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

; 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._RcsJoint = type { ptr, double, double, double, double, double, double, double, i8, i32, i32, i32, i32, ptr, %struct.HTr, double, double, double, double, i32, ptr, ptr, ptr, ptr, ptr }
%struct.HTr = type { [3 x double], [3 x [3 x double]] }

; Function Attrs: nounwind uwtable
define dso_local void @RcsJoint_destroy(ptr noundef %0) #0 {
  %2 = alloca ptr, align 8
  store ptr %0, ptr %2, align 8, !tbaa !5
  %3 = load ptr, ptr %2, align 8, !tbaa !5
  %4 = icmp eq ptr %3, null
  br i1 %4, label %5, label %6

5:                                                ; preds = %1
  br label %21

6:                                                ; preds = %1
  %7 = load ptr, ptr %2, align 8, !tbaa !5
  %8 = getelementptr inbounds %struct._RcsJoint, ptr %7, i32 0, i32 0
  %9 = load ptr, ptr %8, align 8, !tbaa !9
  call void @free(ptr noundef %9) #4
  %10 = load ptr, ptr %2, align 8, !tbaa !5
  %11 = getelementptr inbounds %struct._RcsJoint, ptr %10, i32 0, i32 13
  %12 = load ptr, ptr %11, align 8, !tbaa !15
  call void @free(ptr noundef %12) #4
  %13 = load ptr, ptr %2, align 8, !tbaa !5
  %14 = getelementptr inbounds %struct._RcsJoint, ptr %13, i32 0, i32 20
  %15 = load ptr, ptr %14, align 8, !tbaa !16
  call void @free(ptr noundef %15) #4
  %16 = load ptr, ptr %2, align 8, !tbaa !5
  %17 = getelementptr inbounds %struct._RcsJoint, ptr %16, i32 0, i32 21
  %18 = load ptr, ptr %17, align 8, !tbaa !17
  call void @MatNd_destroy(ptr noundef %18)
  %19 = load ptr, ptr %2, align 8, !tbaa !5
  call void @llvm.memset.p0.i64(ptr align 8 %19, i8 0, i64 272, i1 false)
  %20 = load ptr, ptr %2, align 8, !tbaa !5
  call void @free(ptr noundef %20) #4
  br label %21

21:                                               ; preds = %6, %5
  ret void
}

; Function Attrs: nounwind
declare void @free(ptr noundef) #1

declare void @MatNd_destroy(ptr noundef) #2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #3

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 = { 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 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #4 = { 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/C++ TBAA"}
!9 = !{!10, !6, i64 0}
!10 = !{!"_RcsJoint", !6, i64 0, !11, i64 8, !11, i64 16, !11, i64 24, !11, i64 32, !11, i64 40, !11, i64 48, !11, i64 56, !12, i64 64, !13, i64 68, !13, i64 72, !13, i64 76, !13, i64 80, !6, i64 88, !14, i64 96, !11, i64 192, !11, i64 200, !11, i64 208, !11, i64 216, !13, i64 224, !6, i64 232, !6, i64 240, !6, i64 248, !6, i64 256, !6, i64 264}
!11 = !{!"double", !7, i64 0}
!12 = !{!"_Bool", !7, i64 0}
!13 = !{!"int", !7, i64 0}
!14 = !{!"", !7, i64 0, !7, i64 24}
!15 = !{!10, !6, i64 88}
!16 = !{!10, !6, i64 232}
!17 = !{!10, !6, i64 240}


; 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 @RcsJoint_destroy(ptr noundef %0) local_unnamed_addr #0 {
  %2 = icmp eq ptr %0, null
  br i1 %2, label %11, label %3

3:                                                ; preds = %1
  %4 = load ptr, ptr %0, align 8, !tbaa !5
  tail call void @free(ptr noundef %4) #3
  %5 = getelementptr inbounds i8, ptr %0, i64 88
  %6 = load ptr, ptr %5, align 8, !tbaa !14
  tail call void @free(ptr noundef %6) #3
  %7 = getelementptr inbounds i8, ptr %0, i64 232
  %8 = load ptr, ptr %7, align 8, !tbaa !15
  tail call void @free(ptr noundef %8) #3
  %9 = getelementptr inbounds i8, ptr %0, i64 240
  %10 = load ptr, ptr %9, align 8, !tbaa !16
  tail call void @MatNd_destroy(ptr noundef %10) #3
  tail call void @free(ptr noundef nonnull %0) #3
  br label %11

11:                                               ; preds = %1, %3
  ret void
}

; Function Attrs: mustprogress nounwind willreturn allockind("free") memory(argmem: readwrite, inaccessiblemem: readwrite)
declare void @free(ptr allocptr nocapture noundef) local_unnamed_addr #1

declare void @MatNd_destroy(ptr noundef) local_unnamed_addr #2

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 = { mustprogress nounwind willreturn allockind("free") memory(argmem: readwrite, inaccessiblemem: readwrite) "alloc-family"="malloc" "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 = { 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, !7, i64 0}
!6 = !{!"_RcsJoint", !7, i64 0, !10, i64 8, !10, i64 16, !10, i64 24, !10, i64 32, !10, i64 40, !10, i64 48, !10, i64 56, !11, i64 64, !12, i64 68, !12, i64 72, !12, i64 76, !12, i64 80, !7, i64 88, !13, i64 96, !10, i64 192, !10, i64 200, !10, i64 208, !10, i64 216, !12, i64 224, !7, i64 232, !7, i64 240, !7, i64 248, !7, i64 256, !7, i64 264}
!7 = !{!"any pointer", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C/C++ TBAA"}
!10 = !{!"double", !8, i64 0}
!11 = !{!"_Bool", !8, i64 0}
!12 = !{!"int", !8, i64 0}
!13 = !{!"", !8, i64 0, !8, i64 24}
!14 = !{!6, !7, i64 88}
!15 = !{!6, !7, i64 232}
!16 = !{!6, !7, i64 240}


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