; LLVM IR from PRBonn/depth_clustering :: src/projections (projection_params)

; 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::vector.0" = type { %"struct.std::_Vector_base.1" }
%"struct.std::_Vector_base.1" = type { %"struct.std::_Vector_base<depth_clustering::Radians, std::allocator<depth_clustering::Radians>>::_Vector_impl" }
%"struct.std::_Vector_base<depth_clustering::Radians, std::allocator<depth_clustering::Radians>>::_Vector_impl" = type { %"struct.std::_Vector_base<depth_clustering::Radians, std::allocator<depth_clustering::Radians>>::_Vector_impl_data" }
%"struct.std::_Vector_base<depth_clustering::Radians, std::allocator<depth_clustering::Radians>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }
%"class.depth_clustering::SpanParams" = type { %"class.depth_clustering::Radians", %"class.depth_clustering::Radians", %"class.depth_clustering::Radians", %"class.depth_clustering::Radians", i32 }
%"class.depth_clustering::Radians" = type <{ float, i8, [3 x i8] }>

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

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #1

declare i32 @__gxx_personality_v0(...)

; 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 dso_local ptr @_ZNKSt6vectorIN16depth_clustering10SpanParamsESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNKSt6vectorIN16depth_clustering10SpanParamsESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPKN16depth_clustering10SpanParamsESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(36) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPKN16depth_clustering10SpanParamsESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK16depth_clustering10SpanParams9num_beamsEv(ptr noundef nonnull align 4 dereferenceable(36)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPKN16depth_clustering10SpanParamsESt6vectorIS2_SaIS2_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(5) ptr @_ZNK16depth_clustering10SpanParams11start_angleEv(ptr noundef nonnull align 4 dereferenceable(36)) #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN16depth_clustering16ProjectionParams10FillVectorERKSt6vectorINS_10SpanParamsESaIS2_EE(ptr dead_on_unwind noalias writable sret(%"class.std::vector.0") align 8 %0, ptr noundef nonnull align 8 dereferenceable(216) %1, ptr noundef nonnull align 8 dereferenceable(24) %2) #4 align 2 personality ptr @__gxx_personality_v0 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca i1, align 1
  %8 = alloca ptr, align 8
  %9 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %10 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %11 = alloca i32, align 4
  %12 = alloca %"class.depth_clustering::SpanParams", align 4
  %13 = alloca %"class.depth_clustering::Radians", align 4
  %14 = alloca ptr, align 8
  %15 = alloca i32, align 4
  %16 = alloca i32, align 4
  %17 = alloca %"class.depth_clustering::Radians", align 4
  store ptr %0, ptr %4, align 8
  store ptr %1, ptr %5, align 8, !tbaa !5
  store ptr %2, ptr %6, align 8, !tbaa !5
  %18 = load ptr, ptr %5, align 8
  store i1 false, ptr %7, align 1
  call void @_ZNSt6vectorIN16depth_clustering7RadiansESaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #5
  %19 = load ptr, ptr %6, align 8, !tbaa !5
  store ptr %19, ptr %8, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #5
  %20 = load ptr, ptr %8, align 8, !tbaa !5
  %21 = call ptr @_ZNKSt6vectorIN16depth_clustering10SpanParamsESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %20) #5
  %22 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %9, i32 0, i32 0
  store ptr %21, ptr %22, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #5
  %23 = load ptr, ptr %8, align 8, !tbaa !5
  %24 = call ptr @_ZNKSt6vectorIN16depth_clustering10SpanParamsESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %23) #5
  %25 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %10, i32 0, i32 0
  store ptr %24, ptr %25, align 8
  br label %26

26:                                               ; preds = %57, %3
  %27 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPKN16depth_clustering10SpanParamsESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %9, ptr noundef nonnull align 8 dereferenceable(8) %10) #5
  br i1 %27, label %29, label %28

28:                                               ; preds = %26
  store i32 2, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #5
  br label %60

29:                                               ; preds = %26
  call void @llvm.lifetime.start.p0(i64 36, ptr %12) #5
  %30 = call noundef nonnull align 4 dereferenceable(36) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPKN16depth_clustering10SpanParamsESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %9) #5
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %12, ptr align 4 %30, i64 36, i1 false), !tbaa.struct !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #5
  %31 = invoke noundef nonnull align 4 dereferenceable(5) ptr @_ZNK16depth_clustering10SpanParams11start_angleEv(ptr noundef nonnull align 4 dereferenceable(36) %12)
          to label %32 unwind label %39

32:                                               ; preds = %29
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %13, ptr align 4 %31, i64 8, i1 false), !tbaa.struct !16
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #5
  store i32 0, ptr %16, align 4, !tbaa !14
  br label %33

33:                                               ; preds = %53, %32
  %34 = load i32, ptr %16, align 4, !tbaa !14
  %35 = invoke noundef i32 @_ZNK16depth_clustering10SpanParams9num_beamsEv(ptr noundef nonnull align 4 dereferenceable(36) %12)
          to label %36 unwind label %43

36:                                               ; preds = %33
  %37 = icmp slt i32 %34, %35
  br i1 %37, label %47, label %38

38:                                               ; preds = %36
  store i32 4, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #5
  br label %56

39:                                               ; preds = %29
  %40 = landingpad { ptr, i32 }
          cleanup
  %41 = extractvalue { ptr, i32 } %40, 0
  store ptr %41, ptr %14, align 8
  %42 = extractvalue { ptr, i32 } %40, 1
  store i32 %42, ptr %15, align 4
  br label %59

43:                                               ; preds = %50, %48, %47, %33
  %44 = landingpad { ptr, i32 }
          cleanup
  %45 = extractvalue { ptr, i32 } %44, 0
  store ptr %45, ptr %14, align 8
  %46 = extractvalue { ptr, i32 } %44, 1
  store i32 %46, ptr %15, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #5
  br label %59

47:                                               ; preds = %36
  invoke void @_ZNSt6vectorIN16depth_clustering7RadiansESaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 4 dereferenceable(5) %13)
          to label %48 unwind label %43

48:                                               ; preds = %47
  %49 = invoke noundef nonnull align 4 dereferenceable(5) ptr @_ZNK16depth_clustering10SpanParams4stepEv(ptr noundef nonnull align 4 dereferenceable(36) %12)
          to label %50 unwind label %43

50:                                               ; preds = %48
  %51 = invoke i64 @_ZN16depth_clustering7RadianspLERKS0_(ptr noundef nonnull align 4 dereferenceable(5) %13, ptr noundef nonnull align 4 dereferenceable(5) %49)
          to label %52 unwind label %43

52:                                               ; preds = %50
  store i64 %51, ptr %17, align 4
  br label %53

53:                                               ; preds = %52
  %54 = load i32, ptr %16, align 4, !tbaa !14
  %55 = add nsw i32 %54, 1
  store i32 %55, ptr %16, align 4, !tbaa !14
  br label %33, !llvm.loop !17

56:                                               ; preds = %38
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #5
  call void @llvm.lifetime.end.p0(i64 36, ptr %12) #5
  br label %57

57:                                               ; preds = %56
  %58 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPKN16depth_clustering10SpanParamsESt6vectorIS2_SaIS2_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %9) #5
  br label %26

59:                                               ; preds = %43, %39
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #5
  call void @llvm.lifetime.end.p0(i64 36, ptr %12) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #5
  call void @_ZNSt6vectorIN16depth_clustering7RadiansESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #5
  br label %64

60:                                               ; preds = %28
  store i1 true, ptr %7, align 1
  store i32 1, ptr %11, align 4
  %61 = load i1, ptr %7, align 1
  br i1 %61, label %63, label %62

62:                                               ; preds = %60
  call void @_ZNSt6vectorIN16depth_clustering7RadiansESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #5
  br label %63

63:                                               ; preds = %62, %60
  ret void

64:                                               ; preds = %59
  %65 = load ptr, ptr %14, align 8
  %66 = load i32, ptr %15, align 4
  %67 = insertvalue { ptr, i32 } poison, ptr %65, 0
  %68 = insertvalue { ptr, i32 } %67, i32 %66, 1
  resume { ptr, i32 } %68
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN16depth_clustering7RadiansESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN16depth_clustering7RadiansESaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIN16depth_clustering7RadiansESaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(5)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(5) ptr @_ZNK16depth_clustering10SpanParams4stepEv(ptr noundef nonnull align 4 dereferenceable(36)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local i64 @_ZN16depth_clustering7RadianspLERKS0_(ptr noundef nonnull align 4 dereferenceable(5), ptr noundef nonnull align 4 dereferenceable(5)) #2 align 2

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

!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 = !{i64 0, i64 4, !10, i64 4, i64 1, !12, i64 8, i64 4, !10, i64 12, i64 1, !12, i64 16, i64 4, !10, i64 20, i64 1, !12, i64 24, i64 4, !10, i64 28, i64 1, !12, i64 32, i64 4, !14}
!10 = !{!11, !11, i64 0}
!11 = !{!"float", !7, i64 0}
!12 = !{!13, !13, i64 0}
!13 = !{!"bool", !7, i64 0}
!14 = !{!15, !15, i64 0}
!15 = !{!"int", !7, i64 0}
!16 = !{i64 0, i64 4, !10, i64 4, i64 1, !12}
!17 = distinct !{!17, !18}
!18 = !{!"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"

%"class.std::vector.0" = type { %"struct.std::_Vector_base.1" }
%"struct.std::_Vector_base.1" = type { %"struct.std::_Vector_base<depth_clustering::Radians, std::allocator<depth_clustering::Radians>>::_Vector_impl" }
%"struct.std::_Vector_base<depth_clustering::Radians, std::allocator<depth_clustering::Radians>>::_Vector_impl" = type { %"struct.std::_Vector_base<depth_clustering::Radians, std::allocator<depth_clustering::Radians>>::_Vector_impl_data" }
%"struct.std::_Vector_base<depth_clustering::Radians, std::allocator<depth_clustering::Radians>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }
%"class.depth_clustering::SpanParams" = type { %"class.depth_clustering::Radians", %"class.depth_clustering::Radians", %"class.depth_clustering::Radians", %"class.depth_clustering::Radians", i32 }
%"class.depth_clustering::Radians" = type <{ float, i8, [3 x i8] }>

; 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 nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #1

declare i32 @__gxx_personality_v0(...)

; 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 dso_local ptr @_ZNKSt6vectorIN16depth_clustering10SpanParamsESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNKSt6vectorIN16depth_clustering10SpanParamsESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPKN16depth_clustering10SpanParamsESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(36) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPKN16depth_clustering10SpanParamsESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK16depth_clustering10SpanParams9num_beamsEv(ptr noundef nonnull align 4 dereferenceable(36)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPKN16depth_clustering10SpanParamsESt6vectorIS2_SaIS2_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(5) ptr @_ZNK16depth_clustering10SpanParams11start_angleEv(ptr noundef nonnull align 4 dereferenceable(36)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN16depth_clustering16ProjectionParams10FillVectorERKSt6vectorINS_10SpanParamsESaIS2_EE(ptr dead_on_unwind noalias nonnull writable sret(%"class.std::vector.0") align 8 %0, ptr nocapture noundef nonnull readnone align 8 dereferenceable(216) %1, ptr noundef nonnull align 8 dereferenceable(24) %2) local_unnamed_addr #4 align 2 personality ptr @__gxx_personality_v0 {
  %4 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %5 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %6 = alloca %"class.depth_clustering::SpanParams", align 4
  %7 = alloca %"class.depth_clustering::Radians", align 8
  tail call void @_ZNSt6vectorIN16depth_clustering7RadiansESaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #5
  %8 = tail call ptr @_ZNKSt6vectorIN16depth_clustering10SpanParamsESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %2) #5
  store ptr %8, ptr %4, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #5
  %9 = tail call ptr @_ZNKSt6vectorIN16depth_clustering10SpanParamsESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %2) #5
  store ptr %9, ptr %5, align 8
  %10 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPKN16depth_clustering10SpanParamsESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %4, ptr noundef nonnull align 8 dereferenceable(8) %5) #5
  br i1 %10, label %.lr.ph10, label %._crit_edge11

._crit_edge11:                                    ; preds = %._crit_edge, %3
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #5
  ret void

.lr.ph10:                                         ; preds = %3, %._crit_edge
  call void @llvm.lifetime.start.p0(i64 36, ptr nonnull %6) #5
  %11 = call noundef nonnull align 4 dereferenceable(36) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPKN16depth_clustering10SpanParamsESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %4) #5
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(36) %6, ptr noundef nonnull align 4 dereferenceable(36) %11, i64 36, i1 false), !tbaa.struct !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #5
  %12 = call noundef nonnull align 4 dereferenceable(5) ptr @_ZNK16depth_clustering10SpanParams11start_angleEv(ptr noundef nonnull align 4 dereferenceable(36) %6)
  %13 = load i64, ptr %12, align 4
  store i64 %13, ptr %7, align 8
  %14 = call noundef i32 @_ZNK16depth_clustering10SpanParams9num_beamsEv(ptr noundef nonnull align 4 dereferenceable(36) %6)
  %15 = icmp sgt i32 %14, 0
  br i1 %15, label %.lr.ph, label %._crit_edge

._crit_edge:                                      ; preds = %20, %.lr.ph10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #5
  call void @llvm.lifetime.end.p0(i64 36, ptr nonnull %6) #5
  %16 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPKN16depth_clustering10SpanParamsESt6vectorIS2_SaIS2_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %4) #5
  %17 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPKN16depth_clustering10SpanParamsESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %4, ptr noundef nonnull align 8 dereferenceable(8) %5) #5
  br i1 %17, label %.lr.ph10, label %._crit_edge11

18:                                               ; preds = %.lr.ph
  %19 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #5
  call void @llvm.lifetime.end.p0(i64 36, ptr nonnull %6) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #5
  call void @_ZNSt6vectorIN16depth_clustering7RadiansESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #5
  resume { ptr, i32 } %19

.lr.ph:                                           ; preds = %.lr.ph10, %20
  %.08 = phi i32 [ %23, %20 ], [ 0, %.lr.ph10 ]
  invoke void @_ZNSt6vectorIN16depth_clustering7RadiansESaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 4 dereferenceable(5) %7)
          to label %20 unwind label %18

20:                                               ; preds = %.lr.ph
  %21 = call noundef nonnull align 4 dereferenceable(5) ptr @_ZNK16depth_clustering10SpanParams4stepEv(ptr noundef nonnull align 4 dereferenceable(36) %6)
  %22 = call i64 @_ZN16depth_clustering7RadianspLERKS0_(ptr noundef nonnull align 4 dereferenceable(5) %7, ptr noundef nonnull align 4 dereferenceable(5) %21)
  %23 = add nuw nsw i32 %.08, 1
  %24 = call noundef i32 @_ZNK16depth_clustering10SpanParams9num_beamsEv(ptr noundef nonnull align 4 dereferenceable(36) %6)
  %25 = icmp slt i32 %23, %24
  br i1 %25, label %.lr.ph, label %._crit_edge, !llvm.loop !14
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN16depth_clustering7RadiansESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN16depth_clustering7RadiansESaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIN16depth_clustering7RadiansESaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(5)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(5) ptr @_ZNK16depth_clustering10SpanParams4stepEv(ptr noundef nonnull align 4 dereferenceable(36)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local i64 @_ZN16depth_clustering7RadianspLERKS0_(ptr noundef nonnull align 4 dereferenceable(5), ptr noundef nonnull align 4 dereferenceable(5)) local_unnamed_addr #2 align 2

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

!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 = !{i64 0, i64 4, !6, i64 4, i64 1, !10, i64 8, i64 4, !6, i64 12, i64 1, !10, i64 16, i64 4, !6, i64 20, i64 1, !10, i64 24, i64 4, !6, i64 28, i64 1, !10, i64 32, i64 4, !12}
!6 = !{!7, !7, i64 0}
!7 = !{!"float", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!11, !11, i64 0}
!11 = !{!"bool", !8, i64 0}
!12 = !{!13, !13, i64 0}
!13 = !{!"int", !8, i64 0}
!14 = distinct !{!14, !15}
!15 = !{!"llvm.loop.mustprogress"}


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