; LLVM IR from HRI-EU/Rcs :: src/RcsCore (Rcs_kinematics)

; 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._RcsGraph = type { ptr, [10 x %struct._RcsBody], i32, i32, ptr, ptr, ptr, ptr, ptr }
%struct._RcsBody = type { double, i8, i32, [3 x double], [3 x double], double, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr }

; Function Attrs: nounwind uwtable
define dso_local void @RcsGraph_worldPointJacobian(ptr noundef %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4) #0 {
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  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 ptr %3, ptr %9, align 8, !tbaa !5
  store ptr %4, ptr %10, align 8, !tbaa !5
  %11 = load ptr, ptr %10, align 8, !tbaa !5
  %12 = load ptr, ptr %6, align 8, !tbaa !5
  %13 = getelementptr inbounds %struct._RcsGraph, ptr %12, i32 0, i32 3
  %14 = load i32, ptr %13, align 4, !tbaa !9
  call void @MatNd_reshapeAndSetZero(ptr noundef %11, i32 noundef 3, i32 noundef %14)
  %15 = load ptr, ptr %7, align 8, !tbaa !5
  %16 = icmp eq ptr %15, null
  br i1 %16, label %17, label %18

17:                                               ; preds = %5
  br label %24

18:                                               ; preds = %5
  %19 = load ptr, ptr %6, align 8, !tbaa !5
  %20 = load ptr, ptr %7, align 8, !tbaa !5
  %21 = load ptr, ptr %8, align 8, !tbaa !5
  %22 = load ptr, ptr %9, align 8, !tbaa !5
  %23 = load ptr, ptr %10, align 8, !tbaa !5
  call void @RcsGraph_addWorldPointJacobian(ptr noundef %19, ptr noundef %20, ptr noundef %21, ptr noundef %22, ptr noundef %23)
  br label %24

24:                                               ; preds = %18, %17
  ret void
}

declare void @MatNd_reshapeAndSetZero(ptr noundef, i32 noundef, i32 noundef) #1

; Function Attrs: nounwind uwtable
declare hidden void @RcsGraph_addWorldPointJacobian(ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) #0

attributes #0 = { 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 = { "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" }

!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/C++ TBAA"}
!9 = !{!10, !11, i64 1852}
!10 = !{!"_RcsGraph", !6, i64 0, !7, i64 8, !11, i64 1848, !11, i64 1852, !6, i64 1856, !6, i64 1864, !6, i64 1872, !6, i64 1880, !6, i64 1888}
!11 = !{!"int", !7, i64 0}


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

; Function Attrs: nounwind uwtable
define dso_local void @RcsGraph_worldPointJacobian(ptr noundef %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4) local_unnamed_addr #0 {
  %6 = getelementptr inbounds i8, ptr %0, i64 1852
  %7 = load i32, ptr %6, align 4, !tbaa !5
  tail call void @MatNd_reshapeAndSetZero(ptr noundef %4, i32 noundef 3, i32 noundef %7) #2
  %8 = icmp eq ptr %1, null
  br i1 %8, label %10, label %9

9:                                                ; preds = %5
  tail call void @RcsGraph_addWorldPointJacobian(ptr noundef nonnull %0, ptr noundef nonnull %1, ptr noundef %2, ptr noundef %3, ptr noundef %4)
  br label %10

10:                                               ; preds = %5, %9
  ret void
}

declare void @MatNd_reshapeAndSetZero(ptr noundef, i32 noundef, i32 noundef) local_unnamed_addr #1

; Function Attrs: nounwind uwtable
declare hidden void @RcsGraph_addWorldPointJacobian(ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #0

attributes #0 = { 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 = { "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 = { 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, !10, i64 1852}
!6 = !{!"_RcsGraph", !7, i64 0, !8, i64 8, !10, i64 1848, !10, i64 1852, !7, i64 1856, !7, i64 1864, !7, i64 1872, !7, i64 1880, !7, i64 1888}
!7 = !{!"any pointer", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C/C++ TBAA"}
!10 = !{!"int", !8, i64 0}


; Effective O3 passes: CorrelatedValuePropagationPass,GlobalOptPass,InstCombinePass,SROAPass,SimplifyCFGPass,TailCallElimPass