; LLVM IR from Derek-TH-Wang/quadruped_ctrl :: src/MPC_Ctrl (Gait)

; 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.Eigen::ArrayWrapper" = type { ptr }
%"class.Eigen::CwiseBinaryOp" = type <{ [8 x i8], %"class.Eigen::CwiseUnaryOp", %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::CwiseUnaryOp" = type <{ ptr, [8 x i8] }>
%"class.Eigen::CwiseNullaryOp" = type { [4 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { float }
%class.OffsetDurationGait = type <{ %class.Gait, ptr, %"class.Eigen::Array", %"class.Eigen::Array", %"class.Eigen::Array.9", %"class.Eigen::Array.9", i32, i32, float, [4 x i8] }>
%class.Gait = type { ptr, %"class.std::__cxx11::basic_string" }
%"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.Eigen::Array" = type { %"class.Eigen::PlainObjectBase.3" }
%"class.Eigen::PlainObjectBase.3" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [4 x i32] }
%"class.Eigen::Array.9" = type { %"class.Eigen::PlainObjectBase.10" }
%"class.Eigen::PlainObjectBase.10" = type { %"class.Eigen::DenseStorage.17" }
%"class.Eigen::DenseStorage.17" = type { %"struct.Eigen::internal::plain_array.18" }
%"struct.Eigen::internal::plain_array.18" = type { [4 x float] }

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEE5arrayEv(ptr noundef nonnull align 1 dereferenceable(1)) #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 uwtable
define dso_local void @_ZN18OffsetDurationGait12setGaitParamEiN5Eigen6MatrixIiLi4ELi1ELi0ELi4ELi1EEES2_RKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 16 dereferenceable(124) %0, i32 noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef nonnull align 8 dereferenceable(32) %4) unnamed_addr #2 align 2 {
  %6 = alloca ptr, align 8
  %7 = alloca i32, align 4
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca %"class.Eigen::ArrayWrapper", align 8
  %12 = alloca %"class.Eigen::ArrayWrapper", align 8
  %13 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %14 = alloca %"class.Eigen::CwiseUnaryOp", align 8
  %15 = alloca float, align 4
  %16 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %17 = alloca %"class.Eigen::CwiseUnaryOp", align 8
  %18 = alloca float, align 4
  store ptr %0, ptr %6, align 8, !tbaa !5
  store i32 %1, ptr %7, align 4, !tbaa !9
  store ptr %2, ptr %8, align 8, !tbaa !5
  store ptr %3, ptr %9, align 8, !tbaa !5
  store ptr %4, ptr %10, align 8, !tbaa !5
  %19 = load ptr, ptr %6, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #6
  %20 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEE5arrayEv(ptr noundef nonnull align 1 dereferenceable(1) %2)
  %21 = getelementptr inbounds %"class.Eigen::ArrayWrapper", ptr %11, i32 0, i32 0
  store ptr %20, ptr %21, align 8
  %22 = getelementptr inbounds %class.OffsetDurationGait, ptr %19, i32 0, i32 2
  %23 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN5Eigen5ArrayIiLi4ELi1ELi0ELi4ELi1EEaSINS_12ArrayWrapperINS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %22, ptr noundef nonnull align 1 dereferenceable(1) %11)
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #6
  %24 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEE5arrayEv(ptr noundef nonnull align 1 dereferenceable(1) %3)
  %25 = getelementptr inbounds %"class.Eigen::ArrayWrapper", ptr %12, i32 0, i32 0
  store ptr %24, ptr %25, align 8
  %26 = getelementptr inbounds %class.OffsetDurationGait, ptr %19, i32 0, i32 3
  %27 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN5Eigen5ArrayIiLi4ELi1ELi0ELi4ELi1EEaSINS_12ArrayWrapperINS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %26, ptr noundef nonnull align 1 dereferenceable(1) %12)
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #6
  %28 = load i32, ptr %7, align 4, !tbaa !9
  %29 = getelementptr inbounds %class.OffsetDurationGait, ptr %19, i32 0, i32 7
  store i32 %28, ptr %29, align 4, !tbaa !11
  %30 = load ptr, ptr %10, align 8, !tbaa !5
  %31 = getelementptr inbounds %class.Gait, ptr %19, i32 0, i32 1
  %32 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSERKS4_(ptr noundef nonnull align 8 dereferenceable(32) %31, ptr noundef nonnull align 8 dereferenceable(32) %30)
  %33 = getelementptr inbounds %class.OffsetDurationGait, ptr %19, i32 0, i32 1
  %34 = load ptr, ptr %33, align 8, !tbaa !26
  %35 = icmp ne ptr null, %34
  br i1 %35, label %36, label %42

36:                                               ; preds = %5
  %37 = getelementptr inbounds %class.OffsetDurationGait, ptr %19, i32 0, i32 1
  %38 = load ptr, ptr %37, align 8, !tbaa !26
  %39 = icmp eq ptr %38, null
  br i1 %39, label %41, label %40

40:                                               ; preds = %36
  call void @_ZdaPv(ptr noundef %38) #7
  br label %41

41:                                               ; preds = %40, %36
  br label %42

42:                                               ; preds = %41, %5
  %43 = load i32, ptr %7, align 4, !tbaa !9
  %44 = mul nsw i32 %43, 4
  %45 = sext i32 %44 to i64
  %46 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %45, i64 4)
  %47 = extractvalue { i64, i1 } %46, 1
  %48 = extractvalue { i64, i1 } %46, 0
  %49 = select i1 %47, i64 -1, i64 %48
  %50 = call noalias noundef nonnull ptr @_Znam(i64 noundef %49) #8
  %51 = getelementptr inbounds %class.OffsetDurationGait, ptr %19, i32 0, i32 1
  store ptr %50, ptr %51, align 8, !tbaa !26
  call void @llvm.lifetime.start.p0(i64 40, ptr %13) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %14) #6
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEE4castIfEENS3_7CastXprIT_E4TypeEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseUnaryOp") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) %2)
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #6
  %52 = load i32, ptr %7, align 4, !tbaa !9
  %53 = sitofp i32 %52 to float
  store float %53, ptr %15, align 4, !tbaa !27
  call void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal14scalar_cast_opIifEEKNS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEEEEdvIfEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIfNS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIfSE_NSC_IfSE_EEEEEE5valueEE4typeEEEKS8_KNS2_19plain_constant_typeIS8_SJ_E4typeEEERKSE_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %13, ptr noundef nonnull align 1 dereferenceable(1) %14, ptr noundef nonnull align 4 dereferenceable(4) %15)
  %54 = getelementptr inbounds %class.OffsetDurationGait, ptr %19, i32 0, i32 4
  %55 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIffEEKNS_12CwiseUnaryOpINS4_14scalar_cast_opIifEEKNS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEEEKNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEEKNSA_IfLi4ELi1ELi0ELi4ELi1EEEEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %54, ptr noundef nonnull align 1 dereferenceable(1) %13)
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %13) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %16) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %17) #6
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEE4castIfEENS3_7CastXprIT_E4TypeEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseUnaryOp") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %3)
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #6
  %56 = load i32, ptr %7, align 4, !tbaa !9
  %57 = sitofp i32 %56 to float
  store float %57, ptr %18, align 4, !tbaa !27
  call void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal14scalar_cast_opIifEEKNS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEEEEdvIfEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIfNS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIfSE_NSC_IfSE_EEEEEE5valueEE4typeEEEKS8_KNS2_19plain_constant_typeIS8_SJ_E4typeEEERKSE_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %17, ptr noundef nonnull align 4 dereferenceable(4) %18)
  %58 = getelementptr inbounds %class.OffsetDurationGait, ptr %19, i32 0, i32 5
  %59 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIffEEKNS_12CwiseUnaryOpINS4_14scalar_cast_opIifEEKNS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEEEKNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEEKNSA_IfLi4ELi1ELi0ELi4ELi1EEEEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %58, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %16) #6
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN5Eigen5ArrayIiLi4ELi1ELi0ELi4ELi1EEaSINS_12ArrayWrapperINS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSERKS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) #2 align 2

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) #3

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare { i64, i1 } @llvm.umul.with.overflow.i64(i64, i64) #4

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEE4castIfEENS3_7CastXprIT_E4TypeEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal14scalar_cast_opIifEEKNS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEEEEdvIfEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIfNS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIfSE_NSC_IfSE_EEEEEE5valueEE4typeEEEKS8_KNS2_19plain_constant_typeIS8_SJ_E4typeEEERKSE_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIffEEKNS_12CwiseUnaryOpINS4_14scalar_cast_opIifEEKNS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEEEKNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEEKNSA_IfLi4ELi1ELi0ELi4ELi1EEEEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress 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 = { nobuiltin 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 #4 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #5 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nounwind }
attributes #7 = { builtin nounwind }
attributes #8 = { builtin allocsize(0) }

!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 116}
!12 = !{!"_ZTS18OffsetDurationGait", !13, i64 0, !6, i64 40, !17, i64 48, !17, i64 64, !21, i64 80, !21, i64 96, !10, i64 112, !10, i64 116, !25, i64 120}
!13 = !{!"_ZTS4Gait", !14, i64 8}
!14 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !15, i64 0, !16, i64 8, !7, i64 16}
!15 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !6, i64 0}
!16 = !{!"long", !7, i64 0}
!17 = !{!"_ZTSN5Eigen5ArrayIiLi4ELi1ELi0ELi4ELi1EEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_5ArrayIiLi4ELi1ELi0ELi4ELi1EEEEE", !19, i64 0}
!19 = !{!"_ZTSN5Eigen12DenseStorageIiLi4ELi4ELi1ELi0EEE", !20, i64 0}
!20 = !{!"_ZTSN5Eigen8internal11plain_arrayIiLi4ELi0ELi16EEE", !7, i64 0}
!21 = !{!"_ZTSN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen12DenseStorageIfLi4ELi4ELi1ELi0EEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi4ELi0ELi16EEE", !7, i64 0}
!25 = !{!"float", !7, i64 0}
!26 = !{!12, !6, i64 40}
!27 = !{!25, !25, i64 0}


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

%"class.Eigen::ArrayWrapper" = type { ptr }
%"class.Eigen::CwiseBinaryOp" = type <{ [8 x i8], %"class.Eigen::CwiseUnaryOp", %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::CwiseUnaryOp" = type <{ ptr, [8 x i8] }>
%"class.Eigen::CwiseNullaryOp" = type { [4 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { float }

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEE5arrayEv(ptr noundef nonnull align 1 dereferenceable(1)) local_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 uwtable
define dso_local void @_ZN18OffsetDurationGait12setGaitParamEiN5Eigen6MatrixIiLi4ELi1ELi0ELi4ELi1EEES2_RKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 16 dereferenceable(124) %0, i32 noundef %1, ptr noundef nonnull %2, ptr noundef %3, ptr noundef nonnull align 8 dereferenceable(32) %4) unnamed_addr #2 align 2 {
  %6 = alloca %"class.Eigen::ArrayWrapper", align 8
  %7 = alloca %"class.Eigen::ArrayWrapper", align 8
  %8 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %9 = alloca %"class.Eigen::CwiseUnaryOp", align 8
  %10 = alloca float, align 4
  %11 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %12 = alloca %"class.Eigen::CwiseUnaryOp", align 8
  %13 = alloca float, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #5
  %14 = tail call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEE5arrayEv(ptr noundef nonnull align 1 dereferenceable(1) %2)
  store ptr %14, ptr %6, align 8
  %15 = getelementptr inbounds i8, ptr %0, i64 48
  %16 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN5Eigen5ArrayIiLi4ELi1ELi0ELi4ELi1EEaSINS_12ArrayWrapperINS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %15, ptr noundef nonnull align 1 dereferenceable(1) %6)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #5
  %17 = call ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEE5arrayEv(ptr noundef nonnull align 1 dereferenceable(1) %3)
  store ptr %17, ptr %7, align 8
  %18 = getelementptr inbounds i8, ptr %0, i64 64
  %19 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN5Eigen5ArrayIiLi4ELi1ELi0ELi4ELi1EEaSINS_12ArrayWrapperINS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %18, ptr noundef nonnull align 1 dereferenceable(1) %7)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #5
  %20 = getelementptr inbounds i8, ptr %0, i64 116
  store i32 %1, ptr %20, align 4, !tbaa !5
  %21 = getelementptr inbounds i8, ptr %0, i64 8
  %22 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSERKS4_(ptr noundef nonnull align 8 dereferenceable(32) %21, ptr noundef nonnull align 8 dereferenceable(32) %4)
  %23 = getelementptr inbounds i8, ptr %0, i64 40
  %24 = load ptr, ptr %23, align 8, !tbaa !24
  %.not = icmp eq ptr %24, null
  br i1 %.not, label %26, label %25

25:                                               ; preds = %5
  call void @_ZdaPv(ptr noundef nonnull %24) #6
  br label %26

26:                                               ; preds = %25, %5
  %27 = shl nsw i32 %1, 2
  %28 = sext i32 %27 to i64
  %29 = icmp slt i32 %1, 0
  %30 = shl nsw i64 %28, 2
  %31 = select i1 %29, i64 -1, i64 %30
  %32 = call noalias noundef nonnull ptr @_Znam(i64 noundef %31) #7
  store ptr %32, ptr %23, align 8, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %8) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #5
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEE4castIfEENS3_7CastXprIT_E4TypeEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseUnaryOp") align 8 %9, ptr noundef nonnull align 1 dereferenceable(1) %2)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %10) #5
  %33 = sitofp i32 %1 to float
  store float %33, ptr %10, align 4, !tbaa !25
  call void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal14scalar_cast_opIifEEKNS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEEEEdvIfEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIfNS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIfSE_NSC_IfSE_EEEEEE5valueEE4typeEEEKS8_KNS2_19plain_constant_typeIS8_SJ_E4typeEEERKSE_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %8, ptr noundef nonnull align 1 dereferenceable(1) %9, ptr noundef nonnull align 4 dereferenceable(4) %10)
  %34 = getelementptr inbounds i8, ptr %0, i64 80
  %35 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIffEEKNS_12CwiseUnaryOpINS4_14scalar_cast_opIifEEKNS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEEEKNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEEKNSA_IfLi4ELi1ELi0ELi4ELi1EEEEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %34, ptr noundef nonnull align 1 dereferenceable(1) %8)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %10) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %8) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %11) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #5
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEE4castIfEENS3_7CastXprIT_E4TypeEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseUnaryOp") align 8 %12, ptr noundef nonnull align 1 dereferenceable(1) %3)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %13) #5
  store float %33, ptr %13, align 4, !tbaa !25
  call void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal14scalar_cast_opIifEEKNS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEEEEdvIfEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIfNS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIfSE_NSC_IfSE_EEEEEE5valueEE4typeEEEKS8_KNS2_19plain_constant_typeIS8_SJ_E4typeEEERKSE_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %11, ptr noundef nonnull align 1 dereferenceable(1) %12, ptr noundef nonnull align 4 dereferenceable(4) %13)
  %36 = getelementptr inbounds i8, ptr %0, i64 96
  %37 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIffEEKNS_12CwiseUnaryOpINS4_14scalar_cast_opIifEEKNS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEEEKNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEEKNSA_IfLi4ELi1ELi0ELi4ELi1EEEEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %36, ptr noundef nonnull align 1 dereferenceable(1) %11)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %13) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %11) #5
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN5Eigen5ArrayIiLi4ELi1ELi0ELi4ELi1EEaSINS_12ArrayWrapperINS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEaSERKS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #2 align 2

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) local_unnamed_addr #3

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEE4castIfEENS3_7CastXprIT_E4TypeEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal14scalar_cast_opIifEEKNS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEEEEdvIfEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIfNS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIfSE_NSC_IfSE_EEEEEE5valueEE4typeEEEKS8_KNS2_19plain_constant_typeIS8_SJ_E4typeEEERKSE_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIffEEKNS_12CwiseUnaryOpINS4_14scalar_cast_opIifEEKNS_6MatrixIiLi4ELi1ELi0ELi4ELi1EEEEEKNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEEKNSA_IfLi4ELi1ELi0ELi4ELi1EEEEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress 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 = { nobuiltin 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 #4 = { nobuiltin allocsize(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 }
attributes #6 = { builtin nounwind }
attributes #7 = { builtin allocsize(0) }

!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, !22, i64 116}
!6 = !{!"_ZTS18OffsetDurationGait", !7, i64 0, !10, i64 40, !14, i64 48, !14, i64 64, !18, i64 80, !18, i64 96, !22, i64 112, !22, i64 116, !23, i64 120}
!7 = !{!"_ZTS4Gait", !8, i64 8}
!8 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !9, i64 0, !13, i64 8, !11, i64 16}
!9 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !10, i64 0}
!10 = !{!"any pointer", !11, i64 0}
!11 = !{!"omnipotent char", !12, i64 0}
!12 = !{!"Simple C++ TBAA"}
!13 = !{!"long", !11, i64 0}
!14 = !{!"_ZTSN5Eigen5ArrayIiLi4ELi1ELi0ELi4ELi1EEE", !15, i64 0}
!15 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_5ArrayIiLi4ELi1ELi0ELi4ELi1EEEEE", !16, i64 0}
!16 = !{!"_ZTSN5Eigen12DenseStorageIiLi4ELi4ELi1ELi0EEE", !17, i64 0}
!17 = !{!"_ZTSN5Eigen8internal11plain_arrayIiLi4ELi0ELi16EEE", !11, i64 0}
!18 = !{!"_ZTSN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEE", !19, i64 0}
!19 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEE", !20, i64 0}
!20 = !{!"_ZTSN5Eigen12DenseStorageIfLi4ELi4ELi1ELi0EEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi4ELi0ELi16EEE", !11, i64 0}
!22 = !{!"int", !11, i64 0}
!23 = !{!"float", !11, i64 0}
!24 = !{!6, !10, i64 40}
!25 = !{!23, !23, i64 0}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,PostOrderFunctionAttrsPass,SROAPass,SimplifyCFGPass,TailCallElimPass