; LLVM IR from HRI-EU/Rcs :: external (EulerAngles)

; 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.EulerAngles = type { double, double, double, i32 }

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

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

; Function Attrs: nounwind uwtable
declare dso_local void @Eul_FromHMatrix(ptr dead_on_unwind noalias writable sret(%struct.EulerAngles) align 8, ptr noundef, i32 noundef) #1

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #2

; Function Attrs: nounwind uwtable
define dso_local void @computeEulerAngles(ptr noundef %0, ptr noundef %1, i32 noundef %2) #1 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca i32, align 4
  %7 = alloca [4 x [4 x double]], align 16
  %8 = alloca %struct.EulerAngles, align 8
  %9 = alloca %struct.EulerAngles, align 8
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  store i32 %2, ptr %6, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 128, ptr %7) #3
  %10 = getelementptr inbounds [4 x [4 x double]], ptr %7, i64 0, i64 0
  %11 = load ptr, ptr %5, align 8, !tbaa !5
  call void @RotMatrix2HMatrix(ptr noundef %10, ptr noundef %11)
  call void @llvm.lifetime.start.p0(i64 32, ptr %8) #3
  call void @llvm.lifetime.start.p0(i64 32, ptr %9) #3
  %12 = getelementptr inbounds [4 x [4 x double]], ptr %7, i64 0, i64 0
  %13 = load i32, ptr %6, align 4, !tbaa !9
  call void @Eul_FromHMatrix(ptr dead_on_unwind writable sret(%struct.EulerAngles) align 8 %9, ptr noundef %12, i32 noundef %13)
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %8, ptr align 8 %9, i64 32, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 32, ptr %9) #3
  %14 = getelementptr inbounds %struct.EulerAngles, ptr %8, i32 0, i32 0
  %15 = load double, ptr %14, align 8, !tbaa !14
  %16 = load ptr, ptr %4, align 8, !tbaa !5
  %17 = getelementptr inbounds double, ptr %16, i64 0
  store double %15, ptr %17, align 8, !tbaa !12
  %18 = getelementptr inbounds %struct.EulerAngles, ptr %8, i32 0, i32 1
  %19 = load double, ptr %18, align 8, !tbaa !16
  %20 = load ptr, ptr %4, align 8, !tbaa !5
  %21 = getelementptr inbounds double, ptr %20, i64 1
  store double %19, ptr %21, align 8, !tbaa !12
  %22 = getelementptr inbounds %struct.EulerAngles, ptr %8, i32 0, i32 2
  %23 = load double, ptr %22, align 8, !tbaa !17
  %24 = load ptr, ptr %4, align 8, !tbaa !5
  %25 = getelementptr inbounds double, ptr %24, i64 2
  store double %23, ptr %25, align 8, !tbaa !12
  call void @llvm.lifetime.end.p0(i64 32, ptr %8) #3
  call void @llvm.lifetime.end.p0(i64 128, ptr %7) #3
  ret void
}

; Function Attrs: nounwind uwtable
declare hidden void @RotMatrix2HMatrix(ptr noundef, ptr noundef) #1

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
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, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{i64 0, i64 8, !12, i64 8, i64 8, !12, i64 16, i64 8, !12, i64 24, i64 4, !9}
!12 = !{!13, !13, i64 0}
!13 = !{!"double", !7, i64 0}
!14 = !{!15, !13, i64 0}
!15 = !{!"", !13, i64 0, !13, i64 8, !13, i64 16, !10, i64 24}
!16 = !{!15, !13, i64 8}
!17 = !{!15, !13, i64 16}


; 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"

%struct.EulerAngles = type { double, double, double, i32 }

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

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

; Function Attrs: nounwind uwtable
declare dso_local void @Eul_FromHMatrix(ptr dead_on_unwind noalias writable sret(%struct.EulerAngles) align 8, ptr noundef, i32 noundef) local_unnamed_addr #1

; Function Attrs: nounwind uwtable
define dso_local void @computeEulerAngles(ptr nocapture noundef writeonly %0, ptr noundef %1, i32 noundef %2) local_unnamed_addr #1 {
  %4 = alloca [4 x [4 x double]], align 16
  %5 = alloca %struct.EulerAngles, align 16
  call void @llvm.lifetime.start.p0(i64 128, ptr nonnull %4) #2
  call void @RotMatrix2HMatrix(ptr noundef nonnull %4, ptr noundef %1)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %5) #2
  call void @Eul_FromHMatrix(ptr dead_on_unwind nonnull writable sret(%struct.EulerAngles) align 8 %5, ptr noundef nonnull %4, i32 noundef %2)
  %.sroa.5.0..sroa_idx = getelementptr inbounds i8, ptr %5, i64 16
  %.sroa.5.0.copyload = load double, ptr %.sroa.5.0..sroa_idx, align 16, !tbaa !5
  %6 = load <2 x double>, ptr %5, align 16, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %5) #2
  store <2 x double> %6, ptr %0, align 8, !tbaa !5
  %7 = getelementptr inbounds i8, ptr %0, i64 16
  store double %.sroa.5.0.copyload, ptr %7, align 8, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 128, ptr nonnull %4) #2
  ret void
}

; Function Attrs: nounwind uwtable
declare hidden void @RotMatrix2HMatrix(ptr noundef, ptr noundef) local_unnamed_addr #1

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #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, !6, i64 0}
!6 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,PostOrderFunctionAttrsPass,SLPVectorizerPass,SROAPass