; LLVM IR from HRI-EU/Rcs :: src/RcsCore/ViaPointSequence.ll (ZNK3Rcs16ViaPointSequence5printEv)

; 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.Rcs::ViaPointSequence" = type { ptr, ptr, ptr, ptr, ptr, ptr, i8, i32, %"class.std::vector", %"class.std::vector.0" }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.0" = type { %"struct.std::_Vector_base.1" }
%"struct.std::_Vector_base.1" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%struct._MatNd = type { ptr, i32, i32, i32, i8 }

@stderr = external global ptr, align 8
@.str.1 = external hidden unnamed_addr constant [26 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [77 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [2 x i8], align 1
@RCS_GLOBAL_RLOG_CB = external global ptr, align 8
@.str.23 = external hidden unnamed_addr constant [1 x i8], align 1
@RcsLogLevel = external global i32, align 4
@.str.25 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.40 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.47 = external hidden unnamed_addr constant [27 x i8], align 1
@.str.60 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.61 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.62 = external hidden unnamed_addr constant [20 x i8], align 1
@__func__._ZNK3Rcs16ViaPointSequence5printEv = external hidden unnamed_addr constant [6 x i8], align 1
@.str.63 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.64 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.65 = external hidden unnamed_addr constant [83 x i8], align 1
@.str.66 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.67 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.68 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.69 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.70 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.71 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.72 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.73 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.74 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.75 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.76 = external hidden unnamed_addr constant [65 x i8], align 1
@.str.77 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.78 = external hidden unnamed_addr constant [73 x i8], align 1
@.str.79 = external hidden unnamed_addr constant [79 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: nounwind
declare i64 @lround(double noundef) #1

declare double @MatNd_get(ptr noundef, i32 noundef, i32 noundef) #2

declare zeroext i1 @Math_isBitSet(i32 noundef, i32 noundef) #2

declare void @MatNd_printCommentDigits(ptr noundef, ptr noundef, i32 noundef) #2

; Function Attrs: nounwind
declare i32 @fprintf(ptr noundef, ptr noundef, ...) #1

declare void @print_trace() #2

; Function Attrs: noreturn nounwind
declare void @exit(i32 noundef) #3

; 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
declare dso_local void @_ZNK3Rcs16ViaPointSequence22computeTrajectoryPointERdS1_S1_d(ptr noundef nonnull align 8 dereferenceable(104), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), double noundef) #4 align 2

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fabs.f64(double) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNKSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #6 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZNK3Rcs16ViaPointSequence5printEv(ptr noundef nonnull align 8 dereferenceable(104) %0) #4 align 2 {
  %2 = alloca ptr, align 8
  %3 = alloca i32, align 4
  %4 = alloca i32, align 4
  %5 = alloca i32, align 4
  %6 = alloca i32, align 4
  %7 = alloca i64, align 8
  %8 = alloca i64, align 8
  %9 = alloca i32, align 4
  %10 = alloca i64, align 8
  %11 = alloca double, align 8
  %12 = alloca i32, align 4
  %13 = alloca double, align 8
  %14 = alloca double, align 8
  %15 = alloca double, align 8
  store ptr %0, ptr %2, align 8, !tbaa !5
  %16 = load ptr, ptr %2, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %3) #7
  store i32 0, ptr %3, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %4) #7
  store i32 0, ptr %4, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #7
  store i32 0, ptr %5, align 4, !tbaa !9
  %17 = call i32 (ptr, ...) @printf(ptr noundef @.str.60)
  %18 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 7
  %19 = load i32, ptr %18, align 4, !tbaa !11
  switch i32 %19, label %24 [
    i32 0, label %20
    i32 1, label %22
  ]

20:                                               ; preds = %1
  %21 = call i32 (ptr, ...) @printf(ptr noundef @.str.61)
  br label %34

22:                                               ; preds = %1
  %23 = call i32 (ptr, ...) @printf(ptr noundef @.str.62)
  br label %34

24:                                               ; preds = %1
  br label %25

25:                                               ; preds = %24
  %26 = load ptr, ptr @stderr, align 8, !tbaa !5
  %27 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %26, ptr noundef @.str.1, ptr noundef @.str.2, ptr noundef @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1620) #7
  %28 = load ptr, ptr @stderr, align 8, !tbaa !5
  %29 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %28, ptr noundef @.str.63) #7
  %30 = load ptr, ptr @stderr, align 8, !tbaa !5
  %31 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %30, ptr noundef @.str.4) #7
  call void @print_trace()
  call void @exit(i32 noundef 1) #8
  unreachable

32:                                               ; No predecessors!
  br label %33

33:                                               ; preds = %32
  br label %34

34:                                               ; preds = %33, %22, %20
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #7
  store i32 0, ptr %6, align 4, !tbaa !9
  br label %35

35:                                               ; preds = %75, %34
  %36 = load i32, ptr %6, align 4, !tbaa !9
  %37 = zext i32 %36 to i64
  %38 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 8
  %39 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %38) #7
  %40 = icmp ult i64 %37, %39
  br i1 %40, label %42, label %41

41:                                               ; preds = %35
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #7
  br label %78

42:                                               ; preds = %35
  %43 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 8
  %44 = load i32, ptr %6, align 4, !tbaa !9
  %45 = zext i32 %44 to i64
  %46 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %43, i64 noundef %45) #7
  %47 = load i32, ptr %46, align 4, !tbaa !9
  %48 = icmp eq i32 %47, 0
  br i1 %48, label %49, label %52

49:                                               ; preds = %42
  %50 = load i32, ptr %3, align 4, !tbaa !9
  %51 = add i32 %50, 1
  store i32 %51, ptr %3, align 4, !tbaa !9
  br label %74

52:                                               ; preds = %42
  %53 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 8
  %54 = load i32, ptr %6, align 4, !tbaa !9
  %55 = zext i32 %54 to i64
  %56 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %53, i64 noundef %55) #7
  %57 = load i32, ptr %56, align 4, !tbaa !9
  %58 = icmp eq i32 %57, 1
  br i1 %58, label %59, label %62

59:                                               ; preds = %52
  %60 = load i32, ptr %4, align 4, !tbaa !9
  %61 = add i32 %60, 1
  store i32 %61, ptr %4, align 4, !tbaa !9
  br label %73

62:                                               ; preds = %52
  %63 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 8
  %64 = load i32, ptr %6, align 4, !tbaa !9
  %65 = zext i32 %64 to i64
  %66 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %63, i64 noundef %65) #7
  %67 = load i32, ptr %66, align 4, !tbaa !9
  %68 = icmp eq i32 %67, 2
  br i1 %68, label %69, label %72

69:                                               ; preds = %62
  %70 = load i32, ptr %5, align 4, !tbaa !9
  %71 = add i32 %70, 1
  store i32 %71, ptr %5, align 4, !tbaa !9
  br label %72

72:                                               ; preds = %69, %62
  br label %73

73:                                               ; preds = %72, %59
  br label %74

74:                                               ; preds = %73, %49
  br label %75

75:                                               ; preds = %74
  %76 = load i32, ptr %6, align 4, !tbaa !9
  %77 = add i32 %76, 1
  store i32 %77, ptr %6, align 4, !tbaa !9
  br label %35, !llvm.loop !23

78:                                               ; preds = %41
  %79 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %80 = load ptr, ptr %79, align 8, !tbaa !25
  call void @MatNd_printCommentDigits(ptr noundef @.str.64, ptr noundef %80, i32 noundef 6)
  %81 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %82 = load ptr, ptr %81, align 8, !tbaa !25
  %83 = getelementptr inbounds %struct._MatNd, ptr %82, i32 0, i32 1
  %84 = load i32, ptr %83, align 8, !tbaa !26
  %85 = load i32, ptr %3, align 4, !tbaa !9
  %86 = load i32, ptr %4, align 4, !tbaa !9
  %87 = load i32, ptr %5, align 4, !tbaa !9
  %88 = call i32 (ptr, ...) @printf(ptr noundef @.str.65, i32 noundef %84, i32 noundef %85, i32 noundef %86, i32 noundef %87)
  %89 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 2
  %90 = load ptr, ptr %89, align 8, !tbaa !28
  call void @MatNd_printCommentDigits(ptr noundef @.str.40, ptr noundef %90, i32 noundef 6)
  %91 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 3
  %92 = load ptr, ptr %91, align 8, !tbaa !29
  call void @MatNd_printCommentDigits(ptr noundef @.str.66, ptr noundef %92, i32 noundef 6)
  %93 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 9
  %94 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %93) #7
  %95 = trunc i64 %94 to i32
  %96 = call i32 (ptr, ...) @printf(ptr noundef @.str.67, i32 noundef %95)
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #7
  store i64 0, ptr %7, align 8, !tbaa !30
  br label %97

97:                                               ; preds = %109, %78
  %98 = load i64, ptr %7, align 8, !tbaa !30
  %99 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 9
  %100 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %99) #7
  %101 = icmp ult i64 %98, %100
  br i1 %101, label %103, label %102

102:                                              ; preds = %97
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #7
  br label %112

103:                                              ; preds = %97
  %104 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 9
  %105 = load i64, ptr %7, align 8, !tbaa !30
  %106 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNKSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %104, i64 noundef %105) #7
  %107 = load double, ptr %106, align 8, !tbaa !32
  %108 = call i32 (ptr, ...) @printf(ptr noundef @.str.68, double noundef %107)
  br label %109

109:                                              ; preds = %103
  %110 = load i64, ptr %7, align 8, !tbaa !30
  %111 = add i64 %110, 1
  store i64 %111, ptr %7, align 8, !tbaa !30
  br label %97, !llvm.loop !34

112:                                              ; preds = %102
  %113 = call i32 (ptr, ...) @printf(ptr noundef @.str.4)
  %114 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 8
  %115 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %114) #7
  %116 = trunc i64 %115 to i32
  %117 = call i32 (ptr, ...) @printf(ptr noundef @.str.69, i32 noundef %116)
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #7
  store i64 0, ptr %8, align 8, !tbaa !30
  br label %118

118:                                              ; preds = %159, %112
  %119 = load i64, ptr %8, align 8, !tbaa !30
  %120 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 8
  %121 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %120) #7
  %122 = icmp ult i64 %119, %121
  br i1 %122, label %124, label %123

123:                                              ; preds = %118
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #7
  br label %162

124:                                              ; preds = %118
  %125 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 8
  %126 = load i64, ptr %8, align 8, !tbaa !30
  %127 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %125, i64 noundef %126) #7
  %128 = load i32, ptr %127, align 4, !tbaa !9
  %129 = icmp eq i32 %128, 0
  br i1 %129, label %130, label %134

130:                                              ; preds = %124
  %131 = load i64, ptr %8, align 8, !tbaa !30
  %132 = trunc i64 %131 to i32
  %133 = call i32 (ptr, ...) @printf(ptr noundef @.str.70, i32 noundef %132)
  br label %158

134:                                              ; preds = %124
  %135 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 8
  %136 = load i64, ptr %8, align 8, !tbaa !30
  %137 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %135, i64 noundef %136) #7
  %138 = load i32, ptr %137, align 4, !tbaa !9
  %139 = icmp eq i32 %138, 1
  br i1 %139, label %140, label %144

140:                                              ; preds = %134
  %141 = load i64, ptr %8, align 8, !tbaa !30
  %142 = trunc i64 %141 to i32
  %143 = call i32 (ptr, ...) @printf(ptr noundef @.str.71, i32 noundef %142)
  br label %157

144:                                              ; preds = %134
  %145 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 8
  %146 = load i64, ptr %8, align 8, !tbaa !30
  %147 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %145, i64 noundef %146) #7
  %148 = load i32, ptr %147, align 4, !tbaa !9
  %149 = icmp eq i32 %148, 2
  br i1 %149, label %150, label %154

150:                                              ; preds = %144
  %151 = load i64, ptr %8, align 8, !tbaa !30
  %152 = trunc i64 %151 to i32
  %153 = call i32 (ptr, ...) @printf(ptr noundef @.str.72, i32 noundef %152)
  br label %156

154:                                              ; preds = %144
  %155 = call i32 (ptr, ...) @printf(ptr noundef @.str.73)
  br label %156

156:                                              ; preds = %154, %150
  br label %157

157:                                              ; preds = %156, %140
  br label %158

158:                                              ; preds = %157, %130
  br label %159

159:                                              ; preds = %158
  %160 = load i64, ptr %8, align 8, !tbaa !30
  %161 = add i64 %160, 1
  store i64 %161, ptr %8, align 8, !tbaa !30
  br label %118, !llvm.loop !35

162:                                              ; preds = %123
  %163 = call i32 (ptr, ...) @printf(ptr noundef @.str.4)
  %164 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 4
  %165 = load ptr, ptr %164, align 8, !tbaa !36
  call void @MatNd_printCommentDigits(ptr noundef @.str.74, ptr noundef %165, i32 noundef 6)
  %166 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 5
  %167 = load ptr, ptr %166, align 8, !tbaa !37
  call void @MatNd_printCommentDigits(ptr noundef @.str.75, ptr noundef %167, i32 noundef 6)
  %168 = call i32 (ptr, ...) @printf(ptr noundef @.str.4)
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #7
  store i32 0, ptr %9, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #7
  store i64 0, ptr %10, align 8, !tbaa !30
  br label %169

169:                                              ; preds = %441, %162
  %170 = load i64, ptr %10, align 8, !tbaa !30
  %171 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %172 = load ptr, ptr %171, align 8, !tbaa !25
  %173 = getelementptr inbounds %struct._MatNd, ptr %172, i32 0, i32 1
  %174 = load i32, ptr %173, align 8, !tbaa !26
  %175 = zext i32 %174 to i64
  %176 = icmp ult i64 %170, %175
  br i1 %176, label %178, label %177

177:                                              ; preds = %169
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #7
  br label %444

178:                                              ; preds = %169
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #7
  %179 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %180 = load ptr, ptr %179, align 8, !tbaa !25
  %181 = load i64, ptr %10, align 8, !tbaa !30
  %182 = trunc i64 %181 to i32
  %183 = call double @MatNd_get(ptr noundef %180, i32 noundef %182, i32 noundef 0)
  store double %183, ptr %11, align 8, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #7
  %184 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %185 = load ptr, ptr %184, align 8, !tbaa !25
  %186 = load i64, ptr %10, align 8, !tbaa !30
  %187 = trunc i64 %186 to i32
  %188 = call double @MatNd_get(ptr noundef %185, i32 noundef %187, i32 noundef 4)
  %189 = call i64 @lround(double noundef %188) #7
  %190 = trunc i64 %189 to i32
  store i32 %190, ptr %12, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #7
  %191 = load double, ptr %11, align 8, !tbaa !32
  call void @_ZNK3Rcs16ViaPointSequence22computeTrajectoryPointERdS1_S1_d(ptr noundef nonnull align 8 dereferenceable(104) %16, ptr noundef nonnull align 8 dereferenceable(8) %13, ptr noundef nonnull align 8 dereferenceable(8) %14, ptr noundef nonnull align 8 dereferenceable(8) %15, double noundef %191)
  %192 = load i32, ptr %12, align 4, !tbaa !9
  %193 = call zeroext i1 @Math_isBitSet(i32 noundef %192, i32 noundef 0)
  br i1 %193, label %194, label %274

194:                                              ; preds = %178
  br label %195

195:                                              ; preds = %194
  %196 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %197 = icmp ne ptr %196, null
  br i1 %197, label %198, label %207

198:                                              ; preds = %195
  %199 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %200 = load double, ptr %11, align 8, !tbaa !32
  %201 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %202 = load ptr, ptr %201, align 8, !tbaa !25
  %203 = load i64, ptr %10, align 8, !tbaa !30
  %204 = trunc i64 %203 to i32
  %205 = call double @MatNd_get(ptr noundef %202, i32 noundef %204, i32 noundef 1)
  %206 = load double, ptr %13, align 8, !tbaa !32
  call void (i32, ptr, ptr, i32, ptr, ...) %199(i32 noundef 0, ptr noundef @.str.23, ptr noundef @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1702, ptr noundef @.str.76, double noundef %200, double noundef %205, double noundef %206)
  br label %207

207:                                              ; preds = %198, %195
  %208 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %209 = icmp sle i32 0, %208
  br i1 %209, label %210, label %224

210:                                              ; preds = %207
  %211 = load ptr, ptr @stderr, align 8, !tbaa !5
  %212 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %211, ptr noundef @.str.25, ptr noundef @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1702) #7
  %213 = load ptr, ptr @stderr, align 8, !tbaa !5
  %214 = load double, ptr %11, align 8, !tbaa !32
  %215 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %216 = load ptr, ptr %215, align 8, !tbaa !25
  %217 = load i64, ptr %10, align 8, !tbaa !30
  %218 = trunc i64 %217 to i32
  %219 = call double @MatNd_get(ptr noundef %216, i32 noundef %218, i32 noundef 1)
  %220 = load double, ptr %13, align 8, !tbaa !32
  %221 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %213, ptr noundef @.str.76, double noundef %214, double noundef %219, double noundef %220) #7
  %222 = load ptr, ptr @stderr, align 8, !tbaa !5
  %223 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %222, ptr noundef @.str.4) #7
  br label %224

224:                                              ; preds = %210, %207
  br label %225

225:                                              ; preds = %224
  br label %226

226:                                              ; preds = %225
  %227 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %228 = load ptr, ptr %227, align 8, !tbaa !25
  %229 = load i64, ptr %10, align 8, !tbaa !30
  %230 = trunc i64 %229 to i32
  %231 = call double @MatNd_get(ptr noundef %228, i32 noundef %230, i32 noundef 1)
  %232 = load double, ptr %13, align 8, !tbaa !32
  %233 = fsub double %231, %232
  %234 = call double @llvm.fabs.f64(double %233)
  %235 = fcmp ogt double %234, 1.000000e-05
  br i1 %235, label %236, label %273

236:                                              ; preds = %226
  br label %237

237:                                              ; preds = %236
  %238 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %239 = icmp ne ptr %238, null
  br i1 %239, label %240, label %250

240:                                              ; preds = %237
  %241 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %242 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %243 = load ptr, ptr %242, align 8, !tbaa !25
  %244 = load i64, ptr %10, align 8, !tbaa !30
  %245 = trunc i64 %244 to i32
  %246 = call double @MatNd_get(ptr noundef %243, i32 noundef %245, i32 noundef 1)
  %247 = load double, ptr %13, align 8, !tbaa !32
  %248 = fsub double %246, %247
  %249 = call double @llvm.fabs.f64(double %248)
  call void (i32, ptr, ptr, i32, ptr, ...) %241(i32 noundef 0, ptr noundef @.str.23, ptr noundef @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1707, ptr noundef @.str.77, double noundef %249)
  br label %250

250:                                              ; preds = %240, %237
  %251 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %252 = icmp sle i32 0, %251
  br i1 %252, label %253, label %268

253:                                              ; preds = %250
  %254 = load ptr, ptr @stderr, align 8, !tbaa !5
  %255 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %254, ptr noundef @.str.25, ptr noundef @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1707) #7
  %256 = load ptr, ptr @stderr, align 8, !tbaa !5
  %257 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %258 = load ptr, ptr %257, align 8, !tbaa !25
  %259 = load i64, ptr %10, align 8, !tbaa !30
  %260 = trunc i64 %259 to i32
  %261 = call double @MatNd_get(ptr noundef %258, i32 noundef %260, i32 noundef 1)
  %262 = load double, ptr %13, align 8, !tbaa !32
  %263 = fsub double %261, %262
  %264 = call double @llvm.fabs.f64(double %263)
  %265 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %256, ptr noundef @.str.77, double noundef %264) #7
  %266 = load ptr, ptr @stderr, align 8, !tbaa !5
  %267 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %266, ptr noundef @.str.4) #7
  br label %268

268:                                              ; preds = %253, %250
  br label %269

269:                                              ; preds = %268
  br label %270

270:                                              ; preds = %269
  %271 = load i32, ptr %9, align 4, !tbaa !9
  %272 = add i32 %271, 1
  store i32 %272, ptr %9, align 4, !tbaa !9
  br label %273

273:                                              ; preds = %270, %226
  br label %274

274:                                              ; preds = %273, %178
  %275 = load i32, ptr %12, align 4, !tbaa !9
  %276 = call zeroext i1 @Math_isBitSet(i32 noundef %275, i32 noundef 1)
  br i1 %276, label %277, label %357

277:                                              ; preds = %274
  br label %278

278:                                              ; preds = %277
  %279 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %280 = icmp ne ptr %279, null
  br i1 %280, label %281, label %290

281:                                              ; preds = %278
  %282 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %283 = load double, ptr %11, align 8, !tbaa !32
  %284 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %285 = load ptr, ptr %284, align 8, !tbaa !25
  %286 = load i64, ptr %10, align 8, !tbaa !30
  %287 = trunc i64 %286 to i32
  %288 = call double @MatNd_get(ptr noundef %285, i32 noundef %287, i32 noundef 2)
  %289 = load double, ptr %14, align 8, !tbaa !32
  call void (i32, ptr, ptr, i32, ptr, ...) %282(i32 noundef 0, ptr noundef @.str.23, ptr noundef @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1717, ptr noundef @.str.78, double noundef %283, double noundef %288, double noundef %289)
  br label %290

290:                                              ; preds = %281, %278
  %291 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %292 = icmp sle i32 0, %291
  br i1 %292, label %293, label %307

293:                                              ; preds = %290
  %294 = load ptr, ptr @stderr, align 8, !tbaa !5
  %295 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %294, ptr noundef @.str.25, ptr noundef @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1717) #7
  %296 = load ptr, ptr @stderr, align 8, !tbaa !5
  %297 = load double, ptr %11, align 8, !tbaa !32
  %298 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %299 = load ptr, ptr %298, align 8, !tbaa !25
  %300 = load i64, ptr %10, align 8, !tbaa !30
  %301 = trunc i64 %300 to i32
  %302 = call double @MatNd_get(ptr noundef %299, i32 noundef %301, i32 noundef 2)
  %303 = load double, ptr %14, align 8, !tbaa !32
  %304 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %296, ptr noundef @.str.78, double noundef %297, double noundef %302, double noundef %303) #7
  %305 = load ptr, ptr @stderr, align 8, !tbaa !5
  %306 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %305, ptr noundef @.str.4) #7
  br label %307

307:                                              ; preds = %293, %290
  br label %308

308:                                              ; preds = %307
  br label %309

309:                                              ; preds = %308
  %310 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %311 = load ptr, ptr %310, align 8, !tbaa !25
  %312 = load i64, ptr %10, align 8, !tbaa !30
  %313 = trunc i64 %312 to i32
  %314 = call double @MatNd_get(ptr noundef %311, i32 noundef %313, i32 noundef 2)
  %315 = load double, ptr %14, align 8, !tbaa !32
  %316 = fsub double %314, %315
  %317 = call double @llvm.fabs.f64(double %316)
  %318 = fcmp ogt double %317, 1.000000e-04
  br i1 %318, label %319, label %356

319:                                              ; preds = %309
  br label %320

320:                                              ; preds = %319
  %321 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %322 = icmp ne ptr %321, null
  br i1 %322, label %323, label %333

323:                                              ; preds = %320
  %324 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %325 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %326 = load ptr, ptr %325, align 8, !tbaa !25
  %327 = load i64, ptr %10, align 8, !tbaa !30
  %328 = trunc i64 %327 to i32
  %329 = call double @MatNd_get(ptr noundef %326, i32 noundef %328, i32 noundef 2)
  %330 = load double, ptr %14, align 8, !tbaa !32
  %331 = fsub double %329, %330
  %332 = call double @llvm.fabs.f64(double %331)
  call void (i32, ptr, ptr, i32, ptr, ...) %324(i32 noundef 0, ptr noundef @.str.23, ptr noundef @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1722, ptr noundef @.str.77, double noundef %332)
  br label %333

333:                                              ; preds = %323, %320
  %334 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %335 = icmp sle i32 0, %334
  br i1 %335, label %336, label %351

336:                                              ; preds = %333
  %337 = load ptr, ptr @stderr, align 8, !tbaa !5
  %338 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %337, ptr noundef @.str.25, ptr noundef @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1722) #7
  %339 = load ptr, ptr @stderr, align 8, !tbaa !5
  %340 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %341 = load ptr, ptr %340, align 8, !tbaa !25
  %342 = load i64, ptr %10, align 8, !tbaa !30
  %343 = trunc i64 %342 to i32
  %344 = call double @MatNd_get(ptr noundef %341, i32 noundef %343, i32 noundef 2)
  %345 = load double, ptr %14, align 8, !tbaa !32
  %346 = fsub double %344, %345
  %347 = call double @llvm.fabs.f64(double %346)
  %348 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %339, ptr noundef @.str.77, double noundef %347) #7
  %349 = load ptr, ptr @stderr, align 8, !tbaa !5
  %350 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %349, ptr noundef @.str.4) #7
  br label %351

351:                                              ; preds = %336, %333
  br label %352

352:                                              ; preds = %351
  br label %353

353:                                              ; preds = %352
  %354 = load i32, ptr %9, align 4, !tbaa !9
  %355 = add i32 %354, 1
  store i32 %355, ptr %9, align 4, !tbaa !9
  br label %356

356:                                              ; preds = %353, %309
  br label %357

357:                                              ; preds = %356, %274
  %358 = load i32, ptr %12, align 4, !tbaa !9
  %359 = call zeroext i1 @Math_isBitSet(i32 noundef %358, i32 noundef 2)
  br i1 %359, label %360, label %440

360:                                              ; preds = %357
  br label %361

361:                                              ; preds = %360
  %362 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %363 = icmp ne ptr %362, null
  br i1 %363, label %364, label %373

364:                                              ; preds = %361
  %365 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %366 = load double, ptr %11, align 8, !tbaa !32
  %367 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %368 = load ptr, ptr %367, align 8, !tbaa !25
  %369 = load i64, ptr %10, align 8, !tbaa !30
  %370 = trunc i64 %369 to i32
  %371 = call double @MatNd_get(ptr noundef %368, i32 noundef %370, i32 noundef 3)
  %372 = load double, ptr %15, align 8, !tbaa !32
  call void (i32, ptr, ptr, i32, ptr, ...) %365(i32 noundef 0, ptr noundef @.str.23, ptr noundef @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1732, ptr noundef @.str.79, double noundef %366, double noundef %371, double noundef %372)
  br label %373

373:                                              ; preds = %364, %361
  %374 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %375 = icmp sle i32 0, %374
  br i1 %375, label %376, label %390

376:                                              ; preds = %373
  %377 = load ptr, ptr @stderr, align 8, !tbaa !5
  %378 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %377, ptr noundef @.str.25, ptr noundef @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1732) #7
  %379 = load ptr, ptr @stderr, align 8, !tbaa !5
  %380 = load double, ptr %11, align 8, !tbaa !32
  %381 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %382 = load ptr, ptr %381, align 8, !tbaa !25
  %383 = load i64, ptr %10, align 8, !tbaa !30
  %384 = trunc i64 %383 to i32
  %385 = call double @MatNd_get(ptr noundef %382, i32 noundef %384, i32 noundef 3)
  %386 = load double, ptr %15, align 8, !tbaa !32
  %387 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %379, ptr noundef @.str.79, double noundef %380, double noundef %385, double noundef %386) #7
  %388 = load ptr, ptr @stderr, align 8, !tbaa !5
  %389 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %388, ptr noundef @.str.4) #7
  br label %390

390:                                              ; preds = %376, %373
  br label %391

391:                                              ; preds = %390
  br label %392

392:                                              ; preds = %391
  %393 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %394 = load ptr, ptr %393, align 8, !tbaa !25
  %395 = load i64, ptr %10, align 8, !tbaa !30
  %396 = trunc i64 %395 to i32
  %397 = call double @MatNd_get(ptr noundef %394, i32 noundef %396, i32 noundef 3)
  %398 = load double, ptr %15, align 8, !tbaa !32
  %399 = fsub double %397, %398
  %400 = call double @llvm.fabs.f64(double %399)
  %401 = fcmp ogt double %400, 1.000000e-04
  br i1 %401, label %402, label %439

402:                                              ; preds = %392
  br label %403

403:                                              ; preds = %402
  %404 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %405 = icmp ne ptr %404, null
  br i1 %405, label %406, label %416

406:                                              ; preds = %403
  %407 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %408 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %409 = load ptr, ptr %408, align 8, !tbaa !25
  %410 = load i64, ptr %10, align 8, !tbaa !30
  %411 = trunc i64 %410 to i32
  %412 = call double @MatNd_get(ptr noundef %409, i32 noundef %411, i32 noundef 3)
  %413 = load double, ptr %15, align 8, !tbaa !32
  %414 = fsub double %412, %413
  %415 = call double @llvm.fabs.f64(double %414)
  call void (i32, ptr, ptr, i32, ptr, ...) %407(i32 noundef 0, ptr noundef @.str.23, ptr noundef @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1737, ptr noundef @.str.77, double noundef %415)
  br label %416

416:                                              ; preds = %406, %403
  %417 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %418 = icmp sle i32 0, %417
  br i1 %418, label %419, label %434

419:                                              ; preds = %416
  %420 = load ptr, ptr @stderr, align 8, !tbaa !5
  %421 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %420, ptr noundef @.str.25, ptr noundef @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1737) #7
  %422 = load ptr, ptr @stderr, align 8, !tbaa !5
  %423 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %16, i32 0, i32 1
  %424 = load ptr, ptr %423, align 8, !tbaa !25
  %425 = load i64, ptr %10, align 8, !tbaa !30
  %426 = trunc i64 %425 to i32
  %427 = call double @MatNd_get(ptr noundef %424, i32 noundef %426, i32 noundef 3)
  %428 = load double, ptr %15, align 8, !tbaa !32
  %429 = fsub double %427, %428
  %430 = call double @llvm.fabs.f64(double %429)
  %431 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %422, ptr noundef @.str.77, double noundef %430) #7
  %432 = load ptr, ptr @stderr, align 8, !tbaa !5
  %433 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %432, ptr noundef @.str.4) #7
  br label %434

434:                                              ; preds = %419, %416
  br label %435

435:                                              ; preds = %434
  br label %436

436:                                              ; preds = %435
  %437 = load i32, ptr %9, align 4, !tbaa !9
  %438 = add i32 %437, 1
  store i32 %438, ptr %9, align 4, !tbaa !9
  br label %439

439:                                              ; preds = %436, %392
  br label %440

440:                                              ; preds = %439, %357
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #7
  br label %441

441:                                              ; preds = %440
  %442 = load i64, ptr %10, align 8, !tbaa !30
  %443 = add i64 %442, 1
  store i64 %443, ptr %10, align 8, !tbaa !30
  br label %169, !llvm.loop !38

444:                                              ; preds = %177
  br label %445

445:                                              ; preds = %444
  %446 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %447 = icmp ne ptr %446, null
  br i1 %447, label %448, label %451

448:                                              ; preds = %445
  %449 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %450 = load i32, ptr %9, align 4, !tbaa !9
  call void (i32, ptr, ptr, i32, ptr, ...) %449(i32 noundef 0, ptr noundef @.str.23, ptr noundef @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1744, ptr noundef @.str.47, i32 noundef %450)
  br label %451

451:                                              ; preds = %448, %445
  %452 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %453 = icmp sle i32 0, %452
  br i1 %453, label %454, label %462

454:                                              ; preds = %451
  %455 = load ptr, ptr @stderr, align 8, !tbaa !5
  %456 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %455, ptr noundef @.str.25, ptr noundef @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1744) #7
  %457 = load ptr, ptr @stderr, align 8, !tbaa !5
  %458 = load i32, ptr %9, align 4, !tbaa !9
  %459 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %457, ptr noundef @.str.47, i32 noundef %458) #7
  %460 = load ptr, ptr @stderr, align 8, !tbaa !5
  %461 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %460, ptr noundef @.str.4) #7
  br label %462

462:                                              ; preds = %454, %451
  br label %463

463:                                              ; preds = %462
  br label %464

464:                                              ; preds = %463
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %4) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %3) #7
  ret void
}

declare i32 @printf(ptr noundef, ...) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #6 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { "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 = { 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 #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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #6 = { 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 #7 = { nounwind }
attributes #8 = { 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, !14, i64 52}
!12 = !{!"_ZTSN3Rcs16ViaPointSequenceE", !6, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !13, i64 48, !14, i64 52, !15, i64 56, !19, i64 80}
!13 = !{!"bool", !7, i64 0}
!14 = !{!"_ZTSN3Rcs16ViaPointSequence12ViaPointTypeE", !7, i64 0}
!15 = !{!"_ZTSSt6vectorIiSaIiEE", !16, i64 0}
!16 = !{!"_ZTSSt12_Vector_baseIiSaIiEE", !17, i64 0}
!17 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE12_Vector_implE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!19 = !{!"_ZTSSt6vectorIdSaIdEE", !20, i64 0}
!20 = !{!"_ZTSSt12_Vector_baseIdSaIdEE", !21, i64 0}
!21 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE12_Vector_implE", !22, i64 0}
!22 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!23 = distinct !{!23, !24}
!24 = !{!"llvm.loop.mustprogress"}
!25 = !{!12, !6, i64 8}
!26 = !{!27, !10, i64 8}
!27 = !{!"_ZTS6_MatNd", !6, i64 0, !10, i64 8, !10, i64 12, !10, i64 16, !13, i64 20}
!28 = !{!12, !6, i64 16}
!29 = !{!12, !6, i64 24}
!30 = !{!31, !31, i64 0}
!31 = !{!"long", !7, i64 0}
!32 = !{!33, !33, i64 0}
!33 = !{!"double", !7, i64 0}
!34 = distinct !{!34, !24}
!35 = distinct !{!35, !24}
!36 = !{!12, !6, i64 32}
!37 = !{!12, !6, i64 40}
!38 = distinct !{!38, !24}


; 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"

@stderr = external local_unnamed_addr global ptr, align 8
@.str.1 = external hidden unnamed_addr constant [26 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [77 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [2 x i8], align 1
@RCS_GLOBAL_RLOG_CB = external local_unnamed_addr global ptr, align 8
@.str.23 = external hidden unnamed_addr constant [1 x i8], align 1
@RcsLogLevel = external local_unnamed_addr global i32, align 4
@.str.25 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.40 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.47 = external hidden unnamed_addr constant [27 x i8], align 1
@.str.60 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.61 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.62 = external hidden unnamed_addr constant [20 x i8], align 1
@__func__._ZNK3Rcs16ViaPointSequence5printEv = external hidden unnamed_addr constant [6 x i8], align 1
@.str.63 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.64 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.65 = external hidden unnamed_addr constant [83 x i8], align 1
@.str.66 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.67 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.68 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.69 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.70 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.71 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.72 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.73 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.74 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.75 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.76 = external hidden unnamed_addr constant [65 x i8], align 1
@.str.77 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.78 = external hidden unnamed_addr constant [73 x i8], align 1
@.str.79 = external hidden unnamed_addr constant [79 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: nounwind
declare i64 @lround(double noundef) local_unnamed_addr #1

declare double @MatNd_get(ptr noundef, i32 noundef, i32 noundef) local_unnamed_addr #2

declare zeroext i1 @Math_isBitSet(i32 noundef, i32 noundef) local_unnamed_addr #2

declare void @MatNd_printCommentDigits(ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #2

; Function Attrs: nofree nounwind
declare noundef i32 @fprintf(ptr nocapture noundef, ptr nocapture noundef readonly, ...) local_unnamed_addr #3

declare void @print_trace() local_unnamed_addr #2

; Function Attrs: noreturn nounwind
declare void @exit(i32 noundef) local_unnamed_addr #4

; 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
declare dso_local void @_ZNK3Rcs16ViaPointSequence22computeTrajectoryPointERdS1_S1_d(ptr noundef nonnull align 8 dereferenceable(104), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), double noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fabs.f64(double) #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNKSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #7 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZNK3Rcs16ViaPointSequence5printEv(ptr noundef nonnull align 8 dereferenceable(104) %0) local_unnamed_addr #5 align 2 {
  %2 = alloca double, align 8
  %3 = alloca double, align 8
  %4 = alloca double, align 8
  %5 = tail call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.60)
  %6 = getelementptr inbounds i8, ptr %0, i64 52
  %7 = load i32, ptr %6, align 4, !tbaa !5
  switch i32 %7, label %9 [
    i32 0, label %16
    i32 1, label %8
  ]

8:                                                ; preds = %1
  br label %16

9:                                                ; preds = %1
  %10 = load ptr, ptr @stderr, align 8, !tbaa !20
  %11 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %10, ptr noundef nonnull @.str.1, ptr noundef nonnull @.str.2, ptr noundef nonnull @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1620) #8
  %12 = load ptr, ptr @stderr, align 8, !tbaa !20
  %13 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %12, ptr noundef nonnull @.str.63) #8
  %14 = load ptr, ptr @stderr, align 8, !tbaa !20
  %15 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %14, ptr noundef nonnull @.str.4) #8
  tail call void @print_trace()
  tail call void @exit(i32 noundef 1) #9
  unreachable

16:                                               ; preds = %1, %8
  %.str.62.sink = phi ptr [ @.str.62, %8 ], [ @.str.61, %1 ]
  %17 = tail call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) %.str.62.sink)
  %18 = getelementptr inbounds i8, ptr %0, i64 56
  %19 = tail call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %18) #10
  %.not101 = icmp eq i64 %19, 0
  br i1 %.not101, label %._crit_edge, label %.lr.ph

._crit_edge:                                      ; preds = %52, %16
  %.064.lcssa = phi i32 [ 0, %16 ], [ %.165, %52 ]
  %.056.lcssa = phi i32 [ 0, %16 ], [ %.157, %52 ]
  %.0.lcssa = phi i32 [ 0, %16 ], [ %.1, %52 ]
  %20 = getelementptr inbounds i8, ptr %0, i64 8
  %21 = load ptr, ptr %20, align 8, !tbaa !21
  tail call void @MatNd_printCommentDigits(ptr noundef nonnull @.str.64, ptr noundef %21, i32 noundef 6)
  %22 = load ptr, ptr %20, align 8, !tbaa !21
  %23 = getelementptr inbounds i8, ptr %22, i64 8
  %24 = load i32, ptr %23, align 8, !tbaa !22
  %25 = tail call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.65, i32 noundef %24, i32 noundef %.0.lcssa, i32 noundef %.056.lcssa, i32 noundef %.064.lcssa)
  %26 = getelementptr inbounds i8, ptr %0, i64 16
  %27 = load ptr, ptr %26, align 8, !tbaa !25
  tail call void @MatNd_printCommentDigits(ptr noundef nonnull @.str.40, ptr noundef %27, i32 noundef 6)
  %28 = getelementptr inbounds i8, ptr %0, i64 24
  %29 = load ptr, ptr %28, align 8, !tbaa !26
  tail call void @MatNd_printCommentDigits(ptr noundef nonnull @.str.66, ptr noundef %29, i32 noundef 6)
  %30 = getelementptr inbounds i8, ptr %0, i64 80
  %31 = tail call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %30) #10
  %32 = trunc i64 %31 to i32
  %33 = tail call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.67, i32 noundef %32)
  %34 = tail call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %30) #10
  %.not102 = icmp eq i64 %34, 0
  br i1 %.not102, label %._crit_edge90, label %.lr.ph89

.lr.ph:                                           ; preds = %16, %52
  %35 = phi i64 [ %54, %52 ], [ 0, %16 ]
  %.083 = phi i32 [ %.1, %52 ], [ 0, %16 ]
  %.05682 = phi i32 [ %.157, %52 ], [ 0, %16 ]
  %.06381 = phi i32 [ %53, %52 ], [ 0, %16 ]
  %.06480 = phi i32 [ %.165, %52 ], [ 0, %16 ]
  %36 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %18, i64 noundef %35) #10
  %37 = load i32, ptr %36, align 4, !tbaa !27
  %38 = icmp eq i32 %37, 0
  br i1 %38, label %39, label %41

39:                                               ; preds = %.lr.ph
  %40 = add i32 %.083, 1
  br label %52

41:                                               ; preds = %.lr.ph
  %42 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %18, i64 noundef %35) #10
  %43 = load i32, ptr %42, align 4, !tbaa !27
  %44 = icmp eq i32 %43, 1
  br i1 %44, label %45, label %47

45:                                               ; preds = %41
  %46 = add i32 %.05682, 1
  br label %52

47:                                               ; preds = %41
  %48 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %18, i64 noundef %35) #10
  %49 = load i32, ptr %48, align 4, !tbaa !27
  %50 = icmp eq i32 %49, 2
  %51 = zext i1 %50 to i32
  %spec.select = add i32 %.06480, %51
  br label %52

52:                                               ; preds = %47, %39, %45
  %.165 = phi i32 [ %.06480, %39 ], [ %.06480, %45 ], [ %spec.select, %47 ]
  %.157 = phi i32 [ %.05682, %39 ], [ %46, %45 ], [ %.05682, %47 ]
  %.1 = phi i32 [ %40, %39 ], [ %.083, %45 ], [ %.083, %47 ]
  %53 = add i32 %.06381, 1
  %54 = zext i32 %53 to i64
  %55 = tail call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %18) #10
  %56 = icmp ugt i64 %55, %54
  br i1 %56, label %.lr.ph, label %._crit_edge, !llvm.loop !28

._crit_edge90:                                    ; preds = %.lr.ph89, %._crit_edge
  %57 = tail call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.4)
  %58 = tail call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %18) #10
  %59 = trunc i64 %58 to i32
  %60 = tail call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.69, i32 noundef %59)
  %61 = tail call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %18) #10
  %.not103 = icmp eq i64 %61, 0
  br i1 %.not103, label %._crit_edge94, label %.lr.ph93

.lr.ph89:                                         ; preds = %._crit_edge, %.lr.ph89
  %.06287 = phi i64 [ %65, %.lr.ph89 ], [ 0, %._crit_edge ]
  %62 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNKSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %30, i64 noundef %.06287) #10
  %63 = load double, ptr %62, align 8, !tbaa !30
  %64 = tail call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.68, double noundef %63)
  %65 = add nuw i64 %.06287, 1
  %66 = tail call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %30) #10
  %67 = icmp ult i64 %65, %66
  br i1 %67, label %.lr.ph89, label %._crit_edge90, !llvm.loop !32

._crit_edge94:                                    ; preds = %99, %._crit_edge90
  %68 = tail call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.4)
  %69 = getelementptr inbounds i8, ptr %0, i64 32
  %70 = load ptr, ptr %69, align 8, !tbaa !33
  tail call void @MatNd_printCommentDigits(ptr noundef nonnull @.str.74, ptr noundef %70, i32 noundef 6)
  %71 = getelementptr inbounds i8, ptr %0, i64 40
  %72 = load ptr, ptr %71, align 8, !tbaa !34
  tail call void @MatNd_printCommentDigits(ptr noundef nonnull @.str.75, ptr noundef %72, i32 noundef 6)
  %73 = tail call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.4)
  %74 = load ptr, ptr %20, align 8, !tbaa !21
  %75 = getelementptr inbounds i8, ptr %74, i64 8
  %76 = load i32, ptr %75, align 8, !tbaa !22
  %.not104 = icmp eq i32 %76, 0
  br i1 %.not104, label %._crit_edge99, label %.lr.ph98

.lr.ph93:                                         ; preds = %._crit_edge90, %99
  %.06191 = phi i64 [ %100, %99 ], [ 0, %._crit_edge90 ]
  %77 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %18, i64 noundef %.06191) #10
  %78 = load i32, ptr %77, align 4, !tbaa !27
  %79 = icmp eq i32 %78, 0
  br i1 %79, label %80, label %83

80:                                               ; preds = %.lr.ph93
  %81 = trunc i64 %.06191 to i32
  %82 = tail call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.70, i32 noundef %81)
  br label %99

83:                                               ; preds = %.lr.ph93
  %84 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %18, i64 noundef %.06191) #10
  %85 = load i32, ptr %84, align 4, !tbaa !27
  %86 = icmp eq i32 %85, 1
  br i1 %86, label %87, label %90

87:                                               ; preds = %83
  %88 = trunc i64 %.06191 to i32
  %89 = tail call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.71, i32 noundef %88)
  br label %99

90:                                               ; preds = %83
  %91 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %18, i64 noundef %.06191) #10
  %92 = load i32, ptr %91, align 4, !tbaa !27
  %93 = icmp eq i32 %92, 2
  br i1 %93, label %94, label %97

94:                                               ; preds = %90
  %95 = trunc i64 %.06191 to i32
  %96 = tail call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.72, i32 noundef %95)
  br label %99

97:                                               ; preds = %90
  %98 = tail call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.73)
  br label %99

99:                                               ; preds = %80, %94, %97, %87
  %100 = add nuw i64 %.06191, 1
  %101 = tail call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %18) #10
  %102 = icmp ult i64 %100, %101
  br i1 %102, label %.lr.ph93, label %._crit_edge94, !llvm.loop !35

._crit_edge99:                                    ; preds = %269, %._crit_edge94
  %.059.lcssa = phi i32 [ 0, %._crit_edge94 ], [ %.3, %269 ]
  %103 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !20
  %.not = icmp eq ptr %103, null
  br i1 %.not, label %277, label %276

.lr.ph98:                                         ; preds = %._crit_edge94, %269
  %104 = phi ptr [ %271, %269 ], [ %74, %._crit_edge94 ]
  %.05896 = phi i64 [ %270, %269 ], [ 0, %._crit_edge94 ]
  %.05995 = phi i32 [ %.3, %269 ], [ 0, %._crit_edge94 ]
  %105 = trunc nuw i64 %.05896 to i32
  %106 = call double @MatNd_get(ptr noundef nonnull %104, i32 noundef %105, i32 noundef 0)
  %107 = load ptr, ptr %20, align 8, !tbaa !21
  %108 = call double @MatNd_get(ptr noundef %107, i32 noundef %105, i32 noundef 4)
  %109 = call i64 @lround(double noundef %108) #10
  %110 = trunc i64 %109 to i32
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %2) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #10
  call void @_ZNK3Rcs16ViaPointSequence22computeTrajectoryPointERdS1_S1_d(ptr noundef nonnull align 8 dereferenceable(104) %0, ptr noundef nonnull align 8 dereferenceable(8) %2, ptr noundef nonnull align 8 dereferenceable(8) %3, ptr noundef nonnull align 8 dereferenceable(8) %4, double noundef %106)
  %111 = call zeroext i1 @Math_isBitSet(i32 noundef %110, i32 noundef 0)
  br i1 %111, label %112, label %163

112:                                              ; preds = %.lr.ph98
  %113 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !20
  %.not74 = icmp eq ptr %113, null
  br i1 %.not74, label %118, label %114

114:                                              ; preds = %112
  %115 = load ptr, ptr %20, align 8, !tbaa !21
  %116 = call double @MatNd_get(ptr noundef %115, i32 noundef %105, i32 noundef 1)
  %117 = load double, ptr %2, align 8, !tbaa !30
  call void (i32, ptr, ptr, i32, ptr, ...) %113(i32 noundef 0, ptr noundef nonnull @.str.23, ptr noundef nonnull @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1702, ptr noundef nonnull @.str.76, double noundef %106, double noundef %116, double noundef %117)
  br label %118

118:                                              ; preds = %114, %112
  %119 = load i32, ptr @RcsLogLevel, align 4, !tbaa !27
  %120 = icmp sgt i32 %119, -1
  br i1 %120, label %121, label %131

121:                                              ; preds = %118
  %122 = load ptr, ptr @stderr, align 8, !tbaa !20
  %123 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %122, ptr noundef nonnull @.str.25, ptr noundef nonnull @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1702) #8
  %124 = load ptr, ptr @stderr, align 8, !tbaa !20
  %125 = load ptr, ptr %20, align 8, !tbaa !21
  %126 = call double @MatNd_get(ptr noundef %125, i32 noundef %105, i32 noundef 1)
  %127 = load double, ptr %2, align 8, !tbaa !30
  %128 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %124, ptr noundef nonnull @.str.76, double noundef %106, double noundef %126, double noundef %127) #8
  %129 = load ptr, ptr @stderr, align 8, !tbaa !20
  %130 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %129, ptr noundef nonnull @.str.4) #8
  br label %131

131:                                              ; preds = %121, %118
  %132 = load ptr, ptr %20, align 8, !tbaa !21
  %133 = call double @MatNd_get(ptr noundef %132, i32 noundef %105, i32 noundef 1)
  %134 = load double, ptr %2, align 8, !tbaa !30
  %135 = fsub double %133, %134
  %136 = call double @llvm.fabs.f64(double %135)
  %137 = fcmp ogt double %136, 1.000000e-05
  br i1 %137, label %138, label %163

138:                                              ; preds = %131
  %139 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !20
  %.not75 = icmp eq ptr %139, null
  br i1 %.not75, label %146, label %140

140:                                              ; preds = %138
  %141 = load ptr, ptr %20, align 8, !tbaa !21
  %142 = call double @MatNd_get(ptr noundef %141, i32 noundef %105, i32 noundef 1)
  %143 = load double, ptr %2, align 8, !tbaa !30
  %144 = fsub double %142, %143
  %145 = call double @llvm.fabs.f64(double %144)
  call void (i32, ptr, ptr, i32, ptr, ...) %139(i32 noundef 0, ptr noundef nonnull @.str.23, ptr noundef nonnull @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1707, ptr noundef nonnull @.str.77, double noundef %145)
  br label %146

146:                                              ; preds = %140, %138
  %147 = load i32, ptr @RcsLogLevel, align 4, !tbaa !27
  %148 = icmp sgt i32 %147, -1
  br i1 %148, label %149, label %161

149:                                              ; preds = %146
  %150 = load ptr, ptr @stderr, align 8, !tbaa !20
  %151 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %150, ptr noundef nonnull @.str.25, ptr noundef nonnull @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1707) #8
  %152 = load ptr, ptr @stderr, align 8, !tbaa !20
  %153 = load ptr, ptr %20, align 8, !tbaa !21
  %154 = call double @MatNd_get(ptr noundef %153, i32 noundef %105, i32 noundef 1)
  %155 = load double, ptr %2, align 8, !tbaa !30
  %156 = fsub double %154, %155
  %157 = call double @llvm.fabs.f64(double %156)
  %158 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %152, ptr noundef nonnull @.str.77, double noundef %157) #8
  %159 = load ptr, ptr @stderr, align 8, !tbaa !20
  %160 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %159, ptr noundef nonnull @.str.4) #8
  br label %161

161:                                              ; preds = %149, %146
  %162 = add i32 %.05995, 1
  br label %163

163:                                              ; preds = %131, %161, %.lr.ph98
  %.160 = phi i32 [ %162, %161 ], [ %.05995, %131 ], [ %.05995, %.lr.ph98 ]
  %164 = call zeroext i1 @Math_isBitSet(i32 noundef %110, i32 noundef 1)
  br i1 %164, label %165, label %216

165:                                              ; preds = %163
  %166 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !20
  %.not76 = icmp eq ptr %166, null
  br i1 %.not76, label %171, label %167

167:                                              ; preds = %165
  %168 = load ptr, ptr %20, align 8, !tbaa !21
  %169 = call double @MatNd_get(ptr noundef %168, i32 noundef %105, i32 noundef 2)
  %170 = load double, ptr %3, align 8, !tbaa !30
  call void (i32, ptr, ptr, i32, ptr, ...) %166(i32 noundef 0, ptr noundef nonnull @.str.23, ptr noundef nonnull @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1717, ptr noundef nonnull @.str.78, double noundef %106, double noundef %169, double noundef %170)
  br label %171

171:                                              ; preds = %167, %165
  %172 = load i32, ptr @RcsLogLevel, align 4, !tbaa !27
  %173 = icmp sgt i32 %172, -1
  br i1 %173, label %174, label %184

174:                                              ; preds = %171
  %175 = load ptr, ptr @stderr, align 8, !tbaa !20
  %176 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %175, ptr noundef nonnull @.str.25, ptr noundef nonnull @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1717) #8
  %177 = load ptr, ptr @stderr, align 8, !tbaa !20
  %178 = load ptr, ptr %20, align 8, !tbaa !21
  %179 = call double @MatNd_get(ptr noundef %178, i32 noundef %105, i32 noundef 2)
  %180 = load double, ptr %3, align 8, !tbaa !30
  %181 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %177, ptr noundef nonnull @.str.78, double noundef %106, double noundef %179, double noundef %180) #8
  %182 = load ptr, ptr @stderr, align 8, !tbaa !20
  %183 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %182, ptr noundef nonnull @.str.4) #8
  br label %184

184:                                              ; preds = %174, %171
  %185 = load ptr, ptr %20, align 8, !tbaa !21
  %186 = call double @MatNd_get(ptr noundef %185, i32 noundef %105, i32 noundef 2)
  %187 = load double, ptr %3, align 8, !tbaa !30
  %188 = fsub double %186, %187
  %189 = call double @llvm.fabs.f64(double %188)
  %190 = fcmp ogt double %189, 1.000000e-04
  br i1 %190, label %191, label %216

191:                                              ; preds = %184
  %192 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !20
  %.not77 = icmp eq ptr %192, null
  br i1 %.not77, label %199, label %193

193:                                              ; preds = %191
  %194 = load ptr, ptr %20, align 8, !tbaa !21
  %195 = call double @MatNd_get(ptr noundef %194, i32 noundef %105, i32 noundef 2)
  %196 = load double, ptr %3, align 8, !tbaa !30
  %197 = fsub double %195, %196
  %198 = call double @llvm.fabs.f64(double %197)
  call void (i32, ptr, ptr, i32, ptr, ...) %192(i32 noundef 0, ptr noundef nonnull @.str.23, ptr noundef nonnull @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1722, ptr noundef nonnull @.str.77, double noundef %198)
  br label %199

199:                                              ; preds = %193, %191
  %200 = load i32, ptr @RcsLogLevel, align 4, !tbaa !27
  %201 = icmp sgt i32 %200, -1
  br i1 %201, label %202, label %214

202:                                              ; preds = %199
  %203 = load ptr, ptr @stderr, align 8, !tbaa !20
  %204 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %203, ptr noundef nonnull @.str.25, ptr noundef nonnull @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1722) #8
  %205 = load ptr, ptr @stderr, align 8, !tbaa !20
  %206 = load ptr, ptr %20, align 8, !tbaa !21
  %207 = call double @MatNd_get(ptr noundef %206, i32 noundef %105, i32 noundef 2)
  %208 = load double, ptr %3, align 8, !tbaa !30
  %209 = fsub double %207, %208
  %210 = call double @llvm.fabs.f64(double %209)
  %211 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %205, ptr noundef nonnull @.str.77, double noundef %210) #8
  %212 = load ptr, ptr @stderr, align 8, !tbaa !20
  %213 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %212, ptr noundef nonnull @.str.4) #8
  br label %214

214:                                              ; preds = %202, %199
  %215 = add i32 %.160, 1
  br label %216

216:                                              ; preds = %184, %214, %163
  %.2 = phi i32 [ %215, %214 ], [ %.160, %184 ], [ %.160, %163 ]
  %217 = call zeroext i1 @Math_isBitSet(i32 noundef %110, i32 noundef 2)
  br i1 %217, label %218, label %269

218:                                              ; preds = %216
  %219 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !20
  %.not78 = icmp eq ptr %219, null
  br i1 %.not78, label %224, label %220

220:                                              ; preds = %218
  %221 = load ptr, ptr %20, align 8, !tbaa !21
  %222 = call double @MatNd_get(ptr noundef %221, i32 noundef %105, i32 noundef 3)
  %223 = load double, ptr %4, align 8, !tbaa !30
  call void (i32, ptr, ptr, i32, ptr, ...) %219(i32 noundef 0, ptr noundef nonnull @.str.23, ptr noundef nonnull @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1732, ptr noundef nonnull @.str.79, double noundef %106, double noundef %222, double noundef %223)
  br label %224

224:                                              ; preds = %220, %218
  %225 = load i32, ptr @RcsLogLevel, align 4, !tbaa !27
  %226 = icmp sgt i32 %225, -1
  br i1 %226, label %227, label %237

227:                                              ; preds = %224
  %228 = load ptr, ptr @stderr, align 8, !tbaa !20
  %229 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %228, ptr noundef nonnull @.str.25, ptr noundef nonnull @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1732) #8
  %230 = load ptr, ptr @stderr, align 8, !tbaa !20
  %231 = load ptr, ptr %20, align 8, !tbaa !21
  %232 = call double @MatNd_get(ptr noundef %231, i32 noundef %105, i32 noundef 3)
  %233 = load double, ptr %4, align 8, !tbaa !30
  %234 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %230, ptr noundef nonnull @.str.79, double noundef %106, double noundef %232, double noundef %233) #8
  %235 = load ptr, ptr @stderr, align 8, !tbaa !20
  %236 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %235, ptr noundef nonnull @.str.4) #8
  br label %237

237:                                              ; preds = %227, %224
  %238 = load ptr, ptr %20, align 8, !tbaa !21
  %239 = call double @MatNd_get(ptr noundef %238, i32 noundef %105, i32 noundef 3)
  %240 = load double, ptr %4, align 8, !tbaa !30
  %241 = fsub double %239, %240
  %242 = call double @llvm.fabs.f64(double %241)
  %243 = fcmp ogt double %242, 1.000000e-04
  br i1 %243, label %244, label %269

244:                                              ; preds = %237
  %245 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !20
  %.not79 = icmp eq ptr %245, null
  br i1 %.not79, label %252, label %246

246:                                              ; preds = %244
  %247 = load ptr, ptr %20, align 8, !tbaa !21
  %248 = call double @MatNd_get(ptr noundef %247, i32 noundef %105, i32 noundef 3)
  %249 = load double, ptr %4, align 8, !tbaa !30
  %250 = fsub double %248, %249
  %251 = call double @llvm.fabs.f64(double %250)
  call void (i32, ptr, ptr, i32, ptr, ...) %245(i32 noundef 0, ptr noundef nonnull @.str.23, ptr noundef nonnull @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1737, ptr noundef nonnull @.str.77, double noundef %251)
  br label %252

252:                                              ; preds = %246, %244
  %253 = load i32, ptr @RcsLogLevel, align 4, !tbaa !27
  %254 = icmp sgt i32 %253, -1
  br i1 %254, label %255, label %267

255:                                              ; preds = %252
  %256 = load ptr, ptr @stderr, align 8, !tbaa !20
  %257 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %256, ptr noundef nonnull @.str.25, ptr noundef nonnull @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1737) #8
  %258 = load ptr, ptr @stderr, align 8, !tbaa !20
  %259 = load ptr, ptr %20, align 8, !tbaa !21
  %260 = call double @MatNd_get(ptr noundef %259, i32 noundef %105, i32 noundef 3)
  %261 = load double, ptr %4, align 8, !tbaa !30
  %262 = fsub double %260, %261
  %263 = call double @llvm.fabs.f64(double %262)
  %264 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %258, ptr noundef nonnull @.str.77, double noundef %263) #8
  %265 = load ptr, ptr @stderr, align 8, !tbaa !20
  %266 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %265, ptr noundef nonnull @.str.4) #8
  br label %267

267:                                              ; preds = %255, %252
  %268 = add i32 %.2, 1
  br label %269

269:                                              ; preds = %237, %267, %216
  %.3 = phi i32 [ %268, %267 ], [ %.2, %237 ], [ %.2, %216 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %2) #10
  %270 = add nuw nsw i64 %.05896, 1
  %271 = load ptr, ptr %20, align 8, !tbaa !21
  %272 = getelementptr inbounds i8, ptr %271, i64 8
  %273 = load i32, ptr %272, align 8, !tbaa !22
  %274 = zext i32 %273 to i64
  %275 = icmp ult i64 %270, %274
  br i1 %275, label %.lr.ph98, label %._crit_edge99, !llvm.loop !36

276:                                              ; preds = %._crit_edge99
  call void (i32, ptr, ptr, i32, ptr, ...) %103(i32 noundef 0, ptr noundef nonnull @.str.23, ptr noundef nonnull @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1744, ptr noundef nonnull @.str.47, i32 noundef %.059.lcssa)
  br label %277

277:                                              ; preds = %276, %._crit_edge99
  %278 = load i32, ptr @RcsLogLevel, align 4, !tbaa !27
  %279 = icmp sgt i32 %278, -1
  br i1 %279, label %280, label %287

280:                                              ; preds = %277
  %281 = load ptr, ptr @stderr, align 8, !tbaa !20
  %282 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %281, ptr noundef nonnull @.str.25, ptr noundef nonnull @__func__._ZNK3Rcs16ViaPointSequence5printEv, i32 noundef 1744) #8
  %283 = load ptr, ptr @stderr, align 8, !tbaa !20
  %284 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %283, ptr noundef nonnull @.str.47, i32 noundef %.059.lcssa) #8
  %285 = load ptr, ptr @stderr, align 8, !tbaa !20
  %286 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %285, ptr noundef nonnull @.str.4) #8
  br label %287

287:                                              ; preds = %280, %277
  ret void
}

; Function Attrs: nofree nounwind
declare noundef i32 @printf(ptr nocapture noundef readonly, ...) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #7 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { "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 = { nofree 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 = { 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 #5 = { 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 #6 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #7 = { 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 #8 = { cold nounwind }
attributes #9 = { noreturn nounwind }
attributes #10 = { 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, !11, i64 52}
!6 = !{!"_ZTSN3Rcs16ViaPointSequenceE", !7, i64 8, !7, i64 16, !7, i64 24, !7, i64 32, !7, i64 40, !10, i64 48, !11, i64 52, !12, i64 56, !16, i64 80}
!7 = !{!"any pointer", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"bool", !8, i64 0}
!11 = !{!"_ZTSN3Rcs16ViaPointSequence12ViaPointTypeE", !8, i64 0}
!12 = !{!"_ZTSSt6vectorIiSaIiEE", !13, i64 0}
!13 = !{!"_ZTSSt12_Vector_baseIiSaIiEE", !14, i64 0}
!14 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE12_Vector_implE", !15, i64 0}
!15 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE17_Vector_impl_dataE", !7, i64 0, !7, i64 8, !7, i64 16}
!16 = !{!"_ZTSSt6vectorIdSaIdEE", !17, i64 0}
!17 = !{!"_ZTSSt12_Vector_baseIdSaIdEE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE12_Vector_implE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE17_Vector_impl_dataE", !7, i64 0, !7, i64 8, !7, i64 16}
!20 = !{!7, !7, i64 0}
!21 = !{!6, !7, i64 8}
!22 = !{!23, !24, i64 8}
!23 = !{!"_ZTS6_MatNd", !7, i64 0, !24, i64 8, !24, i64 12, !24, i64 16, !10, i64 20}
!24 = !{!"int", !8, i64 0}
!25 = !{!6, !7, i64 16}
!26 = !{!6, !7, i64 24}
!27 = !{!24, !24, i64 0}
!28 = distinct !{!28, !29}
!29 = !{!"llvm.loop.mustprogress"}
!30 = !{!31, !31, i64 0}
!31 = !{!"double", !8, i64 0}
!32 = distinct !{!32, !29}
!33 = !{!6, !7, i64 32}
!34 = !{!6, !7, i64 40}
!35 = distinct !{!35, !29}
!36 = distinct !{!36, !29}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,InstSimplifyPass,JumpThreadingPass,LCSSAPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,ReassociatePass,SROAPass,SimplifyCFGPass,TailCallElimPass