; LLVM IR from junhyeokahn/PyPnC :: pnc/planner/dubins/dubins.ll (Z20dubins_shortest_pathP10DubinsPathPdS1_d)

; 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"

%struct.DubinsIntermediateResults = type { double, double, double, double, double, double, double, double, double }
%struct.DubinsPath = type { [3 x double], [3 x double], double, i32 }

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_Z20dubins_shortest_pathP10DubinsPathPdS1_d(ptr noundef %0, ptr noundef %1, ptr noundef %2, double noundef %3) #0 {
  %5 = alloca i32, align 4
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca double, align 8
  %10 = alloca i32, align 4
  %11 = alloca i32, align 4
  %12 = alloca %struct.DubinsIntermediateResults, align 8
  %13 = alloca [3 x double], align 16
  %14 = alloca double, align 8
  %15 = alloca double, align 8
  %16 = alloca i32, align 4
  %17 = alloca i32, align 4
  %18 = alloca i32, align 4
  store ptr %0, ptr %6, align 8, !tbaa !5
  store ptr %1, ptr %7, align 8, !tbaa !5
  store ptr %2, ptr %8, align 8, !tbaa !5
  store double %3, ptr %9, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #3
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #3
  call void @llvm.lifetime.start.p0(i64 72, ptr %12) #3
  call void @llvm.lifetime.start.p0(i64 24, ptr %13) #3
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #3
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #3
  store double 0x7FF0000000000000, ptr %15, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #3
  store i32 -1, ptr %16, align 4, !tbaa !11
  %19 = load ptr, ptr %7, align 8, !tbaa !5
  %20 = load ptr, ptr %8, align 8, !tbaa !5
  %21 = load double, ptr %9, align 8, !tbaa !9
  %22 = call noundef i32 @_Z27dubins_intermediate_resultsP25DubinsIntermediateResultsPdS1_d(ptr noundef %12, ptr noundef %19, ptr noundef %20, double noundef %21)
  store i32 %22, ptr %11, align 4, !tbaa !11
  %23 = load i32, ptr %11, align 4, !tbaa !11
  %24 = icmp ne i32 %23, 0
  br i1 %24, label %25, label %27

25:                                               ; preds = %4
  %26 = load i32, ptr %11, align 4, !tbaa !11
  store i32 %26, ptr %5, align 4
  store i32 1, ptr %17, align 4
  br label %102

27:                                               ; preds = %4
  %28 = load ptr, ptr %7, align 8, !tbaa !5
  %29 = getelementptr inbounds double, ptr %28, i64 0
  %30 = load double, ptr %29, align 8, !tbaa !9
  %31 = load ptr, ptr %6, align 8, !tbaa !5
  %32 = getelementptr inbounds %struct.DubinsPath, ptr %31, i32 0, i32 0
  %33 = getelementptr inbounds [3 x double], ptr %32, i64 0, i64 0
  store double %30, ptr %33, align 8, !tbaa !9
  %34 = load ptr, ptr %7, align 8, !tbaa !5
  %35 = getelementptr inbounds double, ptr %34, i64 1
  %36 = load double, ptr %35, align 8, !tbaa !9
  %37 = load ptr, ptr %6, align 8, !tbaa !5
  %38 = getelementptr inbounds %struct.DubinsPath, ptr %37, i32 0, i32 0
  %39 = getelementptr inbounds [3 x double], ptr %38, i64 0, i64 1
  store double %36, ptr %39, align 8, !tbaa !9
  %40 = load ptr, ptr %7, align 8, !tbaa !5
  %41 = getelementptr inbounds double, ptr %40, i64 2
  %42 = load double, ptr %41, align 8, !tbaa !9
  %43 = load ptr, ptr %6, align 8, !tbaa !5
  %44 = getelementptr inbounds %struct.DubinsPath, ptr %43, i32 0, i32 0
  %45 = getelementptr inbounds [3 x double], ptr %44, i64 0, i64 2
  store double %42, ptr %45, align 8, !tbaa !9
  %46 = load double, ptr %9, align 8, !tbaa !9
  %47 = load ptr, ptr %6, align 8, !tbaa !5
  %48 = getelementptr inbounds %struct.DubinsPath, ptr %47, i32 0, i32 2
  store double %46, ptr %48, align 8, !tbaa !13
  store i32 0, ptr %10, align 4, !tbaa !11
  br label %49

49:                                               ; preds = %94, %27
  %50 = load i32, ptr %10, align 4, !tbaa !11
  %51 = icmp slt i32 %50, 6
  br i1 %51, label %52, label %97

52:                                               ; preds = %49
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #3
  %53 = load i32, ptr %10, align 4, !tbaa !11
  store i32 %53, ptr %18, align 4, !tbaa !16
  %54 = load i32, ptr %18, align 4, !tbaa !16
  %55 = getelementptr inbounds [3 x double], ptr %13, i64 0, i64 0
  %56 = call noundef i32 @_Z11dubins_wordP25DubinsIntermediateResults14DubinsPathTypePd(ptr noundef %12, i32 noundef %54, ptr noundef %55)
  store i32 %56, ptr %11, align 4, !tbaa !11
  %57 = load i32, ptr %11, align 4, !tbaa !11
  %58 = icmp eq i32 %57, 0
  br i1 %58, label %59, label %93

59:                                               ; preds = %52
  %60 = getelementptr inbounds [3 x double], ptr %13, i64 0, i64 0
  %61 = load double, ptr %60, align 16, !tbaa !9
  %62 = getelementptr inbounds [3 x double], ptr %13, i64 0, i64 1
  %63 = load double, ptr %62, align 8, !tbaa !9
  %64 = fadd double %61, %63
  %65 = getelementptr inbounds [3 x double], ptr %13, i64 0, i64 2
  %66 = load double, ptr %65, align 16, !tbaa !9
  %67 = fadd double %64, %66
  store double %67, ptr %14, align 8, !tbaa !9
  %68 = load double, ptr %14, align 8, !tbaa !9
  %69 = load double, ptr %15, align 8, !tbaa !9
  %70 = fcmp olt double %68, %69
  br i1 %70, label %71, label %92

71:                                               ; preds = %59
  %72 = load i32, ptr %10, align 4, !tbaa !11
  store i32 %72, ptr %16, align 4, !tbaa !11
  %73 = load double, ptr %14, align 8, !tbaa !9
  store double %73, ptr %15, align 8, !tbaa !9
  %74 = getelementptr inbounds [3 x double], ptr %13, i64 0, i64 0
  %75 = load double, ptr %74, align 16, !tbaa !9
  %76 = load ptr, ptr %6, align 8, !tbaa !5
  %77 = getelementptr inbounds %struct.DubinsPath, ptr %76, i32 0, i32 1
  %78 = getelementptr inbounds [3 x double], ptr %77, i64 0, i64 0
  store double %75, ptr %78, align 8, !tbaa !9
  %79 = getelementptr inbounds [3 x double], ptr %13, i64 0, i64 1
  %80 = load double, ptr %79, align 8, !tbaa !9
  %81 = load ptr, ptr %6, align 8, !tbaa !5
  %82 = getelementptr inbounds %struct.DubinsPath, ptr %81, i32 0, i32 1
  %83 = getelementptr inbounds [3 x double], ptr %82, i64 0, i64 1
  store double %80, ptr %83, align 8, !tbaa !9
  %84 = getelementptr inbounds [3 x double], ptr %13, i64 0, i64 2
  %85 = load double, ptr %84, align 16, !tbaa !9
  %86 = load ptr, ptr %6, align 8, !tbaa !5
  %87 = getelementptr inbounds %struct.DubinsPath, ptr %86, i32 0, i32 1
  %88 = getelementptr inbounds [3 x double], ptr %87, i64 0, i64 2
  store double %85, ptr %88, align 8, !tbaa !9
  %89 = load i32, ptr %18, align 4, !tbaa !16
  %90 = load ptr, ptr %6, align 8, !tbaa !5
  %91 = getelementptr inbounds %struct.DubinsPath, ptr %90, i32 0, i32 3
  store i32 %89, ptr %91, align 8, !tbaa !17
  br label %92

92:                                               ; preds = %71, %59
  br label %93

93:                                               ; preds = %92, %52
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #3
  br label %94

94:                                               ; preds = %93
  %95 = load i32, ptr %10, align 4, !tbaa !11
  %96 = add nsw i32 %95, 1
  store i32 %96, ptr %10, align 4, !tbaa !11
  br label %49, !llvm.loop !18

97:                                               ; preds = %49
  %98 = load i32, ptr %16, align 4, !tbaa !11
  %99 = icmp eq i32 %98, -1
  br i1 %99, label %100, label %101

100:                                              ; preds = %97
  store i32 4, ptr %5, align 4
  store i32 1, ptr %17, align 4
  br label %102

101:                                              ; preds = %97
  store i32 0, ptr %5, align 4
  store i32 1, ptr %17, align 4
  br label %102

102:                                              ; preds = %101, %100, %25
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #3
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #3
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #3
  call void @llvm.lifetime.end.p0(i64 24, ptr %13) #3
  call void @llvm.lifetime.end.p0(i64 72, ptr %12) #3
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #3
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #3
  %103 = load i32, ptr %5, align 4
  ret i32 %103
}

; 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 noundef i32 @_Z27dubins_intermediate_resultsP25DubinsIntermediateResultsPdS1_d(ptr noundef, ptr noundef, ptr noundef, double noundef) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_Z11dubins_wordP25DubinsIntermediateResults14DubinsPathTypePd(ptr noundef, i32 noundef, ptr noundef) #2

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

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 = { 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 = !{!"double", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = !{!14, !10, i64 48}
!14 = !{!"_ZTS10DubinsPath", !7, i64 0, !7, i64 24, !10, i64 48, !15, i64 56}
!15 = !{!"_ZTS14DubinsPathType", !7, i64 0}
!16 = !{!15, !15, i64 0}
!17 = !{!14, !15, i64 56}
!18 = distinct !{!18, !19}
!19 = !{!"llvm.loop.mustprogress"}


; 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"

%struct.DubinsIntermediateResults = type { double, double, double, double, double, double, double, double, double }

; Function Attrs: mustprogress nounwind uwtable
define dso_local noundef i32 @_Z20dubins_shortest_pathP10DubinsPathPdS1_d(ptr nocapture noundef writeonly %0, ptr noundef %1, ptr noundef %2, double noundef %3) local_unnamed_addr #0 {
  %5 = alloca %struct.DubinsIntermediateResults, align 8
  %6 = alloca [3 x double], align 16
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %5) #2
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %6) #2
  %7 = call noundef i32 @_Z27dubins_intermediate_resultsP25DubinsIntermediateResultsPdS1_d(ptr noundef nonnull %5, ptr noundef %1, ptr noundef %2, double noundef %3)
  %.not = icmp eq i32 %7, 0
  br i1 %.not, label %8, label %87

8:                                                ; preds = %4
  %9 = load double, ptr %1, align 8, !tbaa !5
  store double %9, ptr %0, align 8, !tbaa !5
  %10 = getelementptr inbounds i8, ptr %1, i64 8
  %11 = load double, ptr %10, align 8, !tbaa !5
  %12 = getelementptr inbounds i8, ptr %0, i64 8
  store double %11, ptr %12, align 8, !tbaa !5
  %13 = getelementptr inbounds i8, ptr %1, i64 16
  %14 = load double, ptr %13, align 8, !tbaa !5
  %15 = getelementptr inbounds i8, ptr %0, i64 16
  store double %14, ptr %15, align 8, !tbaa !5
  %16 = getelementptr inbounds i8, ptr %0, i64 48
  store double %3, ptr %16, align 8, !tbaa !9
  %17 = getelementptr inbounds i8, ptr %6, i64 16
  %18 = getelementptr inbounds i8, ptr %0, i64 24
  %19 = getelementptr inbounds i8, ptr %0, i64 40
  %20 = getelementptr inbounds i8, ptr %0, i64 56
  %21 = call noundef i32 @_Z11dubins_wordP25DubinsIntermediateResults14DubinsPathTypePd(ptr noundef nonnull %5, i32 noundef 0, ptr noundef nonnull %6)
  %22 = icmp eq i32 %21, 0
  br i1 %22, label %23, label %31

23:                                               ; preds = %8
  %24 = load <2 x double>, ptr %6, align 16, !tbaa !5
  %shift = shufflevector <2 x double> %24, <2 x double> poison, <2 x i32> <i32 1, i32 poison>
  %25 = fadd <2 x double> %24, %shift
  %26 = extractelement <2 x double> %25, i64 0
  %27 = load double, ptr %17, align 16, !tbaa !5
  %28 = fadd double %26, %27
  %29 = fcmp ueq double %28, 0x7FF0000000000000
  br i1 %29, label %31, label %30

30:                                               ; preds = %23
  store <2 x double> %24, ptr %18, align 8, !tbaa !5
  store double %27, ptr %19, align 8, !tbaa !5
  store i32 0, ptr %20, align 8, !tbaa !12
  br label %31

31:                                               ; preds = %23, %30, %8
  %.130 = phi double [ %28, %30 ], [ 0x7FF0000000000000, %23 ], [ 0x7FF0000000000000, %8 ]
  %.1 = phi i32 [ 0, %30 ], [ -1, %23 ], [ -1, %8 ]
  %32 = call noundef i32 @_Z11dubins_wordP25DubinsIntermediateResults14DubinsPathTypePd(ptr noundef nonnull %5, i32 noundef 1, ptr noundef nonnull %6)
  %33 = icmp eq i32 %32, 0
  br i1 %33, label %34, label %42

34:                                               ; preds = %31
  %35 = load <2 x double>, ptr %6, align 16, !tbaa !5
  %shift39 = shufflevector <2 x double> %35, <2 x double> poison, <2 x i32> <i32 1, i32 poison>
  %36 = fadd <2 x double> %35, %shift39
  %37 = extractelement <2 x double> %36, i64 0
  %38 = load double, ptr %17, align 16, !tbaa !5
  %39 = fadd double %37, %38
  %40 = fcmp olt double %39, %.130
  br i1 %40, label %41, label %42

41:                                               ; preds = %34
  store <2 x double> %35, ptr %18, align 8, !tbaa !5
  store double %38, ptr %19, align 8, !tbaa !5
  store i32 1, ptr %20, align 8, !tbaa !12
  br label %42

42:                                               ; preds = %41, %34, %31
  %.130.1 = phi double [ %39, %41 ], [ %.130, %34 ], [ %.130, %31 ]
  %.1.1 = phi i32 [ 1, %41 ], [ %.1, %34 ], [ %.1, %31 ]
  %43 = call noundef i32 @_Z11dubins_wordP25DubinsIntermediateResults14DubinsPathTypePd(ptr noundef nonnull %5, i32 noundef 2, ptr noundef nonnull %6)
  %44 = icmp eq i32 %43, 0
  br i1 %44, label %45, label %53

45:                                               ; preds = %42
  %46 = load <2 x double>, ptr %6, align 16, !tbaa !5
  %shift40 = shufflevector <2 x double> %46, <2 x double> poison, <2 x i32> <i32 1, i32 poison>
  %47 = fadd <2 x double> %46, %shift40
  %48 = extractelement <2 x double> %47, i64 0
  %49 = load double, ptr %17, align 16, !tbaa !5
  %50 = fadd double %48, %49
  %51 = fcmp olt double %50, %.130.1
  br i1 %51, label %52, label %53

52:                                               ; preds = %45
  store <2 x double> %46, ptr %18, align 8, !tbaa !5
  store double %49, ptr %19, align 8, !tbaa !5
  store i32 2, ptr %20, align 8, !tbaa !12
  br label %53

53:                                               ; preds = %52, %45, %42
  %.130.2 = phi double [ %50, %52 ], [ %.130.1, %45 ], [ %.130.1, %42 ]
  %.1.2 = phi i32 [ 2, %52 ], [ %.1.1, %45 ], [ %.1.1, %42 ]
  %54 = call noundef i32 @_Z11dubins_wordP25DubinsIntermediateResults14DubinsPathTypePd(ptr noundef nonnull %5, i32 noundef 3, ptr noundef nonnull %6)
  %55 = icmp eq i32 %54, 0
  br i1 %55, label %56, label %64

56:                                               ; preds = %53
  %57 = load <2 x double>, ptr %6, align 16, !tbaa !5
  %shift41 = shufflevector <2 x double> %57, <2 x double> poison, <2 x i32> <i32 1, i32 poison>
  %58 = fadd <2 x double> %57, %shift41
  %59 = extractelement <2 x double> %58, i64 0
  %60 = load double, ptr %17, align 16, !tbaa !5
  %61 = fadd double %59, %60
  %62 = fcmp olt double %61, %.130.2
  br i1 %62, label %63, label %64

63:                                               ; preds = %56
  store <2 x double> %57, ptr %18, align 8, !tbaa !5
  store double %60, ptr %19, align 8, !tbaa !5
  store i32 3, ptr %20, align 8, !tbaa !12
  br label %64

64:                                               ; preds = %63, %56, %53
  %.130.3 = phi double [ %61, %63 ], [ %.130.2, %56 ], [ %.130.2, %53 ]
  %.1.3 = phi i32 [ 3, %63 ], [ %.1.2, %56 ], [ %.1.2, %53 ]
  %65 = call noundef i32 @_Z11dubins_wordP25DubinsIntermediateResults14DubinsPathTypePd(ptr noundef nonnull %5, i32 noundef 4, ptr noundef nonnull %6)
  %66 = icmp eq i32 %65, 0
  br i1 %66, label %67, label %75

67:                                               ; preds = %64
  %68 = load <2 x double>, ptr %6, align 16, !tbaa !5
  %shift42 = shufflevector <2 x double> %68, <2 x double> poison, <2 x i32> <i32 1, i32 poison>
  %69 = fadd <2 x double> %68, %shift42
  %70 = extractelement <2 x double> %69, i64 0
  %71 = load double, ptr %17, align 16, !tbaa !5
  %72 = fadd double %70, %71
  %73 = fcmp olt double %72, %.130.3
  br i1 %73, label %74, label %75

74:                                               ; preds = %67
  store <2 x double> %68, ptr %18, align 8, !tbaa !5
  store double %71, ptr %19, align 8, !tbaa !5
  store i32 4, ptr %20, align 8, !tbaa !12
  br label %75

75:                                               ; preds = %74, %67, %64
  %.130.4 = phi double [ %72, %74 ], [ %.130.3, %67 ], [ %.130.3, %64 ]
  %.1.4 = phi i32 [ 4, %74 ], [ %.1.3, %67 ], [ %.1.3, %64 ]
  %76 = call noundef i32 @_Z11dubins_wordP25DubinsIntermediateResults14DubinsPathTypePd(ptr noundef nonnull %5, i32 noundef 5, ptr noundef nonnull %6)
  %77 = icmp eq i32 %76, 0
  br i1 %77, label %78, label %85

78:                                               ; preds = %75
  %79 = load <2 x double>, ptr %6, align 16, !tbaa !5
  %shift43 = shufflevector <2 x double> %79, <2 x double> poison, <2 x i32> <i32 1, i32 poison>
  %80 = fadd <2 x double> %79, %shift43
  %81 = extractelement <2 x double> %80, i64 0
  %82 = load double, ptr %17, align 16, !tbaa !5
  %83 = fadd double %81, %82
  %84 = fcmp olt double %83, %.130.4
  br i1 %84, label %.thread, label %85

.thread:                                          ; preds = %78
  store <2 x double> %79, ptr %18, align 8, !tbaa !5
  store double %82, ptr %19, align 8, !tbaa !5
  store i32 5, ptr %20, align 8, !tbaa !12
  br label %87

85:                                               ; preds = %78, %75
  %86 = icmp eq i32 %.1.4, -1
  %spec.select = select i1 %86, i32 4, i32 0
  br label %87

87:                                               ; preds = %85, %.thread, %4
  %.0 = phi i32 [ %7, %4 ], [ 0, %.thread ], [ %spec.select, %85 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %6) #2
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %5) #2
  ret i32 %.0
}

; 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 noundef i32 @_Z27dubins_intermediate_resultsP25DubinsIntermediateResultsPdS1_d(ptr noundef, ptr noundef, ptr noundef, double noundef) local_unnamed_addr #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_Z11dubins_wordP25DubinsIntermediateResults14DubinsPathTypePd(ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #0

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

attributes #0 = { 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 #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !6, i64 48}
!10 = !{!"_ZTS10DubinsPath", !7, i64 0, !7, i64 24, !6, i64 48, !11, i64 56}
!11 = !{!"_ZTS14DubinsPathType", !7, i64 0}
!12 = !{!10, !11, i64 56}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalOptPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LCSSAPass,LICMPass,LoopRotatePass,PostOrderFunctionAttrsPass,SLPVectorizerPass,SROAPass,SimplifyCFGPass,VectorCombinePass