.std::_Vector_base<std::shared_ptr<std::function<void (std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1, 1000000000>>>, const BT::TreeNode &, BT::NodeStatus, BT::NodeStatus)>>, std::allocator<std::shared_ptr<std::function<void (std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1, 1000000000>>>, const BT::TreeNode &, BT::NodeStatus, BT::NodeStatus)>>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::shared_ptr<std::function<void (std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1, 1000000000>>>, const BT::TreeNode &, BT::NodeStatus, BT::NodeStatus)>>, std::allocator<std::shared_ptr<std::function<void (std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1, 1000000000>>>, const BT::TreeNode &, BT::NodeStatus, BT::NodeStatus)>>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::shared_ptr<std::function<void (std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1, 1000000000>>>, const BT::TreeNode &, BT::NodeStatus, BT::NodeStatus)>>, std::allocator<std::shared_ptr<std::function<void (std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1, 1000000000>>>, const BT::TreeNode &, BT::NodeStatus, BT::NodeStatus)>>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::shared_ptr<std::function<void (std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1, 1000000000>>>, const BT::TreeNode &, BT::NodeStatus, BT::NodeStatus)>>, std::allocator<std::shared_ptr<std::function<void (std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1, 1000000000>>>, const BT::TreeNode &, BT::NodeStatus, BT::NodeStatus)>>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::chrono::time_point" = type { %"class.std::chrono::duration" }
%"class.std::chrono::duration" = type { i64 }
%"class.std::mutex" = type { %"class.std::__mutex_base" }
%"class.std::__mutex_base" = type { %union.pthread_mutex_t }
%union.pthread_mutex_t = type { %struct.__pthread_mutex_s }
%struct.__pthread_mutex_s = type { i32, i32, i32, i32, i32, i16, i16, %struct.__pthread_internal_list }
%struct.__pthread_internal_list = type { ptr, ptr }
%"class.std::unordered_map.27" = type { %"class.std::_Hashtable.28" }
%"class.std::_Hashtable.28" = type { ptr, i64, %"struct.std::__detail::_Hash_node_base", i64, %"struct.std::__detail::_Prime_rehash_policy", ptr }
%"class.std::unordered_map.47" = type { %"class.std::_Hashtable.48" }
%"class.std::_Hashtable.48" = type { ptr, i64, %"struct.std::__detail::_Hash_node_base", i64, %"struct.std::__detail::_Prime_rehash_policy", ptr }
%"class.std::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<unsigned short, std::pair<const unsigned short, std::__cxx11::basic_string<char>>, std::_Select1st<std::pair<const unsigned short, std::__cxx11::basic_string<char>>>, std::less<unsigned short>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<unsigned short, std::pair<const unsigned short, std::__cxx11::basic_string<char>>, std::_Select1st<std::pair<const unsigned short, std::__cxx11::basic_string<char>>>, 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 }
%"class.std::map.64" = type { %"class.std::_Rb_tree.65" }
%"class.std::_Rb_tree.65" = type { %"struct.std::_Rb_tree<int, std::pair<const int, std::__cxx11::basic_string<char>>, std::_Select1st<std::pair<const int, std::__cxx11::basic_string<char>>>, std::less<int>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<int, std::pair<const int, std::__cxx11::basic_string<char>>, std::_Select1st<std::pair<const int, std::__cxx11::basic_string<char>>>, std::less<int>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"class.std::function" = type { %"class.std::_Function_base", ptr }
%"class.std::_Function_base" = type { %"union.std::_Any_data", ptr }
%"union.std::_Any_data" = type { %"union.std::_Nocopy_types" }
%"union.std::_Nocopy_types" = type { { i64, i64 } }
%class.anon = type { ptr }
%"class.std::chrono::duration.70" = type { i64 }
%"struct.std::_Rb_tree_iterator" = type { ptr }
%"struct.BT::TreeObserver::NodeStatistics" = type { i32, i32, i32, i32, i32, i32, %"class.std::chrono::duration" }

@_ZL8xml_text = external hidden global ptr, align 8
@.str.12 = external hidden unnamed_addr constant [9 x i8], align 1
@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.13 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.14 = external hidden unnamed_addr constant [40 x i8], align 1
@.str.15 = external hidden unnamed_addr constant [89 x i8], align 1
@__PRETTY_FUNCTION__.main = external hidden unnamed_addr constant [11 x i8], align 1
@.str.16 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [2 x i8], align 1

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #0

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #1 align 2

; Function Attrs: mustprogress norecurse uwtable
define dso_local noundef i32 @main() #3 personality ptr @__gxx_personality_v0 {
  %1 = alloca i32, align 4
  %2 = alloca %"class.BT::BehaviorTreeFactory", align 8
  %3 = alloca %"class.std::__cxx11::basic_string", align 8
  %4 = alloca %"class.std::allocator", align 1
  %5 = alloca ptr, align 8
  %6 = alloca i32, align 4
  %7 = alloca %"class.BT::Tree", align 8
  %8 = alloca %"class.std::__cxx11::basic_string", align 8
  %9 = alloca %"class.std::allocator", align 1
  %10 = alloca %"class.std::shared_ptr.19", align 8
  %11 = alloca %"class.std::shared_ptr.19", align 8
  %12 = alloca %"class.BT::TreeObserver", align 8
  %13 = alloca %"class.std::map.64", align 8
  %14 = alloca %"class.std::function", align 8
  %15 = alloca %class.anon, align 8
  %16 = alloca %"class.std::chrono::duration.70", align 8
  %17 = alloca i32, align 4
  %18 = alloca ptr, align 8
  %19 = alloca %"class.std::__cxx11::basic_string", align 8
  %20 = alloca %"class.std::allocator", align 1
  %21 = alloca ptr, align 8
  %22 = alloca %"struct.std::_Rb_tree_iterator", align 8
  %23 = alloca %"struct.std::_Rb_tree_iterator", align 8
  %24 = alloca ptr, align 8
  %25 = alloca ptr, align 8
  %26 = alloca ptr, align 8
  %27 = alloca ptr, align 8
  store i32 0, ptr %1, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %2) #8
  call void @_ZN2BT19BehaviorTreeFactoryC1Ev(ptr noundef nonnull align 8 dereferenceable(8) %2)
  call void @llvm.lifetime.start.p0(i64 32, ptr %3) #8
  %28 = load ptr, ptr @_ZL8xml_text, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 1, ptr %4) #8
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #8
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %3, ptr noundef %28, ptr noundef nonnull align 1 dereferenceable(1) %4)
          to label %29 unwind label %54

29:                                               ; preds = %0
  invoke void @_ZN2BT19BehaviorTreeFactory28registerBehaviorTreeFromTextERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(8) %2, ptr noundef nonnull align 8 dereferenceable(32) %3)
          to label %30 unwind label %58

30:                                               ; preds = %29
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #8
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %4) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %3) #8
  call void @llvm.lifetime.start.p0(i64 104, ptr %7) #8
  call void @llvm.lifetime.start.p0(i64 32, ptr %8) #8
  call void @llvm.lifetime.start.p0(i64 1, ptr %9) #8
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #8
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %8, ptr noundef @.str.12, ptr noundef nonnull align 1 dereferenceable(1) %9)
          to label %31 unwind label %63

31:                                               ; preds = %30
  call void @_ZNSt10shared_ptrIN2BT10BlackboardEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %11) #8
  invoke void @_ZN2BT10Blackboard6createESt10shared_ptrIS0_E(ptr dead_on_unwind writable sret(%"class.std::shared_ptr.19") align 8 %10, ptr noundef %11)
          to label %32 unwind label %67

32:                                               ; preds = %31
  invoke void @_ZN2BT19BehaviorTreeFactory10createTreeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrINS_10BlackboardEE(ptr dead_on_unwind writable sret(%"class.BT::Tree") align 8 %7, ptr noundef nonnull align 8 dereferenceable(8) %2, ptr noundef nonnull align 8 dereferenceable(32) %8, ptr noundef %10)
          to label %33 unwind label %71

33:                                               ; preds = %32
  call void @_ZNSt12__shared_ptrIN2BT10BlackboardELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %10) #8
  call void @_ZNSt12__shared_ptrIN2BT10BlackboardELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %11) #8
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #8
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %9) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %8) #8
  %34 = invoke noundef ptr @_ZNK2BT4Tree8rootNodeEv(ptr noundef nonnull align 8 dereferenceable(98) %7)
          to label %35 unwind label %77

35:                                               ; preds = %33
  invoke void @_ZN2BT20printTreeRecursivelyEPKNS_8TreeNodeERSo(ptr noundef %34, ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout)
          to label %36 unwind label %77

36:                                               ; preds = %35
  call void @llvm.lifetime.start.p0(i64 256, ptr %12) #8
  invoke void @_ZN2BT12TreeObserverC1ERKNS_4TreeE(ptr noundef nonnull align 8 dereferenceable(256) %12, ptr noundef nonnull align 8 dereferenceable(98) %7)
          to label %37 unwind label %81

37:                                               ; preds = %36
  call void @llvm.lifetime.start.p0(i64 48, ptr %13) #8
  call void @_ZNSt3mapIiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4lessIiESaISt4pairIKiS5_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(48) %13) #8
  call void @llvm.lifetime.start.p0(i64 32, ptr %14) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #8
  %38 = getelementptr inbounds %class.anon, ptr %15, i32 0, i32 0
  store ptr %13, ptr %38, align 8, !tbaa !5
  call void @"_ZNSt8functionIFvPN2BT8TreeNodeEEEC2IZ4mainE3$_0vEEOT_"(ptr noundef nonnull align 8 dereferenceable(32) %14, ptr noundef nonnull align 8 dereferenceable(8) %15) #8
  invoke void @_ZN2BT4Tree12applyVisitorERKSt8functionIFvPNS_8TreeNodeEEE(ptr noundef nonnull align 8 dereferenceable(98) %7, ptr noundef nonnull align 8 dereferenceable(32) %14)
          to label %39 unwind label %85

39:                                               ; preds = %37
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %14) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %14) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #8
  store i32 10, ptr %17, align 4, !tbaa !9
  invoke void @_ZNSt6chrono8durationIlSt5ratioILl1ELl1000EEEC2IivEERKT_(ptr noundef nonnull align 8 dereferenceable(8) %16, ptr noundef nonnull align 4 dereferenceable(4) %17)
          to label %40 unwind label %89

40:                                               ; preds = %39
  %41 = getelementptr inbounds %"class.std::chrono::duration.70", ptr %16, i32 0, i32 0
  %42 = load i64, ptr %41, align 8
  %43 = invoke noundef i32 @_ZN2BT4Tree16tickWhileRunningENSt6chrono8durationIlSt5ratioILl1ELl1000EEEE(ptr noundef nonnull align 8 dereferenceable(98) %7, i64 %42)
          to label %44 unwind label %89

44:                                               ; preds = %40
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #8
  call void @llvm.lifetime.start.p0(i64 32, ptr %19) #8
  call void @llvm.lifetime.start.p0(i64 1, ptr %20) #8
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %20) #8
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %19, ptr noundef @.str.13, ptr noundef nonnull align 1 dereferenceable(1) %20)
          to label %45 unwind label %93

45:                                               ; preds = %44
  %46 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNK2BT12TreeObserver13getStatisticsERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(256) %12, ptr noundef nonnull align 8 dereferenceable(32) %19)
          to label %47 unwind label %97

47:                                               ; preds = %45
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #8
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %20) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %19) #8
  store ptr %46, ptr %18, align 8, !tbaa !5
  %48 = load ptr, ptr %18, align 8, !tbaa !5
  %49 = getelementptr inbounds %"struct.BT::TreeObserver::NodeStatistics", ptr %48, i32 0, i32 2
  %50 = load i32, ptr %49, align 8, !tbaa !11
  %51 = icmp ugt i32 %50, 0
  br i1 %51, label %52, label %53

52:                                               ; preds = %47
  br label %103

53:                                               ; preds = %47
  call void @__assert_fail(ptr noundef @.str.14, ptr noundef @.str.15, i32 noundef 68, ptr noundef @__PRETTY_FUNCTION__.main) #9
  unreachable

54:                                               ; preds = %0
  %55 = landingpad { ptr, i32 }
          cleanup
  %56 = extractvalue { ptr, i32 } %55, 0
  store ptr %56, ptr %5, align 8
  %57 = extractvalue { ptr, i32 } %55, 1
  store i32 %57, ptr %6, align 4
  br label %62

58:                                               ; preds = %29
  %59 = landingpad { ptr, i32 }
          cleanup
  %60 = extractvalue { ptr, i32 } %59, 0
  store ptr %60, ptr %5, align 8
  %61 = extractvalue { ptr, i32 } %59, 1
  store i32 %61, ptr %6, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %3) #8
  br label %62

62:                                               ; preds = %58, %54
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %4) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %3) #8
  br label %173

63:                                               ; preds = %30
  %64 = landingpad { ptr, i32 }
          cleanup
  %65 = extractvalue { ptr, i32 } %64, 0
  store ptr %65, ptr %5, align 8
  %66 = extractvalue { ptr, i32 } %64, 1
  store i32 %66, ptr %6, align 4
  br label %76

67:                                               ; preds = %31
  %68 = landingpad { ptr, i32 }
          cleanup
  %69 = extractvalue { ptr, i32 } %68, 0
  store ptr %69, ptr %5, align 8
  %70 = extractvalue { ptr, i32 } %68, 1
  store i32 %70, ptr %6, align 4
  br label %75

71:                                               ; preds = %32
  %72 = landingpad { ptr, i32 }
          cleanup
  %73 = extractvalue { ptr, i32 } %72, 0
  store ptr %73, ptr %5, align 8
  %74 = extractvalue { ptr, i32 } %72, 1
  store i32 %74, ptr %6, align 4
  call void @_ZNSt12__shared_ptrIN2BT10BlackboardELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %10) #8
  br label %75

75:                                               ; preds = %71, %67
  call void @_ZNSt12__shared_ptrIN2BT10BlackboardELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %11) #8
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %8) #8
  br label %76

76:                                               ; preds = %75, %63
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %9) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %8) #8
  br label %172

77:                                               ; preds = %35, %33
  %78 = landingpad { ptr, i32 }
          cleanup
  %79 = extractvalue { ptr, i32 } %78, 0
  store ptr %79, ptr %5, align 8
  %80 = extractvalue { ptr, i32 } %78, 1
  store i32 %80, ptr %6, align 4
  br label %171

81:                                               ; preds = %36
  %82 = landingpad { ptr, i32 }
          cleanup
  %83 = extractvalue { ptr, i32 } %82, 0
  store ptr %83, ptr %5, align 8
  %84 = extractvalue { ptr, i32 } %82, 1
  store i32 %84, ptr %6, align 4
  br label %170

85:                                               ; preds = %37
  %86 = landingpad { ptr, i32 }
          cleanup
  %87 = extractvalue { ptr, i32 } %86, 0
  store ptr %87, ptr %5, align 8
  %88 = extractvalue { ptr, i32 } %86, 1
  store i32 %88, ptr %6, align 4
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %14) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %14) #8
  br label %169

89:                                               ; preds = %40, %39
  %90 = landingpad { ptr, i32 }
          cleanup
  %91 = extractvalue { ptr, i32 } %90, 0
  store ptr %91, ptr %5, align 8
  %92 = extractvalue { ptr, i32 } %90, 1
  store i32 %92, ptr %6, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #8
  br label %169

93:                                               ; preds = %44
  %94 = landingpad { ptr, i32 }
          cleanup
  %95 = extractvalue { ptr, i32 } %94, 0
  store ptr %95, ptr %5, align 8
  %96 = extractvalue { ptr, i32 } %94, 1
  store i32 %96, ptr %6, align 4
  br label %101

97:                                               ; preds = %45
  %98 = landingpad { ptr, i32 }
          cleanup
  %99 = extractvalue { ptr, i32 } %98, 0
  store ptr %99, ptr %5, align 8
  %100 = extractvalue { ptr, i32 } %98, 1
  store i32 %100, ptr %6, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #8
  br label %101

101:                                              ; preds = %97, %93
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %20) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %19) #8
  br label %168

102:                                              ; No predecessors!
  br label %103

103:                                              ; preds = %102, %52
  %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.16)
          to label %105 unwind label %117

105:                                              ; preds = %103
  %106 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %104, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %107 unwind label %117

107:                                              ; preds = %105
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #8
  store ptr %13, ptr %21, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #8
  %108 = load ptr, ptr %21, align 8, !tbaa !5
  %109 = call ptr @_ZNSt3mapIiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4lessIiESaISt4pairIKiS5_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48) %108) #8
  %110 = getelementptr inbounds %"struct.std::_Rb_tree_iterator", ptr %22, i32 0, i32 0
  store ptr %109, ptr %110, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #8
  %111 = load ptr, ptr %21, align 8, !tbaa !5
  %112 = call ptr @_ZNSt3mapIiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4lessIiESaISt4pairIKiS5_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(48) %111) #8
  %113 = getelementptr inbounds %"struct.std::_Rb_tree_iterator", ptr %23, i32 0, i32 0
  store ptr %112, ptr %113, align 8
  br label %114

114:                                              ; preds = %160, %107
  %115 = call noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEESB_(ptr noundef nonnull align 8 dereferenceable(8) %22, ptr noundef nonnull align 8 dereferenceable(8) %23) #8
  br i1 %115, label %121, label %116

116:                                              ; preds = %114
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #8
  br label %166

117:                                              ; preds = %105, %103
  %118 = landingpad { ptr, i32 }
          cleanup
  %119 = extractvalue { ptr, i32 } %118, 0
  store ptr %119, ptr %5, align 8
  %120 = extractvalue { ptr, i32 } %118, 1
  store i32 %120, ptr %6, align 4
  br label %168

121:                                              ; preds = %114
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #8
  %122 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNKSt17_Rb_tree_iteratorISt4pairIKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %22) #8
  store ptr %122, ptr %24, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #8
  %123 = load ptr, ptr %24, align 8, !tbaa !5
  %124 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3getILm0EKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEERKNSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeERKSB_(ptr noundef nonnull align 8 dereferenceable(40) %123) #8
  store ptr %124, ptr %25, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #8
  %125 = load ptr, ptr %24, align 8, !tbaa !5
  %126 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZSt3getILm1EKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEERKNSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeERKSB_(ptr noundef nonnull align 8 dereferenceable(40) %125) #8
  store ptr %126, ptr %26, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #8
  %127 = load ptr, ptr %25, align 8, !tbaa !5
  %128 = load i32, ptr %127, align 4, !tbaa !9
  %129 = trunc i32 %128 to i16
  %130 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNK2BT12TreeObserver13getStatisticsEt(ptr noundef nonnull align 8 dereferenceable(256) %12, i16 noundef zeroext %129)
          to label %131 unwind label %162

131:                                              ; preds = %121
  store ptr %130, ptr %27, align 8, !tbaa !5
  %132 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.17)
          to label %133 unwind label %162

133:                                              ; preds = %131
  %134 = load ptr, ptr %26, align 8, !tbaa !5
  %135 = 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) %132, ptr noundef nonnull align 8 dereferenceable(32) %134)
          to label %136 unwind label %162

136:                                              ; preds = %133
  %137 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %135, ptr noundef @.str.18)
          to label %138 unwind label %162

138:                                              ; preds = %136
  %139 = load ptr, ptr %27, align 8, !tbaa !5
  %140 = getelementptr inbounds %"struct.BT::TreeObserver::NodeStatistics", ptr %139, i32 0, i32 2
  %141 = load i32, ptr %140, align 8, !tbaa !11
  %142 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %137, i32 noundef %141)
          to label %143 unwind label %162

143:                                              ; preds = %138
  %144 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %142, ptr noundef @.str.19)
          to label %145 unwind label %162

145:                                              ; preds = %143
  %146 = load ptr, ptr %27, align 8, !tbaa !5
  %147 = getelementptr inbounds %"struct.BT::TreeObserver::NodeStatistics", ptr %146, i32 0, i32 3
  %148 = load i32, ptr %147, align 4, !tbaa !16
  %149 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %144, i32 noundef %148)
          to label %150 unwind label %162

150:                                              ; preds = %145
  %151 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %149, ptr noundef @.str.19)
          to label %152 unwind label %162

152:                                              ; preds = %150
  %153 = load ptr, ptr %27, align 8, !tbaa !5
  %154 = getelementptr inbounds %"struct.BT::TreeObserver::NodeStatistics", ptr %153, i32 0, i32 4
  %155 = load i32, ptr %154, align 8, !tbaa !17
  %156 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %151, i32 noundef %155)
          to label %157 unwind label %162

157:                                              ; preds = %152
  %158 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %156, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %159 unwind label %162

159:                                              ; preds = %157
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #8
  br label %160

160:                                              ; preds = %159
  %161 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt17_Rb_tree_iteratorISt4pairIKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %22) #8
  br label %114

162:                                              ; preds = %157, %152, %150, %145, %143, %138, %136, %133, %131, %121
  %163 = landingpad { ptr, i32 }
          cleanup
  %164 = extractvalue { ptr, i32 } %163, 0
  store ptr %164, ptr %5, align 8
  %165 = extractvalue { ptr, i32 } %163, 1
  store i32 %165, ptr %6, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #8
  br label %168

166:                                              ; preds = %116
  store i32 0, ptr %1, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #8
  call void @_ZNSt3mapIiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4lessIiESaISt4pairIKiS5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %13) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr %13) #8
  call void @_ZN2BT12TreeObserverD1Ev(ptr noundef nonnull align 8 dereferenceable(256) %12) #8
  call void @llvm.lifetime.end.p0(i64 256, ptr %12) #8
  call void @_ZN2BT4TreeD1Ev(ptr noundef nonnull align 8 dereferenceable(98) %7) #8
  call void @llvm.lifetime.end.p0(i64 104, ptr %7) #8
  call void @_ZN2BT19BehaviorTreeFactoryD1Ev(ptr noundef nonnull align 8 dereferenceable(8) %2) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %2) #8
  %167 = load i32, ptr %1, align 4
  ret i32 %167

168:                                              ; preds = %162, %117, %101
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #8
  br label %169

169:                                              ; preds = %168, %89, %85
  call void @_ZNSt3mapIiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4lessIiESaISt4pairIKiS5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %13) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr %13) #8
  call void @_ZN2BT12TreeObserverD1Ev(ptr noundef nonnull align 8 dereferenceable(256) %12) #8
  br label %170

170:                                              ; preds = %169, %81
  call void @llvm.lifetime.end.p0(i64 256, ptr %12) #8
  br label %171

171:                                              ; preds = %170, %77
  call void @_ZN2BT4TreeD1Ev(ptr noundef nonnull align 8 dereferenceable(98) %7) #8
  br label %172

172:                                              ; preds = %171, %76
  call void @llvm.lifetime.end.p0(i64 104, ptr %7) #8
  br label %173

173:                                              ; preds = %172, %62
  call void @_ZN2BT19BehaviorTreeFactoryD1Ev(ptr noundef nonnull align 8 dereferenceable(8) %2) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %2) #8
  br label %174

174:                                              ; preds = %173
  %175 = load ptr, ptr %5, align 8
  %176 = load i32, ptr %6, align 4
  %177 = insertvalue { ptr, i32 } poison, ptr %175, 0
  %178 = insertvalue { ptr, i32 } %177, i32 %176, 1
  resume { ptr, i32 } %178
}

declare void @_ZN2BT19BehaviorTreeFactoryC1Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #4

declare void @_ZN2BT19BehaviorTreeFactory28registerBehaviorTreeFromTextERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(32)) #4

declare void @_ZN2BT19BehaviorTreeFactory10createTreeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrINS_10BlackboardEE(ptr dead_on_unwind writable sret(%"class.BT::Tree") align 8, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN2BT10Blackboard6createESt10shared_ptrIS0_E(ptr dead_on_unwind noalias writable sret(%"class.std::shared_ptr.19") align 8, ptr noundef) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10shared_ptrIN2BT10BlackboardEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN2BT10BlackboardELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

declare void @_ZN2BT20printTreeRecursivelyEPKNS_8TreeNodeERSo(ptr noundef, ptr noundef nonnull align 8 dereferenceable(8)) #4

declare noundef ptr @_ZNK2BT4Tree8rootNodeEv(ptr noundef nonnull align 8 dereferenceable(98)) #4

declare void @_ZN2BT12TreeObserverC1ERKNS_4TreeE(ptr noundef nonnull align 8 dereferenceable(256), ptr noundef nonnull align 8 dereferenceable(98)) unnamed_addr #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3mapIiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4lessIiESaISt4pairIKiS5_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #1 align 2

declare void @_ZN2BT4Tree12applyVisitorERKSt8functionIFvPNS_8TreeNodeEEE(ptr noundef nonnull align 8 dereferenceable(98), ptr noundef nonnull align 8 dereferenceable(32)) #4

; Function Attrs: mustprogress nounwind uwtable
declare hidden void @"_ZNSt8functionIFvPN2BT8TreeNodeEEEC2IZ4mainE3$_0vEEOT_"(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

declare noundef i32 @_ZN2BT4Tree16tickWhileRunningENSt6chrono8durationIlSt5ratioILl1ELl1000EEEE(ptr noundef nonnull align 8 dereferenceable(98), i64) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6chrono8durationIlSt5ratioILl1ELl1000EEEC2IivEERKT_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #1 align 2

declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNK2BT12TreeObserver13getStatisticsERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(256), ptr noundef nonnull align 8 dereferenceable(32)) #4

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #5

; 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) #6

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #2 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)) #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt3mapIiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4lessIiESaISt4pairIKiS5_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt3mapIiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4lessIiESaISt4pairIKiS5_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(48)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEESB_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZNKSt17_Rb_tree_iteratorISt4pairIKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3getILm0EKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEERKNSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeERKSB_(ptr noundef nonnull align 8 dereferenceable(40)) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZSt3getILm1EKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEERKNSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeERKSB_(ptr noundef nonnull align 8 dereferenceable(40)) #1

declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNK2BT12TreeObserver13getStatisticsEt(ptr noundef nonnull align 8 dereferenceable(256), i16 noundef zeroext) #4

; 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)) #6

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt17_Rb_tree_iteratorISt4pairIKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3mapIiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4lessIiESaISt4pairIKiS5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #1 align 2

; Function Attrs: nounwind
declare void @_ZN2BT12TreeObserverD1Ev(ptr noundef nonnull align 8 dereferenceable(256)) unnamed_addr #7

; Function Attrs: nounwind
declare void @_ZN2BT4TreeD1Ev(ptr noundef nonnull align 8 dereferenceable(98)) unnamed_addr #7

; Function Attrs: nounwind
declare void @_ZN2BT19BehaviorTreeFactoryD1Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #7

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { 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 #3 = { 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 #4 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { noreturn 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 = { 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 #7 = { 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 #8 = { nounwind }
attributes #9 = { noreturn nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !10, i64 8}
!12 = !{!"_ZTSN2BT12TreeObserver14NodeStatisticsE", !13, i64 0, !13, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !14, i64 24}
!13 = !{!"_ZTSN2BT10NodeStatusE", !7, i64 0}
!14 = !{!"_ZTSNSt6chrono8durationIlSt5ratioILl1ELl1000000000EEEE", !15, i64 0}
!15 = !{!"long", !7, i64 0}
!16 = !{!12, !10, i64 12}
!17 = !{!12, !10, i64 16}


; 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.BT::BehaviorTreeFactory" = type { %"class.std::unique_ptr.3" }
%"class.std::unique_ptr.3" = type { %"struct.std::__uniq_ptr_data.4" }
%"struct.std::__uniq_ptr_data.4" = type { %"class.std::__uniq_ptr_impl.5" }
%"class.std::__uniq_ptr_impl.5" = type { %"class.std::tuple.6" }
%"class.std::tuple.6" = type { %"struct.std::_Tuple_impl.7" }
%"struct.std::_Tuple_impl.7" = type { %"struct.std::_Head_base.10" }
%"struct.std::_Head_base.10" = 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.BT::Tree" = type <{ %"class.std::vector", %"class.std::unordered_map", %"class.std::shared_ptr", i16, [6 x i8] }>
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<std::shared_ptr<BT::Tree::Subtree>, std::allocator<std::shared_ptr<BT::Tree::Subtree>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::shared_ptr<BT::Tree::Subtree>, std::allocator<std::shared_ptr<BT::Tree::Subtree>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::shared_ptr<BT::Tree::Subtree>, std::allocator<std::shared_ptr<BT::Tree::Subtree>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::shared_ptr<BT::Tree::Subtree>, std::allocator<std::shared_ptr<BT::Tree::Subtree>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::unordered_map" = type { %"class.std::_Hashtable" }
%"class.std::_Hashtable" = type { ptr, i64, %"struct.std::__detail::_Hash_node_base", i64, %"struct.std::__detail::_Prime_rehash_policy", ptr }
%"struct.std::__detail::_Hash_node_base" = type { ptr }
%"struct.std::__detail::_Prime_rehash_policy" = type { float, i64 }
%"class.std::shared_ptr" = type { %"class.std::__shared_ptr" }
%"class.std::__shared_ptr" = type { ptr, %"class.std::__shared_count" }
%"class.std::__shared_count" = type { ptr }
%"class.std::shared_ptr.19" = type { %"class.std::__shared_ptr.20" }
%"class.std::__shared_ptr.20" = type { ptr, %"class.std::__shared_count" }
%"class.BT::TreeObserver" = type { %"class.BT::StatusChangeLogger", %"class.std::unordered_map.27", %"class.std::unordered_map.47", %"class.std::map" }
%"class.BT::StatusChangeLogger" = type { ptr, i8, i8, %"class.std::vector.22", i32, %"class.std::chrono::time_point", %"class.std::mutex" }
%"class.std::vector.22" = type { %"struct.std::_Vector_base.23" }
%"struct.std::_Vector_base.23" = type { %"struct.std::_Vector_base<std::shared_ptr<std::function<void (std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1, 1000000000>>>, const BT::TreeNode &, BT::NodeStatus, BT::NodeStatus)>>, std::allocator<std::shared_ptr<std::function<void (std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1, 1000000000>>>, const BT::TreeNode &, BT::NodeStatus, BT::NodeStatus)>>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::shared_ptr<std::function<void (std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1, 1000000000>>>, const BT::TreeNode &, BT::NodeStatus, BT::NodeStatus)>>, std::allocator<std::shared_ptr<std::function<void (std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1, 1000000000>>>, const BT::TreeNode &, BT::NodeStatus, BT::NodeStatus)>>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::shared_ptr<std::function<void (std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1, 1000000000>>>, const BT::TreeNode &, BT::NodeStatus, BT::NodeStatus)>>, std::allocator<std::shared_ptr<std::function<void (std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1, 1000000000>>>, const BT::TreeNode &, BT::NodeStatus, BT::NodeStatus)>>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::shared_ptr<std::function<void (std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1, 1000000000>>>, const BT::TreeNode &, BT::NodeStatus, BT::NodeStatus)>>, std::allocator<std::shared_ptr<std::function<void (std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1, 1000000000>>>, const BT::TreeNode &, BT::NodeStatus, BT::NodeStatus)>>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::chrono::time_point" = type { %"class.std::chrono::duration" }
%"class.std::chrono::duration" = type { i64 }
%"class.std::mutex" = type { %"class.std::__mutex_base" }
%"class.std::__mutex_base" = type { %union.pthread_mutex_t }
%union.pthread_mutex_t = type { %struct.__pthread_mutex_s }
%struct.__pthread_mutex_s = type { i32, i32, i32, i32, i32, i16, i16, %struct.__pthread_internal_list }
%struct.__pthread_internal_list = type { ptr, ptr }
%"class.std::unordered_map.27" = type { %"class.std::_Hashtable.28" }
%"class.std::_Hashtable.28" = type { ptr, i64, %"struct.std::__detail::_Hash_node_base", i64, %"struct.std::__detail::_Prime_rehash_policy", ptr }
%"class.std::unordered_map.47" = type { %"class.std::_Hashtable.48" }
%"class.std::_Hashtable.48" = type { ptr, i64, %"struct.std::__detail::_Hash_node_base", i64, %"struct.std::__detail::_Prime_rehash_policy", ptr }
%"class.std::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<unsigned short, std::pair<const unsigned short, std::__cxx11::basic_string<char>>, std::_Select1st<std::pair<const unsigned short, std::__cxx11::basic_string<char>>>, std::less<unsigned short>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<unsigned short, std::pair<const unsigned short, std::__cxx11::basic_string<char>>, std::_Select1st<std::pair<const unsigned short, std::__cxx11::basic_string<char>>>, 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 }
%"class.std::map.64" = type { %"class.std::_Rb_tree.65" }
%"class.std::_Rb_tree.65" = type { %"struct.std::_Rb_tree<int, std::pair<const int, std::__cxx11::basic_string<char>>, std::_Select1st<std::pair<const int, std::__cxx11::basic_string<char>>>, std::less<int>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<int, std::pair<const int, std::__cxx11::basic_string<char>>, std::_Select1st<std::pair<const int, std::__cxx11::basic_string<char>>>, std::less<int>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"class.std::function" = type { %"class.std::_Function_base", ptr }
%"class.std::_Function_base" = type { %"union.std::_Any_data", ptr }
%"union.std::_Any_data" = type { %"union.std::_Nocopy_types" }
%"union.std::_Nocopy_types" = type { { i64, i64 } }
%class.anon = type { ptr }
%"class.std::chrono::duration.70" = type { i64 }
%"struct.std::_Rb_tree_iterator" = type { ptr }

@_ZL8xml_text = external hidden local_unnamed_addr global ptr, align 8
@.str.12 = external hidden unnamed_addr constant [9 x i8], align 1
@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.13 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.14 = external hidden unnamed_addr constant [40 x i8], align 1
@.str.15 = external hidden unnamed_addr constant [89 x i8], align 1
@__PRETTY_FUNCTION__.main = external hidden unnamed_addr constant [11 x i8], align 1
@.str.16 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [2 x i8], align 1

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #0

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #1 align 2

; Function Attrs: mustprogress norecurse uwtable
define dso_local noundef i32 @main() local_unnamed_addr #3 personality ptr @__gxx_personality_v0 {
  %1 = alloca %"class.BT::BehaviorTreeFactory", align 8
  %2 = alloca %"class.std::__cxx11::basic_string", align 8
  %3 = alloca %"class.std::allocator", align 1
  %4 = alloca %"class.BT::Tree", align 8
  %5 = alloca %"class.std::__cxx11::basic_string", align 8
  %6 = alloca %"class.std::allocator", align 1
  %7 = alloca %"class.std::shared_ptr.19", align 8
  %8 = alloca %"class.std::shared_ptr.19", align 8
  %9 = alloca %"class.BT::TreeObserver", align 8
  %10 = alloca %"class.std::map.64", align 8
  %11 = alloca %"class.std::function", align 8
  %12 = alloca %class.anon, align 8
  %13 = alloca %"class.std::chrono::duration.70", align 8
  %14 = alloca i32, align 4
  %15 = alloca %"class.std::__cxx11::basic_string", align 8
  %16 = alloca %"class.std::allocator", align 1
  %17 = alloca %"struct.std::_Rb_tree_iterator", align 8
  %18 = alloca %"struct.std::_Rb_tree_iterator", align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %1) #8
  call void @_ZN2BT19BehaviorTreeFactoryC1Ev(ptr noundef nonnull align 8 dereferenceable(8) %1)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %2) #8
  %19 = load ptr, ptr @_ZL8xml_text, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %3) #8
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %3) #8
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %2, ptr noundef %19, ptr noundef nonnull align 1 dereferenceable(1) %3)
          to label %20 unwind label %39

20:                                               ; preds = %0
  invoke void @_ZN2BT19BehaviorTreeFactory28registerBehaviorTreeFromTextERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(8) %1, ptr noundef nonnull align 8 dereferenceable(32) %2)
          to label %21 unwind label %41

21:                                               ; preds = %20
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %2) #8
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %3) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %3) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %2) #8
  call void @llvm.lifetime.start.p0(i64 104, ptr nonnull %4) #8
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %5) #8
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %6) #8
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #8
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %5, ptr noundef nonnull @.str.12, ptr noundef nonnull align 1 dereferenceable(1) %6)
          to label %22 unwind label %44

22:                                               ; preds = %21
  call void @_ZNSt10shared_ptrIN2BT10BlackboardEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %8) #8
  invoke void @_ZN2BT10Blackboard6createESt10shared_ptrIS0_E(ptr dead_on_unwind nonnull writable sret(%"class.std::shared_ptr.19") align 8 %7, ptr noundef nonnull %8)
          to label %23 unwind label %46

23:                                               ; preds = %22
  invoke void @_ZN2BT19BehaviorTreeFactory10createTreeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrINS_10BlackboardEE(ptr dead_on_unwind nonnull writable sret(%"class.BT::Tree") align 8 %4, ptr noundef nonnull align 8 dereferenceable(8) %1, ptr noundef nonnull align 8 dereferenceable(32) %5, ptr noundef nonnull %7)
          to label %24 unwind label %48

24:                                               ; preds = %23
  call void @_ZNSt12__shared_ptrIN2BT10BlackboardELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %7) #8
  call void @_ZNSt12__shared_ptrIN2BT10BlackboardELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %8) #8
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #8
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %6) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #8
  %25 = invoke noundef ptr @_ZNK2BT4Tree8rootNodeEv(ptr noundef nonnull align 8 dereferenceable(98) %4)
          to label %26 unwind label %52

26:                                               ; preds = %24
  invoke void @_ZN2BT20printTreeRecursivelyEPKNS_8TreeNodeERSo(ptr noundef %25, ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout)
          to label %27 unwind label %52

27:                                               ; preds = %26
  call void @llvm.lifetime.start.p0(i64 256, ptr nonnull %9) #8
  invoke void @_ZN2BT12TreeObserverC1ERKNS_4TreeE(ptr noundef nonnull align 8 dereferenceable(256) %9, ptr noundef nonnull align 8 dereferenceable(98) %4)
          to label %28 unwind label %54

28:                                               ; preds = %27
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %10) #8
  call void @_ZNSt3mapIiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4lessIiESaISt4pairIKiS5_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(48) %10) #8
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %11) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #8
  store ptr %10, ptr %12, align 8, !tbaa !5
  call void @"_ZNSt8functionIFvPN2BT8TreeNodeEEEC2IZ4mainE3$_0vEEOT_"(ptr noundef nonnull align 8 dereferenceable(32) %11, ptr noundef nonnull align 8 dereferenceable(8) %12) #8
  invoke void @_ZN2BT4Tree12applyVisitorERKSt8functionIFvPNS_8TreeNodeEEE(ptr noundef nonnull align 8 dereferenceable(98) %4, ptr noundef nonnull align 8 dereferenceable(32) %11)
          to label %29 unwind label %56

29:                                               ; preds = %28
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %11) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %14) #8
  store i32 10, ptr %14, align 4, !tbaa !9
  call void @_ZNSt6chrono8durationIlSt5ratioILl1ELl1000EEEC2IivEERKT_(ptr noundef nonnull align 8 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(4) %14)
  %30 = load i64, ptr %13, align 8
  %31 = invoke noundef i32 @_ZN2BT4Tree16tickWhileRunningENSt6chrono8durationIlSt5ratioILl1ELl1000EEEE(ptr noundef nonnull align 8 dereferenceable(98) %4, i64 %30)
          to label %32 unwind label %58

32:                                               ; preds = %29
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %14) #8
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %15) #8
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %16) #8
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %16) #8
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %15, ptr noundef nonnull @.str.13, ptr noundef nonnull align 1 dereferenceable(1) %16)
          to label %33 unwind label %60

33:                                               ; preds = %32
  %34 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNK2BT12TreeObserver13getStatisticsERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(256) %9, ptr noundef nonnull align 8 dereferenceable(32) %15)
          to label %35 unwind label %62

35:                                               ; preds = %33
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #8
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %16) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %16) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %15) #8
  %36 = getelementptr inbounds i8, ptr %34, i64 8
  %37 = load i32, ptr %36, align 8, !tbaa !11
  %.not = icmp eq i32 %37, 0
  br i1 %.not, label %38, label %65

38:                                               ; preds = %35
  call void @__assert_fail(ptr noundef nonnull @.str.14, ptr noundef nonnull @.str.15, i32 noundef 68, ptr noundef nonnull @__PRETTY_FUNCTION__.main) #9
  unreachable

39:                                               ; preds = %0
  %40 = landingpad { ptr, i32 }
          cleanup
  br label %43

41:                                               ; preds = %20
  %42 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %2) #8
  br label %43

43:                                               ; preds = %41, %39
  %.pn = phi { ptr, i32 } [ %42, %41 ], [ %40, %39 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %3) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %3) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %2) #8
  br label %114

44:                                               ; preds = %21
  %45 = landingpad { ptr, i32 }
          cleanup
  br label %51

46:                                               ; preds = %22
  %47 = landingpad { ptr, i32 }
          cleanup
  br label %50

48:                                               ; preds = %23
  %49 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt12__shared_ptrIN2BT10BlackboardELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %7) #8
  br label %50

50:                                               ; preds = %48, %46
  %.pn23 = phi { ptr, i32 } [ %49, %48 ], [ %47, %46 ]
  call void @_ZNSt12__shared_ptrIN2BT10BlackboardELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %8) #8
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #8
  br label %51

51:                                               ; preds = %50, %44
  %.pn23.pn = phi { ptr, i32 } [ %.pn23, %50 ], [ %45, %44 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %6) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #8
  br label %113

52:                                               ; preds = %26, %24
  %53 = landingpad { ptr, i32 }
          cleanup
  br label %112

54:                                               ; preds = %27
  %55 = landingpad { ptr, i32 }
          cleanup
  br label %111

56:                                               ; preds = %28
  %57 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %11) #8
  br label %110

58:                                               ; preds = %29
  %59 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %14) #8
  br label %110

60:                                               ; preds = %32
  %61 = landingpad { ptr, i32 }
          cleanup
  br label %64

62:                                               ; preds = %33
  %63 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %15) #8
  br label %64

64:                                               ; preds = %62, %60
  %.pn26 = phi { ptr, i32 } [ %63, %62 ], [ %61, %60 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %16) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %16) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %15) #8
  br label %110

65:                                               ; preds = %35
  %66 = 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.16)
          to label %67 unwind label %73

67:                                               ; preds = %65
  %68 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %66, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %69 unwind label %73

69:                                               ; preds = %67
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #8
  %70 = call ptr @_ZNSt3mapIiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4lessIiESaISt4pairIKiS5_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48) %10) #8
  store ptr %70, ptr %17, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %18) #8
  %71 = call ptr @_ZNSt3mapIiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4lessIiESaISt4pairIKiS5_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(48) %10) #8
  store ptr %71, ptr %18, align 8
  %72 = call noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEESB_(ptr noundef nonnull align 8 dereferenceable(8) %17, ptr noundef nonnull align 8 dereferenceable(8) %18) #8
  br i1 %72, label %.lr.ph, label %._crit_edge

._crit_edge:                                      ; preds = %105, %69
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #8
  call void @_ZNSt3mapIiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4lessIiESaISt4pairIKiS5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %10) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %10) #8
  call void @_ZN2BT12TreeObserverD1Ev(ptr noundef nonnull align 8 dereferenceable(256) %9) #8
  call void @llvm.lifetime.end.p0(i64 256, ptr nonnull %9) #8
  call void @_ZN2BT4TreeD1Ev(ptr noundef nonnull align 8 dereferenceable(98) %4) #8
  call void @llvm.lifetime.end.p0(i64 104, ptr nonnull %4) #8
  call void @_ZN2BT19BehaviorTreeFactoryD1Ev(ptr noundef nonnull align 8 dereferenceable(8) %1) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %1) #8
  ret i32 0

73:                                               ; preds = %67, %65
  %74 = landingpad { ptr, i32 }
          cleanup
  br label %110

.lr.ph:                                           ; preds = %69, %105
  %75 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNKSt17_Rb_tree_iteratorISt4pairIKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %17) #8
  %76 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3getILm0EKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEERKNSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeERKSB_(ptr noundef nonnull align 8 dereferenceable(40) %75) #8
  %77 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZSt3getILm1EKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEERKNSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeERKSB_(ptr noundef nonnull align 8 dereferenceable(40) %75) #8
  %78 = load i32, ptr %76, align 4, !tbaa !9
  %79 = trunc i32 %78 to i16
  %80 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNK2BT12TreeObserver13getStatisticsEt(ptr noundef nonnull align 8 dereferenceable(256) %9, i16 noundef zeroext %79)
          to label %81 unwind label %108

81:                                               ; preds = %.lr.ph
  %82 = 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.17)
          to label %83 unwind label %108

83:                                               ; preds = %81
  %84 = 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) %82, ptr noundef nonnull align 8 dereferenceable(32) %77)
          to label %85 unwind label %108

85:                                               ; preds = %83
  %86 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %84, ptr noundef nonnull @.str.18)
          to label %87 unwind label %108

87:                                               ; preds = %85
  %88 = getelementptr inbounds i8, ptr %80, i64 8
  %89 = load i32, ptr %88, align 8, !tbaa !11
  %90 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %86, i32 noundef %89)
          to label %91 unwind label %108

91:                                               ; preds = %87
  %92 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %90, ptr noundef nonnull @.str.19)
          to label %93 unwind label %108

93:                                               ; preds = %91
  %94 = getelementptr inbounds i8, ptr %80, i64 12
  %95 = load i32, ptr %94, align 4, !tbaa !16
  %96 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %92, i32 noundef %95)
          to label %97 unwind label %108

97:                                               ; preds = %93
  %98 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %96, ptr noundef nonnull @.str.19)
          to label %99 unwind label %108

99:                                               ; preds = %97
  %100 = getelementptr inbounds i8, ptr %80, i64 16
  %101 = load i32, ptr %100, align 8, !tbaa !17
  %102 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %98, i32 noundef %101)
          to label %103 unwind label %108

103:                                              ; preds = %99
  %104 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %102, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %105 unwind label %108

105:                                              ; preds = %103
  %106 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt17_Rb_tree_iteratorISt4pairIKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %17) #8
  %107 = call noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEESB_(ptr noundef nonnull align 8 dereferenceable(8) %17, ptr noundef nonnull align 8 dereferenceable(8) %18) #8
  br i1 %107, label %.lr.ph, label %._crit_edge

108:                                              ; preds = %103, %99, %97, %93, %91, %87, %85, %83, %81, %.lr.ph
  %109 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #8
  br label %110

110:                                              ; preds = %64, %73, %108, %58, %56
  %.pn28.pn = phi { ptr, i32 } [ %59, %58 ], [ %57, %56 ], [ %109, %108 ], [ %74, %73 ], [ %.pn26, %64 ]
  call void @_ZNSt3mapIiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4lessIiESaISt4pairIKiS5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %10) #8
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %10) #8
  call void @_ZN2BT12TreeObserverD1Ev(ptr noundef nonnull align 8 dereferenceable(256) %9) #8
  br label %111

111:                                              ; preds = %110, %54
  %.pn28.pn.pn = phi { ptr, i32 } [ %.pn28.pn, %110 ], [ %55, %54 ]
  call void @llvm.lifetime.end.p0(i64 256, ptr nonnull %9) #8
  br label %112

112:                                              ; preds = %111, %52
  %.pn28.pn.pn.pn = phi { ptr, i32 } [ %.pn28.pn.pn, %111 ], [ %53, %52 ]
  call void @_ZN2BT4TreeD1Ev(ptr noundef nonnull align 8 dereferenceable(98) %4) #8
  br label %113

113:                                              ; preds = %112, %51
  %.pn28.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn28.pn.pn.pn, %112 ], [ %.pn23.pn, %51 ]
  call void @llvm.lifetime.end.p0(i64 104, ptr nonnull %4) #8
  br label %114

114:                                              ; preds = %113, %43
  %.pn28.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn28.pn.pn.pn.pn, %113 ], [ %.pn, %43 ]
  call void @_ZN2BT19BehaviorTreeFactoryD1Ev(ptr noundef nonnull align 8 dereferenceable(8) %1) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %1) #8
  resume { ptr, i32 } %.pn28.pn.pn.pn.pn.pn
}

declare void @_ZN2BT19BehaviorTreeFactoryC1Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #4

declare void @_ZN2BT19BehaviorTreeFactory28registerBehaviorTreeFromTextERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #4

declare void @_ZN2BT19BehaviorTreeFactory10createTreeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10shared_ptrINS_10BlackboardEE(ptr dead_on_unwind writable sret(%"class.BT::Tree") align 8, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN2BT10Blackboard6createESt10shared_ptrIS0_E(ptr dead_on_unwind noalias writable sret(%"class.std::shared_ptr.19") align 8, ptr noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10shared_ptrIN2BT10BlackboardEEC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt12__shared_ptrIN2BT10BlackboardELN9__gnu_cxx12_Lock_policyE2EED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

declare void @_ZN2BT20printTreeRecursivelyEPKNS_8TreeNodeERSo(ptr noundef, ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #4

declare noundef ptr @_ZNK2BT4Tree8rootNodeEv(ptr noundef nonnull align 8 dereferenceable(98)) local_unnamed_addr #4

declare void @_ZN2BT12TreeObserverC1ERKNS_4TreeE(ptr noundef nonnull align 8 dereferenceable(256), ptr noundef nonnull align 8 dereferenceable(98)) unnamed_addr #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3mapIiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4lessIiESaISt4pairIKiS5_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #1 align 2

declare void @_ZN2BT4Tree12applyVisitorERKSt8functionIFvPNS_8TreeNodeEEE(ptr noundef nonnull align 8 dereferenceable(98), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #4

; Function Attrs: mustprogress nounwind uwtable
declare hidden void @"_ZNSt8functionIFvPN2BT8TreeNodeEEEC2IZ4mainE3$_0vEEOT_"(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

declare noundef i32 @_ZN2BT4Tree16tickWhileRunningENSt6chrono8durationIlSt5ratioILl1ELl1000EEEE(ptr noundef nonnull align 8 dereferenceable(98), i64) local_unnamed_addr #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6chrono8durationIlSt5ratioILl1ELl1000EEEC2IivEERKT_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #1 align 2

declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNK2BT12TreeObserver13getStatisticsERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(256), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #4

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #5

; 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 #6

; 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 #2 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)) #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt3mapIiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4lessIiESaISt4pairIKiS5_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt3mapIiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4lessIiESaISt4pairIKiS5_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZStneRKSt17_Rb_tree_iteratorISt4pairIKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEESB_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZNKSt17_Rb_tree_iteratorISt4pairIKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3getILm0EKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEERKNSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeERKSB_(ptr noundef nonnull align 8 dereferenceable(40)) local_unnamed_addr #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZSt3getILm1EKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEERKNSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeERKSB_(ptr noundef nonnull align 8 dereferenceable(40)) local_unnamed_addr #1

declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNK2BT12TreeObserver13getStatisticsEt(ptr noundef nonnull align 8 dereferenceable(256), i16 noundef zeroext) local_unnamed_addr #4

; 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 #6

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt17_Rb_tree_iteratorISt4pairIKiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3mapIiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4lessIiESaISt4pairIKiS5_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #1 align 2

; Function Attrs: nounwind
declare void @_ZN2BT12TreeObserverD1Ev(ptr noundef nonnull align 8 dereferenceable(256)) unnamed_addr #7

; Function Attrs: nounwind
declare void @_ZN2BT4TreeD1Ev(ptr noundef nonnull align 8 dereferenceable(98)) unnamed_addr #7

; Function Attrs: nounwind
declare void @_ZN2BT19BehaviorTreeFactoryD1Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #7

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { 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 #3 = { 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 #4 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { noreturn 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 = { 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 #7 = { 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 #8 = { nounwind }
attributes #9 = { noreturn nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !10, i64 8}
!12 = !{!"_ZTSN2BT12TreeObserver14NodeStatisticsE", !13, i64 0, !13, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !14, i64 24}
!13 = !{!"_ZTSN2BT10NodeStatusE", !7, i64 0}
!14 = !{!"_ZTSNSt6chrono8durationIlSt5ratioILl1ELl1000000000EEEE", !15, i64 0}
!15 = !{!"long", !7, i64 0}
!16 = !{!12, !10, i64 12}
!17 = !{!12, !10, i64 16}


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