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

; Unoptimized IR (clang -disable-llvm-passes):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::Block.149" = type { %"class.Eigen::BlockImpl.150" }
%"class.Eigen::BlockImpl.150" = type { %"class.Eigen::internal::BlockImpl_dense.151" }
%"class.Eigen::internal::BlockImpl_dense.151" = type { %"class.Eigen::MapBase.152", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.152" = type { %"class.Eigen::MapBase.153" }
%"class.Eigen::MapBase.153" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"class.Eigen::Matrix.13" = type { %"class.Eigen::PlainObjectBase.14" }
%"class.Eigen::PlainObjectBase.14" = type { %"class.Eigen::DenseStorage.21" }
%"class.Eigen::DenseStorage.21" = type { %"struct.Eigen::internal::plain_array.22" }
%"struct.Eigen::internal::plain_array.22" = type { [9 x float] }
%"class.Eigen::Inverse" = type { ptr }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x float] }
%"class.Eigen::Block.164" = type { %"class.Eigen::BlockImpl.165" }
%"class.Eigen::BlockImpl.165" = type { %"class.Eigen::internal::BlockImpl_dense.166" }
%"class.Eigen::internal::BlockImpl_dense.166" = type { %"class.Eigen::MapBase.base.175", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.base.175" = type { %"class.Eigen::MapBase.base" }
%"class.Eigen::MapBase.base" = type <{ ptr, [2 x i8] }>
%"class.Eigen::Block.176" = type { %"class.Eigen::BlockImpl.177" }
%"class.Eigen::BlockImpl.177" = type { %"class.Eigen::internal::BlockImpl_dense.178" }
%"class.Eigen::internal::BlockImpl_dense.178" = type { %"class.Eigen::MapBase.179", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.179" = type { %"class.Eigen::MapBase.180" }
%"class.Eigen::MapBase.180" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::CwiseBinaryOp.187" = type <{ [4 x i8], %"class.Eigen::CwiseNullaryOp.193", [4 x i8] }>
%"class.Eigen::CwiseNullaryOp.193" = type { [4 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { float }
%"class.Eigen::CwiseNullaryOp.199" = type { [3 x i8] }

; 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: mustprogress uwtable
define dso_local void @_Z10ct_ss_matsN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEEfNS0_IfLi3ELi4ELi0ELi3ELi4EEES1_RNS0_IfLi13ELi13ELi0ELi13ELi13EEERNS0_IfLi13ELi12ELi0ELi13ELi12EEEf(ptr noundef %0, float noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef nonnull align 4 dereferenceable(676) %4, ptr noundef nonnull align 16 dereferenceable(624) %5, float noundef %6) #1 {
  %8 = alloca ptr, align 8
  %9 = alloca float, align 4
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca float, align 4
  %15 = alloca %"class.Eigen::Transpose", align 8
  %16 = alloca %"class.Eigen::Block.149", align 8
  %17 = alloca %"class.Eigen::Matrix.13", align 4
  %18 = alloca %"class.Eigen::Inverse", align 8
  %19 = alloca i16, align 2
  %20 = alloca %"class.Eigen::Matrix.13", align 4
  %21 = alloca %"class.Eigen::Matrix.13", align 4
  %22 = alloca %"class.Eigen::Matrix", align 4
  %23 = alloca %"class.Eigen::Block.164", align 8
  %24 = alloca %"class.Eigen::Block.176", align 8
  %25 = alloca %"class.Eigen::CwiseBinaryOp.187", align 4
  %26 = alloca %"class.Eigen::CwiseNullaryOp.199", align 1
  %27 = alloca %"class.Eigen::Block.176", align 8
  store ptr %0, ptr %8, align 8, !tbaa !5
  store float %1, ptr %9, align 4, !tbaa !9
  store ptr %2, ptr %10, align 8, !tbaa !5
  store ptr %3, ptr %11, align 8, !tbaa !5
  store ptr %4, ptr %12, align 8, !tbaa !5
  store ptr %5, ptr %13, align 8, !tbaa !5
  store float %6, ptr %14, align 4, !tbaa !9
  %28 = load ptr, ptr %12, align 8, !tbaa !5
  %29 = call noundef nonnull align 4 dereferenceable(676) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %28)
  %30 = load ptr, ptr %12, align 8, !tbaa !5
  %31 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %30, i64 noundef 3, i64 noundef 9)
  store float 1.000000e+00, ptr %31, align 4, !tbaa !9
  %32 = load float, ptr %14, align 4, !tbaa !9
  %33 = load ptr, ptr %12, align 8, !tbaa !5
  %34 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %33, i64 noundef 11, i64 noundef 9)
  store float %32, ptr %34, align 4, !tbaa !9
  %35 = load ptr, ptr %12, align 8, !tbaa !5
  %36 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %35, i64 noundef 4, i64 noundef 10)
  store float 1.000000e+00, ptr %36, align 4, !tbaa !9
  %37 = load ptr, ptr %12, align 8, !tbaa !5
  %38 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %37, i64 noundef 5, i64 noundef 11)
  store float 1.000000e+00, ptr %38, align 4, !tbaa !9
  %39 = load ptr, ptr %12, align 8, !tbaa !5
  %40 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %39, i64 noundef 11, i64 noundef 12)
  store float 1.000000e+00, ptr %40, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #3
  %41 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %3)
  %42 = getelementptr inbounds %"class.Eigen::Transpose", ptr %15, i32 0, i32 0
  store ptr %41, ptr %42, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr %16) #3
  %43 = load ptr, ptr %12, align 8, !tbaa !5
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block.149") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %43, i64 noundef 0, i64 noundef 6, i32 noundef 3, i32 noundef 3)
  %44 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEELin1ELin1ELb0EEaSINS_9TransposeINS1_IfLi3ELi3ELi0ELi3ELi3EEEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %16, ptr noundef nonnull align 1 dereferenceable(1) %15)
  call void @llvm.lifetime.end.p0(i64 56, ptr %16) #3
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #3
  %45 = load ptr, ptr %13, align 8, !tbaa !5
  %46 = call noundef nonnull align 16 dereferenceable(624) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %45)
  call void @llvm.lifetime.start.p0(i64 36, ptr %17) #3
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #3
  %47 = call ptr @_ZNK5Eigen10MatrixBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1) %0)
  %48 = getelementptr inbounds %"class.Eigen::Inverse", ptr %18, i32 0, i32 0
  store ptr %47, ptr %48, align 8
  call void @_ZN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEC2INS_7InverseIS1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(36) %17, ptr noundef nonnull align 1 dereferenceable(1) %18)
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #3
  call void @llvm.lifetime.start.p0(i64 2, ptr %19) #3
  store i16 0, ptr %19, align 2, !tbaa !11
  br label %49

49:                                               ; preds = %69, %7
  %50 = load i16, ptr %19, align 2, !tbaa !11
  %51 = sext i16 %50 to i32
  %52 = icmp slt i32 %51, 4
  br i1 %52, label %54, label %53

53:                                               ; preds = %49
  call void @llvm.lifetime.end.p0(i64 2, ptr %19) #3
  br label %72

54:                                               ; preds = %49
  call void @llvm.lifetime.start.p0(i64 36, ptr %20) #3
  call void @_ZN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEC2ERKS1_(ptr noundef nonnull align 4 dereferenceable(36) %21, ptr noundef nonnull align 4 dereferenceable(36) %17)
  call void @llvm.lifetime.start.p0(i64 48, ptr %23) #3
  %55 = load i16, ptr %19, align 2, !tbaa !11
  %56 = sext i16 %55 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEEE3colEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.164") align 8 %23, ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef %56)
  call void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2INS_5BlockINS0_IfLi3ELi4ELi0ELi3ELi4EEELi3ELi1ELb1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(12) %22, ptr noundef nonnull align 1 dereferenceable(1) %23)
  call void @_Z9cross_matN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEENS0_IfLi3ELi1ELi0ELi3ELi1EEE(ptr dead_on_unwind writable sret(%"class.Eigen::Matrix.13") align 4 %20, ptr noundef %21, ptr noundef %22)
  call void @llvm.lifetime.start.p0(i64 56, ptr %24) #3
  %57 = load ptr, ptr %13, align 8, !tbaa !5
  %58 = load i16, ptr %19, align 2, !tbaa !11
  %59 = sext i16 %58 to i32
  %60 = mul nsw i32 %59, 3
  %61 = sext i32 %60 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block.176") align 8 %24, ptr noundef nonnull align 1 dereferenceable(1) %57, i64 noundef 6, i64 noundef %61, i32 noundef 3, i32 noundef 3)
  %62 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEELin1ELin1ELb0EEaSINS1_IfLi3ELi3ELi0ELi3ELi3EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %24, ptr noundef nonnull align 1 dereferenceable(1) %20)
  call void @llvm.lifetime.end.p0(i64 56, ptr %24) #3
  call void @llvm.lifetime.end.p0(i64 48, ptr %23) #3
  call void @llvm.lifetime.end.p0(i64 36, ptr %20) #3
  call void @llvm.lifetime.start.p0(i64 16, ptr %25) #3
  call void @llvm.lifetime.start.p0(i64 3, ptr %26) #3
  call void @_ZN5Eigen10MatrixBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE8IdentityEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.199") align 1 %26)
  call void @_ZNK5Eigen10MatrixBaseINS_14CwiseNullaryOpINS_8internal18scalar_identity_opIfEENS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEEEdvIfEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIfNS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIfSD_NSB_IfSD_EEEEEE5valueEE4typeEEEKS7_KNS2_19plain_constant_typeIS7_SI_E4typeEEERKSD_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.187") align 4 %25, ptr noundef nonnull align 1 dereferenceable(1) %26, ptr noundef nonnull align 4 dereferenceable(4) %9)
  call void @llvm.lifetime.start.p0(i64 56, ptr %27) #3
  %63 = load ptr, ptr %13, align 8, !tbaa !5
  %64 = load i16, ptr %19, align 2, !tbaa !11
  %65 = sext i16 %64 to i32
  %66 = mul nsw i32 %65, 3
  %67 = sext i32 %66 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block.176") align 8 %27, ptr noundef nonnull align 1 dereferenceable(1) %63, i64 noundef 9, i64 noundef %67, i32 noundef 3, i32 noundef 3)
  %68 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEELin1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIffEEKNS_14CwiseNullaryOpINS6_18scalar_identity_opIfEENS1_IfLi3ELi3ELi0ELi3ELi3EEEEEKNS9_INS6_18scalar_constant_opIfEEKSC_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %27, ptr noundef nonnull align 1 dereferenceable(1) %25)
  call void @llvm.lifetime.end.p0(i64 56, ptr %27) #3
  call void @llvm.lifetime.end.p0(i64 3, ptr %26) #3
  call void @llvm.lifetime.end.p0(i64 16, ptr %25) #3
  br label %69

69:                                               ; preds = %54
  %70 = load i16, ptr %19, align 2, !tbaa !11
  %71 = add i16 %70, 1
  store i16 %71, ptr %19, align 2, !tbaa !11
  br label %49, !llvm.loop !13

72:                                               ; preds = %53
  call void @llvm.lifetime.end.p0(i64 36, ptr %17) #3
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(676) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.149") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEELin1ELin1ELb0EEaSINS_9TransposeINS1_IfLi3ELi3ELi0ELi3ELi3EEEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(624) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZNK5Eigen10MatrixBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEC2INS_7InverseIS1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(36), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_Z9cross_matN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEENS0_IfLi3ELi1ELi0ELi3ELi1EEE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.13") align 4, ptr noundef, ptr noundef) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEC2ERKS1_(ptr noundef nonnull align 4 dereferenceable(36), ptr noundef nonnull align 4 dereferenceable(36)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEEE3colEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.164") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2INS_5BlockINS0_IfLi3ELi4ELi0ELi3ELi4EEELi3ELi1ELb1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.176") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEELin1ELin1ELb0EEaSINS1_IfLi3ELi3ELi0ELi3ELi3EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen10MatrixBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE8IdentityEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.199") align 1) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_14CwiseNullaryOpINS_8internal18scalar_identity_opIfEENS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEEEdvIfEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIfNS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIfSD_NSB_IfSD_EEEEEE5valueEE4typeEEEKS7_KNS2_19plain_constant_typeIS7_SI_E4typeEEERKSD_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.187") align 4, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEELin1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIffEEKNS_14CwiseNullaryOpINS6_18scalar_identity_opIfEENS1_IfLi3ELi3ELi0ELi3ELi3EEEEEKNS9_INS6_18scalar_constant_opIfEEKSC_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #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++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"float", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"short", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}


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

%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::Block.149" = type { %"class.Eigen::BlockImpl.150" }
%"class.Eigen::BlockImpl.150" = type { %"class.Eigen::internal::BlockImpl_dense.151" }
%"class.Eigen::internal::BlockImpl_dense.151" = type { %"class.Eigen::MapBase.152", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.152" = type { %"class.Eigen::MapBase.153" }
%"class.Eigen::MapBase.153" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"class.Eigen::Matrix.13" = type { %"class.Eigen::PlainObjectBase.14" }
%"class.Eigen::PlainObjectBase.14" = type { %"class.Eigen::DenseStorage.21" }
%"class.Eigen::DenseStorage.21" = type { %"struct.Eigen::internal::plain_array.22" }
%"struct.Eigen::internal::plain_array.22" = type { [9 x float] }
%"class.Eigen::Inverse" = type { ptr }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x float] }
%"class.Eigen::Block.164" = type { %"class.Eigen::BlockImpl.165" }
%"class.Eigen::BlockImpl.165" = type { %"class.Eigen::internal::BlockImpl_dense.166" }
%"class.Eigen::internal::BlockImpl_dense.166" = type { %"class.Eigen::MapBase.base.175", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.base.175" = type { %"class.Eigen::MapBase.base" }
%"class.Eigen::MapBase.base" = type <{ ptr, [2 x i8] }>
%"class.Eigen::Block.176" = type { %"class.Eigen::BlockImpl.177" }
%"class.Eigen::BlockImpl.177" = type { %"class.Eigen::internal::BlockImpl_dense.178" }
%"class.Eigen::internal::BlockImpl_dense.178" = type { %"class.Eigen::MapBase.179", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.179" = type { %"class.Eigen::MapBase.180" }
%"class.Eigen::MapBase.180" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::CwiseBinaryOp.187" = type <{ [4 x i8], %"class.Eigen::CwiseNullaryOp.193", [4 x i8] }>
%"class.Eigen::CwiseNullaryOp.193" = type { [4 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { float }
%"class.Eigen::CwiseNullaryOp.199" = type { [3 x i8] }

; 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: mustprogress uwtable
define dso_local void @_Z10ct_ss_matsN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEEfNS0_IfLi3ELi4ELi0ELi3ELi4EEES1_RNS0_IfLi13ELi13ELi0ELi13ELi13EEERNS0_IfLi13ELi12ELi0ELi13ELi12EEEf(ptr noundef %0, float noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef nonnull align 4 dereferenceable(676) %4, ptr noundef nonnull align 16 dereferenceable(624) %5, float noundef %6) local_unnamed_addr #1 {
  %8 = alloca float, align 4
  %9 = alloca %"class.Eigen::Transpose", align 8
  %10 = alloca %"class.Eigen::Block.149", align 8
  %11 = alloca %"class.Eigen::Matrix.13", align 4
  %12 = alloca %"class.Eigen::Inverse", align 8
  %13 = alloca %"class.Eigen::Matrix.13", align 4
  %14 = alloca %"class.Eigen::Matrix.13", align 4
  %15 = alloca %"class.Eigen::Matrix", align 4
  %16 = alloca %"class.Eigen::Block.164", align 8
  %17 = alloca %"class.Eigen::Block.176", align 8
  %18 = alloca %"class.Eigen::CwiseBinaryOp.187", align 4
  %19 = alloca %"class.Eigen::CwiseNullaryOp.199", align 1
  %20 = alloca %"class.Eigen::Block.176", align 8
  store float %1, ptr %8, align 4, !tbaa !5
  %21 = tail call noundef nonnull align 4 dereferenceable(676) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %4)
  %22 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef 3, i64 noundef 9)
  store float 1.000000e+00, ptr %22, align 4, !tbaa !5
  %23 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef 11, i64 noundef 9)
  store float %6, ptr %23, align 4, !tbaa !5
  %24 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef 4, i64 noundef 10)
  store float 1.000000e+00, ptr %24, align 4, !tbaa !5
  %25 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef 5, i64 noundef 11)
  store float 1.000000e+00, ptr %25, align 4, !tbaa !5
  %26 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef 11, i64 noundef 12)
  store float 1.000000e+00, ptr %26, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #3
  %27 = tail call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %3)
  store ptr %27, ptr %9, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %10) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.149") align 8 %10, ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef 0, i64 noundef 6, i32 noundef 3, i32 noundef 3)
  %28 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEELin1ELin1ELb0EEaSINS_9TransposeINS1_IfLi3ELi3ELi0ELi3ELi3EEEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %10, ptr noundef nonnull align 1 dereferenceable(1) %9)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %10) #3
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #3
  %29 = call noundef nonnull align 16 dereferenceable(624) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %5)
  call void @llvm.lifetime.start.p0(i64 36, ptr nonnull %11) #3
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #3
  %30 = call ptr @_ZNK5Eigen10MatrixBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1) %0)
  store ptr %30, ptr %12, align 8
  call void @_ZN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEC2INS_7InverseIS1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(36) %11, ptr noundef nonnull align 1 dereferenceable(1) %12)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #3
  call void @llvm.lifetime.start.p0(i64 36, ptr nonnull %13) #3
  call void @_ZN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEC2ERKS1_(ptr noundef nonnull align 4 dereferenceable(36) %14, ptr noundef nonnull align 4 dereferenceable(36) %11)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %16) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEEE3colEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.164") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef 0)
  call void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2INS_5BlockINS0_IfLi3ELi4ELi0ELi3ELi4EEELi3ELi1ELb1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(12) %15, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @_Z9cross_matN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEENS0_IfLi3ELi1ELi0ELi3ELi1EEE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix.13") align 4 %13, ptr noundef nonnull %14, ptr noundef nonnull %15)
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %17) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.176") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 6, i64 noundef 0, i32 noundef 3, i32 noundef 3)
  %31 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEELin1ELin1ELb0EEaSINS1_IfLi3ELi3ELi0ELi3ELi3EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %17, ptr noundef nonnull align 1 dereferenceable(1) %13)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %17) #3
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %16) #3
  call void @llvm.lifetime.end.p0(i64 36, ptr nonnull %13) #3
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %18) #3
  call void @llvm.lifetime.start.p0(i64 3, ptr nonnull %19) #3
  call void @_ZN5Eigen10MatrixBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE8IdentityEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.199") align 1 %19)
  call void @_ZNK5Eigen10MatrixBaseINS_14CwiseNullaryOpINS_8internal18scalar_identity_opIfEENS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEEEdvIfEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIfNS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIfSD_NSB_IfSD_EEEEEE5valueEE4typeEEEKS7_KNS2_19plain_constant_typeIS7_SI_E4typeEEERKSD_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.187") align 4 %18, ptr noundef nonnull align 1 dereferenceable(1) %19, ptr noundef nonnull align 4 dereferenceable(4) %8)
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %20) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.176") align 8 %20, ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 9, i64 noundef 0, i32 noundef 3, i32 noundef 3)
  %32 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEELin1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIffEEKNS_14CwiseNullaryOpINS6_18scalar_identity_opIfEENS1_IfLi3ELi3ELi0ELi3ELi3EEEEEKNS9_INS6_18scalar_constant_opIfEEKSC_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %20, ptr noundef nonnull align 1 dereferenceable(1) %18)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %20) #3
  call void @llvm.lifetime.end.p0(i64 3, ptr nonnull %19) #3
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #3
  call void @llvm.lifetime.start.p0(i64 36, ptr nonnull %13) #3
  call void @_ZN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEC2ERKS1_(ptr noundef nonnull align 4 dereferenceable(36) %14, ptr noundef nonnull align 4 dereferenceable(36) %11)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %16) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEEE3colEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.164") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef 1)
  call void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2INS_5BlockINS0_IfLi3ELi4ELi0ELi3ELi4EEELi3ELi1ELb1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(12) %15, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @_Z9cross_matN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEENS0_IfLi3ELi1ELi0ELi3ELi1EEE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix.13") align 4 %13, ptr noundef nonnull %14, ptr noundef nonnull %15)
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %17) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.176") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 6, i64 noundef 3, i32 noundef 3, i32 noundef 3)
  %33 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEELin1ELin1ELb0EEaSINS1_IfLi3ELi3ELi0ELi3ELi3EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %17, ptr noundef nonnull align 1 dereferenceable(1) %13)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %17) #3
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %16) #3
  call void @llvm.lifetime.end.p0(i64 36, ptr nonnull %13) #3
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %18) #3
  call void @llvm.lifetime.start.p0(i64 3, ptr nonnull %19) #3
  call void @_ZN5Eigen10MatrixBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE8IdentityEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.199") align 1 %19)
  call void @_ZNK5Eigen10MatrixBaseINS_14CwiseNullaryOpINS_8internal18scalar_identity_opIfEENS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEEEdvIfEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIfNS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIfSD_NSB_IfSD_EEEEEE5valueEE4typeEEEKS7_KNS2_19plain_constant_typeIS7_SI_E4typeEEERKSD_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.187") align 4 %18, ptr noundef nonnull align 1 dereferenceable(1) %19, ptr noundef nonnull align 4 dereferenceable(4) %8)
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %20) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.176") align 8 %20, ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 9, i64 noundef 3, i32 noundef 3, i32 noundef 3)
  %34 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEELin1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIffEEKNS_14CwiseNullaryOpINS6_18scalar_identity_opIfEENS1_IfLi3ELi3ELi0ELi3ELi3EEEEEKNS9_INS6_18scalar_constant_opIfEEKSC_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %20, ptr noundef nonnull align 1 dereferenceable(1) %18)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %20) #3
  call void @llvm.lifetime.end.p0(i64 3, ptr nonnull %19) #3
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #3
  call void @llvm.lifetime.start.p0(i64 36, ptr nonnull %13) #3
  call void @_ZN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEC2ERKS1_(ptr noundef nonnull align 4 dereferenceable(36) %14, ptr noundef nonnull align 4 dereferenceable(36) %11)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %16) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEEE3colEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.164") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef 2)
  call void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2INS_5BlockINS0_IfLi3ELi4ELi0ELi3ELi4EEELi3ELi1ELb1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(12) %15, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @_Z9cross_matN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEENS0_IfLi3ELi1ELi0ELi3ELi1EEE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix.13") align 4 %13, ptr noundef nonnull %14, ptr noundef nonnull %15)
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %17) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.176") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 6, i64 noundef 6, i32 noundef 3, i32 noundef 3)
  %35 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEELin1ELin1ELb0EEaSINS1_IfLi3ELi3ELi0ELi3ELi3EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %17, ptr noundef nonnull align 1 dereferenceable(1) %13)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %17) #3
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %16) #3
  call void @llvm.lifetime.end.p0(i64 36, ptr nonnull %13) #3
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %18) #3
  call void @llvm.lifetime.start.p0(i64 3, ptr nonnull %19) #3
  call void @_ZN5Eigen10MatrixBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE8IdentityEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.199") align 1 %19)
  call void @_ZNK5Eigen10MatrixBaseINS_14CwiseNullaryOpINS_8internal18scalar_identity_opIfEENS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEEEdvIfEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIfNS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIfSD_NSB_IfSD_EEEEEE5valueEE4typeEEEKS7_KNS2_19plain_constant_typeIS7_SI_E4typeEEERKSD_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.187") align 4 %18, ptr noundef nonnull align 1 dereferenceable(1) %19, ptr noundef nonnull align 4 dereferenceable(4) %8)
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %20) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.176") align 8 %20, ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 9, i64 noundef 6, i32 noundef 3, i32 noundef 3)
  %36 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEELin1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIffEEKNS_14CwiseNullaryOpINS6_18scalar_identity_opIfEENS1_IfLi3ELi3ELi0ELi3ELi3EEEEEKNS9_INS6_18scalar_constant_opIfEEKSC_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %20, ptr noundef nonnull align 1 dereferenceable(1) %18)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %20) #3
  call void @llvm.lifetime.end.p0(i64 3, ptr nonnull %19) #3
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #3
  call void @llvm.lifetime.start.p0(i64 36, ptr nonnull %13) #3
  call void @_ZN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEC2ERKS1_(ptr noundef nonnull align 4 dereferenceable(36) %14, ptr noundef nonnull align 4 dereferenceable(36) %11)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %16) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEEE3colEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.164") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef 3)
  call void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2INS_5BlockINS0_IfLi3ELi4ELi0ELi3ELi4EEELi3ELi1ELb1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(12) %15, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @_Z9cross_matN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEENS0_IfLi3ELi1ELi0ELi3ELi1EEE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix.13") align 4 %13, ptr noundef nonnull %14, ptr noundef nonnull %15)
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %17) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.176") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 6, i64 noundef 9, i32 noundef 3, i32 noundef 3)
  %37 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEELin1ELin1ELb0EEaSINS1_IfLi3ELi3ELi0ELi3ELi3EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %17, ptr noundef nonnull align 1 dereferenceable(1) %13)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %17) #3
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %16) #3
  call void @llvm.lifetime.end.p0(i64 36, ptr nonnull %13) #3
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %18) #3
  call void @llvm.lifetime.start.p0(i64 3, ptr nonnull %19) #3
  call void @_ZN5Eigen10MatrixBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE8IdentityEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.199") align 1 %19)
  call void @_ZNK5Eigen10MatrixBaseINS_14CwiseNullaryOpINS_8internal18scalar_identity_opIfEENS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEEEdvIfEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIfNS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIfSD_NSB_IfSD_EEEEEE5valueEE4typeEEEKS7_KNS2_19plain_constant_typeIS7_SI_E4typeEEERKSD_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.187") align 4 %18, ptr noundef nonnull align 1 dereferenceable(1) %19, ptr noundef nonnull align 4 dereferenceable(4) %8)
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %20) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.176") align 8 %20, ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 9, i64 noundef 9, i32 noundef 3, i32 noundef 3)
  %38 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEELin1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIffEEKNS_14CwiseNullaryOpINS6_18scalar_identity_opIfEENS1_IfLi3ELi3ELi0ELi3ELi3EEEEEKNS9_INS6_18scalar_constant_opIfEEKSC_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %20, ptr noundef nonnull align 1 dereferenceable(1) %18)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %20) #3
  call void @llvm.lifetime.end.p0(i64 3, ptr nonnull %19) #3
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #3
  call void @llvm.lifetime.end.p0(i64 36, ptr nonnull %11) #3
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(676) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.149") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEELin1ELin1ELb0EEaSINS_9TransposeINS1_IfLi3ELi3ELi0ELi3ELi3EEEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(624) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZNK5Eigen10MatrixBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEC2INS_7InverseIS1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(36), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_Z9cross_matN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEENS0_IfLi3ELi1ELi0ELi3ELi1EEE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.13") align 4, ptr noundef, ptr noundef) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEC2ERKS1_(ptr noundef nonnull align 4 dereferenceable(36), ptr noundef nonnull align 4 dereferenceable(36)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEEE3colEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.164") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2INS_5BlockINS0_IfLi3ELi4ELi0ELi3ELi4EEELi3ELi1ELb1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.176") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEELin1ELin1ELb0EEaSINS1_IfLi3ELi3ELi0ELi3ELi3EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen10MatrixBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE8IdentityEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.199") align 1) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_14CwiseNullaryOpINS_8internal18scalar_identity_opIfEENS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEEEdvIfEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIfNS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIfSD_NSB_IfSD_EEEEEE5valueEE4typeEEEKS7_KNS2_19plain_constant_typeIS7_SI_E4typeEEERKSD_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.187") align 4, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi13ELi12ELi0ELi13ELi12EEELin1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIffEEKNS_14CwiseNullaryOpINS6_18scalar_identity_opIfEENS1_IfLi3ELi3ELi0ELi3ELi3EEEEEKNS9_INS6_18scalar_constant_opIfEEKSC_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #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 = !{!"float", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalOptPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,LoopRotatePass,SROAPass,SimplifyCFGPass,TailCallElimPass