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

; 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::CmdLineParser" = type { i8 }

@RCS_GLOBAL_RLOG_CB = external global ptr, align 8
@.str.3 = external hidden unnamed_addr constant [74 x i8], align 1
@RcsLogLevel = external global i32, align 4
@stderr = external global ptr, align 8
@.str.5 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [1 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.100 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.202 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.212 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.223 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.224 = external hidden unnamed_addr constant [21 x i8], align 1
@__func__.testAxisAngleInterpolation = external hidden unnamed_addr constant [27 x i8], align 1
@.str.225 = external hidden unnamed_addr constant [37 x i8], align 1
@.str.226 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.227 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.228 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.229 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.230 = external hidden unnamed_addr constant [58 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: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

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

declare void @Vec3d_setRandom(ptr noundef, double noundef, double noundef) #2

declare void @_ZN3Rcs13CmdLineParserC1EiPPc(ptr noundef nonnull align 1 dereferenceable(1), i32 noundef, ptr noundef) unnamed_addr #2

declare void @Mat3d_fromEulerAngles(ptr noundef, ptr noundef) #2

declare void @Mat3d_sub(ptr noundef, ptr noundef, ptr noundef) #2

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

declare void @Mat3d_printCommentDigits(ptr noundef, ptr noundef, i32 noundef) #2

declare noundef zeroext i1 @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPiS2_z(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef, ptr noundef, ptr noundef, ...) #2

declare noundef zeroext i1 @_ZNK3Rcs13CmdLineParser11hasArgumentEPKcS2_z(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef, ptr noundef, ...) #2

declare void @Mat3d_setIdentity(ptr noundef) #2

declare void @Mat3d_copy(ptr noundef, ptr noundef) #2

declare void @_ZN3Rcs13CmdLineParser5printEv() #2

declare double @Mat3d_getAxisAngle(ptr noundef, ptr noundef, ptr noundef) #2

declare void @Vec3d_constMul(ptr noundef, ptr noundef, double noundef) #2

declare void @Mat3d_rotateOmegaSelf(ptr noundef, ptr noundef, i1 noundef zeroext) #2

; Function Attrs: mustprogress uwtable
define dso_local zeroext i1 @testAxisAngleInterpolation(i32 noundef %0, ptr noundef %1) #3 {
  %3 = alloca i1, align 1
  %4 = alloca i32, align 4
  %5 = alloca ptr, align 8
  %6 = alloca i32, align 4
  %7 = alloca i32, align 4
  %8 = alloca %"class.Rcs::CmdLineParser", align 1
  %9 = alloca i32, align 4
  %10 = alloca i8, align 1
  %11 = alloca [101 x [3 x [3 x double]]], align 16
  %12 = alloca [3 x [3 x double]], align 16
  %13 = alloca [100 x [3 x double]], align 16
  %14 = alloca [3 x double], align 16
  %15 = alloca double, align 8
  %16 = alloca double, align 8
  %17 = alloca [3 x double], align 16
  %18 = alloca [3 x double], align 16
  %19 = alloca [3 x double], align 16
  %20 = alloca [3 x double], align 16
  %21 = alloca i32, align 4
  %22 = alloca i32, align 4
  %23 = alloca i32, align 4
  %24 = alloca [3 x [3 x double]], align 16
  %25 = alloca double, align 8
  store i32 %0, ptr %4, align 4, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #4
  store i32 100, ptr %6, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #4
  store i32 10, ptr %7, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 1, ptr %8) #4
  %26 = load i32, ptr %4, align 4, !tbaa !5
  %27 = load ptr, ptr %5, align 8, !tbaa !9
  call void @_ZN3Rcs13CmdLineParserC1EiPPc(ptr noundef nonnull align 1 dereferenceable(1) %8, i32 noundef %26, ptr noundef %27)
  %28 = call noundef zeroext i1 (ptr, ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPiS2_z(ptr noundef nonnull align 1 dereferenceable(1) %8, ptr noundef @.str.223, ptr noundef %7, ptr noundef @.str.224)
  %29 = load i32, ptr %7, align 4, !tbaa !5
  %30 = call i32 @Math_iClip(i32 noundef %29, i32 noundef 0, i32 noundef 100)
  store i32 %30, ptr %7, align 4, !tbaa !5
  %31 = call noundef zeroext i1 (ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11hasArgumentEPKcS2_z(ptr noundef nonnull align 1 dereferenceable(1) %8, ptr noundef @.str.212, ptr noundef null)
  br i1 %31, label %32, label %33

32:                                               ; preds = %2
  call void @_ZN3Rcs13CmdLineParser5printEv()
  store i1 true, ptr %3, align 1
  store i32 1, ptr %9, align 4
  br label %371

33:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 1, ptr %10) #4
  store i8 1, ptr %10, align 1, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 7272, ptr %11) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr %12) #4
  call void @llvm.lifetime.start.p0(i64 2400, ptr %13) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr %14) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr %17) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr %18) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr %19) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr %20) #4
  %34 = getelementptr inbounds [3 x double], ptr %14, i64 0, i64 0
  call void @Vec3d_setRandom(ptr noundef %34, double noundef 0xC03F6A7A2955385E, double noundef 0x403F6A7A2955385E)
  %35 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  %36 = getelementptr inbounds [3 x double], ptr %14, i64 0, i64 0
  call void @Mat3d_fromEulerAngles(ptr noundef %35, ptr noundef %36)
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #4
  store i32 0, ptr %21, align 4, !tbaa !5
  br label %37

37:                                               ; preds = %47, %33
  %38 = load i32, ptr %21, align 4, !tbaa !5
  %39 = load i32, ptr %7, align 4, !tbaa !5
  %40 = icmp slt i32 %38, %39
  br i1 %40, label %42, label %41

41:                                               ; preds = %37
  store i32 2, ptr %9, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #4
  br label %50

42:                                               ; preds = %37
  %43 = load i32, ptr %21, align 4, !tbaa !5
  %44 = sext i32 %43 to i64
  %45 = getelementptr inbounds [100 x [3 x double]], ptr %13, i64 0, i64 %44
  %46 = getelementptr inbounds [3 x double], ptr %45, i64 0, i64 0
  call void @Vec3d_setRandom(ptr noundef %46, double noundef 0xBFC657184AE74487, double noundef 0x3FC657184AE74487)
  br label %47

47:                                               ; preds = %42
  %48 = load i32, ptr %21, align 4, !tbaa !5
  %49 = add nsw i32 %48, 1
  store i32 %49, ptr %21, align 4, !tbaa !5
  br label %37, !llvm.loop !13

50:                                               ; preds = %41
  %51 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %11, i64 0, i64 0
  %52 = getelementptr inbounds [3 x [3 x double]], ptr %51, i64 0, i64 0
  call void @Mat3d_setIdentity(ptr noundef %52)
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #4
  store i32 1, ptr %22, align 4, !tbaa !5
  br label %53

53:                                               ; preds = %77, %50
  %54 = load i32, ptr %22, align 4, !tbaa !5
  %55 = load i32, ptr %7, align 4, !tbaa !5
  %56 = icmp sle i32 %54, %55
  br i1 %56, label %58, label %57

57:                                               ; preds = %53
  store i32 5, ptr %9, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #4
  br label %80

58:                                               ; preds = %53
  %59 = load i32, ptr %22, align 4, !tbaa !5
  %60 = sext i32 %59 to i64
  %61 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %11, i64 0, i64 %60
  %62 = getelementptr inbounds [3 x [3 x double]], ptr %61, i64 0, i64 0
  %63 = load i32, ptr %22, align 4, !tbaa !5
  %64 = sub nsw i32 %63, 1
  %65 = sext i32 %64 to i64
  %66 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %11, i64 0, i64 %65
  %67 = getelementptr inbounds [3 x [3 x double]], ptr %66, i64 0, i64 0
  call void @Mat3d_copy(ptr noundef %62, ptr noundef %67)
  %68 = load i32, ptr %22, align 4, !tbaa !5
  %69 = sext i32 %68 to i64
  %70 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %11, i64 0, i64 %69
  %71 = getelementptr inbounds [3 x [3 x double]], ptr %70, i64 0, i64 0
  %72 = load i32, ptr %22, align 4, !tbaa !5
  %73 = sub nsw i32 %72, 1
  %74 = sext i32 %73 to i64
  %75 = getelementptr inbounds [100 x [3 x double]], ptr %13, i64 0, i64 %74
  %76 = getelementptr inbounds [3 x double], ptr %75, i64 0, i64 0
  call void @Mat3d_rotateOmegaSelf(ptr noundef %71, ptr noundef %76, i1 noundef zeroext true)
  br label %77

77:                                               ; preds = %58
  %78 = load i32, ptr %22, align 4, !tbaa !5
  %79 = add nsw i32 %78, 1
  store i32 %79, ptr %22, align 4, !tbaa !5
  br label %53, !llvm.loop !15

80:                                               ; preds = %57
  %81 = getelementptr inbounds [3 x double], ptr %17, i64 0, i64 0
  %82 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  %83 = load i32, ptr %7, align 4, !tbaa !5
  %84 = sext i32 %83 to i64
  %85 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %11, i64 0, i64 %84
  %86 = getelementptr inbounds [3 x [3 x double]], ptr %85, i64 0, i64 0
  %87 = call double @Mat3d_getAxisAngle(ptr noundef %81, ptr noundef %82, ptr noundef %86)
  store double %87, ptr %15, align 8, !tbaa !16
  %88 = load double, ptr %15, align 8, !tbaa !16
  %89 = load i32, ptr %7, align 4, !tbaa !5
  %90 = sitofp i32 %89 to double
  %91 = fdiv double %88, %90
  store double %91, ptr %16, align 8, !tbaa !16
  %92 = getelementptr inbounds [3 x double], ptr %18, i64 0, i64 0
  %93 = getelementptr inbounds [3 x double], ptr %17, i64 0, i64 0
  %94 = load double, ptr %15, align 8, !tbaa !16
  call void @Vec3d_constMul(ptr noundef %92, ptr noundef %93, double noundef %94)
  %95 = getelementptr inbounds [3 x double], ptr %19, i64 0, i64 0
  %96 = getelementptr inbounds [3 x double], ptr %17, i64 0, i64 0
  %97 = load double, ptr %16, align 8, !tbaa !16
  call void @Vec3d_constMul(ptr noundef %95, ptr noundef %96, double noundef %97)
  br label %98

98:                                               ; preds = %80
  %99 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %100 = icmp ne ptr %99, null
  br i1 %100, label %101, label %112

101:                                              ; preds = %98
  %102 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %103 = getelementptr inbounds [3 x double], ptr %17, i64 0, i64 0
  %104 = load double, ptr %103, align 16, !tbaa !16
  %105 = getelementptr inbounds [3 x double], ptr %17, i64 0, i64 1
  %106 = load double, ptr %105, align 8, !tbaa !16
  %107 = getelementptr inbounds [3 x double], ptr %17, i64 0, i64 2
  %108 = load double, ptr %107, align 16, !tbaa !16
  %109 = load double, ptr %15, align 8, !tbaa !16
  %110 = fmul double %109, 1.800000e+02
  %111 = fdiv double %110, 0x400921FB54442D18
  call void (i32, ptr, ptr, i32, ptr, ...) %102(i32 noundef 2, ptr noundef @.str.3, ptr noundef @__func__.testAxisAngleInterpolation, i32 noundef 2195, ptr noundef @.str.225, double noundef %104, double noundef %106, double noundef %108, double noundef %111)
  br label %112

112:                                              ; preds = %101, %98
  %113 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %114 = icmp sle i32 2, %113
  br i1 %114, label %115, label %131

115:                                              ; preds = %112
  %116 = load ptr, ptr @stderr, align 8, !tbaa !9
  %117 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %116, ptr noundef @.str.5, ptr noundef @.str.3, ptr noundef @__func__.testAxisAngleInterpolation, i32 noundef 2195) #4
  %118 = load ptr, ptr @stderr, align 8, !tbaa !9
  %119 = getelementptr inbounds [3 x double], ptr %17, i64 0, i64 0
  %120 = load double, ptr %119, align 16, !tbaa !16
  %121 = getelementptr inbounds [3 x double], ptr %17, i64 0, i64 1
  %122 = load double, ptr %121, align 8, !tbaa !16
  %123 = getelementptr inbounds [3 x double], ptr %17, i64 0, i64 2
  %124 = load double, ptr %123, align 16, !tbaa !16
  %125 = load double, ptr %15, align 8, !tbaa !16
  %126 = fmul double %125, 1.800000e+02
  %127 = fdiv double %126, 0x400921FB54442D18
  %128 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %118, ptr noundef @.str.225, double noundef %120, double noundef %122, double noundef %124, double noundef %127) #4
  %129 = load ptr, ptr @stderr, align 8, !tbaa !9
  %130 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %129, ptr noundef @.str.6) #4
  br label %131

131:                                              ; preds = %115, %112
  br label %132

132:                                              ; preds = %131
  br label %133

133:                                              ; preds = %132
  br label %134

134:                                              ; preds = %133
  %135 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %136 = icmp ne ptr %135, null
  br i1 %136, label %137, label %145

137:                                              ; preds = %134
  %138 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %139 = getelementptr inbounds [3 x double], ptr %18, i64 0, i64 0
  %140 = load double, ptr %139, align 16, !tbaa !16
  %141 = getelementptr inbounds [3 x double], ptr %18, i64 0, i64 1
  %142 = load double, ptr %141, align 8, !tbaa !16
  %143 = getelementptr inbounds [3 x double], ptr %18, i64 0, i64 2
  %144 = load double, ptr %143, align 16, !tbaa !16
  call void (i32, ptr, ptr, i32, ptr, ...) %138(i32 noundef 3, ptr noundef @.str.3, ptr noundef @__func__.testAxisAngleInterpolation, i32 noundef 2196, ptr noundef @.str.226, double noundef %140, double noundef %142, double noundef %144)
  br label %145

145:                                              ; preds = %137, %134
  %146 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %147 = icmp sle i32 3, %146
  br i1 %147, label %148, label %161

148:                                              ; preds = %145
  %149 = load ptr, ptr @stderr, align 8, !tbaa !9
  %150 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %149, ptr noundef @.str.5, ptr noundef @.str.3, ptr noundef @__func__.testAxisAngleInterpolation, i32 noundef 2196) #4
  %151 = load ptr, ptr @stderr, align 8, !tbaa !9
  %152 = getelementptr inbounds [3 x double], ptr %18, i64 0, i64 0
  %153 = load double, ptr %152, align 16, !tbaa !16
  %154 = getelementptr inbounds [3 x double], ptr %18, i64 0, i64 1
  %155 = load double, ptr %154, align 8, !tbaa !16
  %156 = getelementptr inbounds [3 x double], ptr %18, i64 0, i64 2
  %157 = load double, ptr %156, align 16, !tbaa !16
  %158 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %151, ptr noundef @.str.226, double noundef %153, double noundef %155, double noundef %157) #4
  %159 = load ptr, ptr @stderr, align 8, !tbaa !9
  %160 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %159, ptr noundef @.str.6) #4
  br label %161

161:                                              ; preds = %148, %145
  br label %162

162:                                              ; preds = %161
  br label %163

163:                                              ; preds = %162
  br label %164

164:                                              ; preds = %163
  %165 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %166 = icmp ne ptr %165, null
  br i1 %166, label %167, label %175

167:                                              ; preds = %164
  %168 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %169 = getelementptr inbounds [3 x double], ptr %19, i64 0, i64 0
  %170 = load double, ptr %169, align 16, !tbaa !16
  %171 = getelementptr inbounds [3 x double], ptr %19, i64 0, i64 1
  %172 = load double, ptr %171, align 8, !tbaa !16
  %173 = getelementptr inbounds [3 x double], ptr %19, i64 0, i64 2
  %174 = load double, ptr %173, align 16, !tbaa !16
  call void (i32, ptr, ptr, i32, ptr, ...) %168(i32 noundef 3, ptr noundef @.str.3, ptr noundef @__func__.testAxisAngleInterpolation, i32 noundef 2197, ptr noundef @.str.227, double noundef %170, double noundef %172, double noundef %174)
  br label %175

175:                                              ; preds = %167, %164
  %176 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %177 = icmp sle i32 3, %176
  br i1 %177, label %178, label %191

178:                                              ; preds = %175
  %179 = load ptr, ptr @stderr, align 8, !tbaa !9
  %180 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %179, ptr noundef @.str.5, ptr noundef @.str.3, ptr noundef @__func__.testAxisAngleInterpolation, i32 noundef 2197) #4
  %181 = load ptr, ptr @stderr, align 8, !tbaa !9
  %182 = getelementptr inbounds [3 x double], ptr %19, i64 0, i64 0
  %183 = load double, ptr %182, align 16, !tbaa !16
  %184 = getelementptr inbounds [3 x double], ptr %19, i64 0, i64 1
  %185 = load double, ptr %184, align 8, !tbaa !16
  %186 = getelementptr inbounds [3 x double], ptr %19, i64 0, i64 2
  %187 = load double, ptr %186, align 16, !tbaa !16
  %188 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %181, ptr noundef @.str.227, double noundef %183, double noundef %185, double noundef %187) #4
  %189 = load ptr, ptr @stderr, align 8, !tbaa !9
  %190 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %189, ptr noundef @.str.6) #4
  br label %191

191:                                              ; preds = %178, %175
  br label %192

192:                                              ; preds = %191
  br label %193

193:                                              ; preds = %192
  %194 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %11, i64 0, i64 0
  %195 = getelementptr inbounds [3 x [3 x double]], ptr %194, i64 0, i64 0
  call void @Mat3d_setIdentity(ptr noundef %195)
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #4
  store i32 1, ptr %23, align 4, !tbaa !5
  br label %196

196:                                              ; preds = %246, %193
  %197 = load i32, ptr %23, align 4, !tbaa !5
  %198 = load i32, ptr %7, align 4, !tbaa !5
  %199 = icmp sle i32 %197, %198
  br i1 %199, label %201, label %200

200:                                              ; preds = %196
  store i32 14, ptr %9, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #4
  br label %249

201:                                              ; preds = %196
  %202 = load i32, ptr %23, align 4, !tbaa !5
  %203 = sext i32 %202 to i64
  %204 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %11, i64 0, i64 %203
  %205 = getelementptr inbounds [3 x [3 x double]], ptr %204, i64 0, i64 0
  %206 = load i32, ptr %23, align 4, !tbaa !5
  %207 = sub nsw i32 %206, 1
  %208 = sext i32 %207 to i64
  %209 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %11, i64 0, i64 %208
  %210 = getelementptr inbounds [3 x [3 x double]], ptr %209, i64 0, i64 0
  call void @Mat3d_copy(ptr noundef %205, ptr noundef %210)
  %211 = getelementptr inbounds [3 x double], ptr %20, i64 0, i64 0
  %212 = getelementptr inbounds [3 x double], ptr %18, i64 0, i64 0
  %213 = load i32, ptr %23, align 4, !tbaa !5
  %214 = sub nsw i32 %213, 1
  %215 = sub nsw i32 0, %214
  %216 = sitofp i32 %215 to double
  %217 = load i32, ptr %7, align 4, !tbaa !5
  %218 = sitofp i32 %217 to double
  %219 = fdiv double %216, %218
  call void @Vec3d_constMul(ptr noundef %211, ptr noundef %212, double noundef %219)
  %220 = load i32, ptr %23, align 4, !tbaa !5
  %221 = sext i32 %220 to i64
  %222 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %11, i64 0, i64 %221
  %223 = getelementptr inbounds [3 x [3 x double]], ptr %222, i64 0, i64 0
  %224 = getelementptr inbounds [3 x double], ptr %20, i64 0, i64 0
  call void @Mat3d_rotateOmegaSelf(ptr noundef %223, ptr noundef %224, i1 noundef zeroext true)
  %225 = load i32, ptr %23, align 4, !tbaa !5
  %226 = sext i32 %225 to i64
  %227 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %11, i64 0, i64 %226
  %228 = getelementptr inbounds [3 x [3 x double]], ptr %227, i64 0, i64 0
  %229 = load i32, ptr %23, align 4, !tbaa !5
  %230 = sub nsw i32 %229, 1
  %231 = sext i32 %230 to i64
  %232 = getelementptr inbounds [100 x [3 x double]], ptr %13, i64 0, i64 %231
  %233 = getelementptr inbounds [3 x double], ptr %232, i64 0, i64 0
  call void @Mat3d_rotateOmegaSelf(ptr noundef %228, ptr noundef %233, i1 noundef zeroext true)
  %234 = getelementptr inbounds [3 x double], ptr %20, i64 0, i64 0
  %235 = getelementptr inbounds [3 x double], ptr %18, i64 0, i64 0
  %236 = load i32, ptr %23, align 4, !tbaa !5
  %237 = sitofp i32 %236 to double
  %238 = load i32, ptr %7, align 4, !tbaa !5
  %239 = sitofp i32 %238 to double
  %240 = fdiv double %237, %239
  call void @Vec3d_constMul(ptr noundef %234, ptr noundef %235, double noundef %240)
  %241 = load i32, ptr %23, align 4, !tbaa !5
  %242 = sext i32 %241 to i64
  %243 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %11, i64 0, i64 %242
  %244 = getelementptr inbounds [3 x [3 x double]], ptr %243, i64 0, i64 0
  %245 = getelementptr inbounds [3 x double], ptr %20, i64 0, i64 0
  call void @Mat3d_rotateOmegaSelf(ptr noundef %244, ptr noundef %245, i1 noundef zeroext true)
  br label %246

246:                                              ; preds = %201
  %247 = load i32, ptr %23, align 4, !tbaa !5
  %248 = add nsw i32 %247, 1
  store i32 %248, ptr %23, align 4, !tbaa !5
  br label %196, !llvm.loop !18

249:                                              ; preds = %200
  call void @llvm.lifetime.start.p0(i64 72, ptr %24) #4
  %250 = getelementptr inbounds [3 x [3 x double]], ptr %24, i64 0, i64 0
  %251 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  %252 = load i32, ptr %7, align 4, !tbaa !5
  %253 = sext i32 %252 to i64
  %254 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %11, i64 0, i64 %253
  %255 = getelementptr inbounds [3 x [3 x double]], ptr %254, i64 0, i64 0
  call void @Mat3d_sub(ptr noundef %250, ptr noundef %251, ptr noundef %255)
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #4
  %256 = getelementptr inbounds [3 x [3 x double]], ptr %24, i64 0, i64 0
  %257 = call double @VecNd_getLength(ptr noundef %256, i32 noundef 9)
  store double %257, ptr %25, align 8, !tbaa !16
  %258 = load double, ptr %25, align 8, !tbaa !16
  %259 = fcmp ogt double %258, 1.000000e-08
  br i1 %259, label %260, label %291

260:                                              ; preds = %249
  store i8 0, ptr %10, align 1, !tbaa !11
  %261 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %262 = icmp sle i32 1, %261
  br i1 %262, label %263, label %290

263:                                              ; preds = %260
  %264 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  call void @Mat3d_printCommentDigits(ptr noundef @.str.228, ptr noundef %264, i32 noundef 4)
  %265 = load i32, ptr %7, align 4, !tbaa !5
  %266 = sext i32 %265 to i64
  %267 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %11, i64 0, i64 %266
  %268 = getelementptr inbounds [3 x [3 x double]], ptr %267, i64 0, i64 0
  call void @Mat3d_printCommentDigits(ptr noundef @.str.229, ptr noundef %268, i32 noundef 4)
  %269 = getelementptr inbounds [3 x [3 x double]], ptr %24, i64 0, i64 0
  call void @Mat3d_printCommentDigits(ptr noundef @.str.17, ptr noundef %269, i32 noundef 8)
  br label %270

270:                                              ; preds = %263
  %271 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %272 = icmp ne ptr %271, null
  br i1 %272, label %273, label %276

273:                                              ; preds = %270
  %274 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %275 = load double, ptr %25, align 8, !tbaa !16
  call void (i32, ptr, ptr, i32, ptr, ...) %274(i32 noundef 1, ptr noundef @.str.18, ptr noundef @__func__.testAxisAngleInterpolation, i32 noundef 2239, ptr noundef @.str.100, double noundef %275)
  br label %276

276:                                              ; preds = %273, %270
  %277 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %278 = icmp sle i32 1, %277
  br i1 %278, label %279, label %287

279:                                              ; preds = %276
  %280 = load ptr, ptr @stderr, align 8, !tbaa !9
  %281 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %280, ptr noundef @.str.22, ptr noundef @__func__.testAxisAngleInterpolation, i32 noundef 2239) #4
  %282 = load ptr, ptr @stderr, align 8, !tbaa !9
  %283 = load double, ptr %25, align 8, !tbaa !16
  %284 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %282, ptr noundef @.str.100, double noundef %283) #4
  %285 = load ptr, ptr @stderr, align 8, !tbaa !9
  %286 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %285, ptr noundef @.str.6) #4
  br label %287

287:                                              ; preds = %279, %276
  br label %288

288:                                              ; preds = %287
  br label %289

289:                                              ; preds = %288
  br label %290

290:                                              ; preds = %289, %260
  br label %336

291:                                              ; preds = %249
  br label %292

292:                                              ; preds = %291
  %293 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %294 = icmp ne ptr %293, null
  br i1 %294, label %295, label %310

295:                                              ; preds = %292
  %296 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %297 = getelementptr inbounds [3 x double], ptr %14, i64 0, i64 0
  %298 = load double, ptr %297, align 16, !tbaa !16
  %299 = fmul double %298, 1.800000e+02
  %300 = fdiv double %299, 0x400921FB54442D18
  %301 = getelementptr inbounds [3 x double], ptr %14, i64 0, i64 1
  %302 = load double, ptr %301, align 8, !tbaa !16
  %303 = fmul double %302, 1.800000e+02
  %304 = fdiv double %303, 0x400921FB54442D18
  %305 = getelementptr inbounds [3 x double], ptr %14, i64 0, i64 2
  %306 = load double, ptr %305, align 16, !tbaa !16
  %307 = fmul double %306, 1.800000e+02
  %308 = fdiv double %307, 0x400921FB54442D18
  %309 = load double, ptr %25, align 8, !tbaa !16
  call void (i32, ptr, ptr, i32, ptr, ...) %296(i32 noundef 2, ptr noundef @.str.18, ptr noundef @__func__.testAxisAngleInterpolation, i32 noundef 2246, ptr noundef @.str.230, double noundef %300, double noundef %304, double noundef %308, double noundef %309)
  br label %310

310:                                              ; preds = %295, %292
  %311 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %312 = icmp sle i32 2, %311
  br i1 %312, label %313, label %333

313:                                              ; preds = %310
  %314 = load ptr, ptr @stderr, align 8, !tbaa !9
  %315 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %314, ptr noundef @.str.22, ptr noundef @__func__.testAxisAngleInterpolation, i32 noundef 2246) #4
  %316 = load ptr, ptr @stderr, align 8, !tbaa !9
  %317 = getelementptr inbounds [3 x double], ptr %14, i64 0, i64 0
  %318 = load double, ptr %317, align 16, !tbaa !16
  %319 = fmul double %318, 1.800000e+02
  %320 = fdiv double %319, 0x400921FB54442D18
  %321 = getelementptr inbounds [3 x double], ptr %14, i64 0, i64 1
  %322 = load double, ptr %321, align 8, !tbaa !16
  %323 = fmul double %322, 1.800000e+02
  %324 = fdiv double %323, 0x400921FB54442D18
  %325 = getelementptr inbounds [3 x double], ptr %14, i64 0, i64 2
  %326 = load double, ptr %325, align 16, !tbaa !16
  %327 = fmul double %326, 1.800000e+02
  %328 = fdiv double %327, 0x400921FB54442D18
  %329 = load double, ptr %25, align 8, !tbaa !16
  %330 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %316, ptr noundef @.str.230, double noundef %320, double noundef %324, double noundef %328, double noundef %329) #4
  %331 = load ptr, ptr @stderr, align 8, !tbaa !9
  %332 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %331, ptr noundef @.str.6) #4
  br label %333

333:                                              ; preds = %313, %310
  br label %334

334:                                              ; preds = %333
  br label %335

335:                                              ; preds = %334
  br label %336

336:                                              ; preds = %335, %290
  br label %337

337:                                              ; preds = %336
  %338 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %339 = icmp ne ptr %338, null
  br i1 %339, label %340, label %349

340:                                              ; preds = %337
  %341 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %342 = load i8, ptr %10, align 1, !tbaa !11, !range !19, !noundef !20
  %343 = trunc i8 %342 to i1
  br i1 %343, label %344, label %345

344:                                              ; preds = %340
  br label %346

345:                                              ; preds = %340
  br label %346

346:                                              ; preds = %345, %344
  %347 = phi ptr [ @.str.20, %344 ], [ @.str.21, %345 ]
  %348 = getelementptr inbounds [8 x i8], ptr %347, i64 0, i64 0
  call void (i32, ptr, ptr, i32, ptr, ...) %341(i32 noundef 1, ptr noundef @.str.18, ptr noundef @__func__.testAxisAngleInterpolation, i32 noundef 2249, ptr noundef @.str.202, ptr noundef %348)
  br label %349

349:                                              ; preds = %346, %337
  %350 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %351 = icmp sle i32 1, %350
  br i1 %351, label %352, label %366

352:                                              ; preds = %349
  %353 = load ptr, ptr @stderr, align 8, !tbaa !9
  %354 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %353, ptr noundef @.str.22, ptr noundef @__func__.testAxisAngleInterpolation, i32 noundef 2249) #4
  %355 = load ptr, ptr @stderr, align 8, !tbaa !9
  %356 = load i8, ptr %10, align 1, !tbaa !11, !range !19, !noundef !20
  %357 = trunc i8 %356 to i1
  br i1 %357, label %358, label %359

358:                                              ; preds = %352
  br label %360

359:                                              ; preds = %352
  br label %360

360:                                              ; preds = %359, %358
  %361 = phi ptr [ @.str.20, %358 ], [ @.str.21, %359 ]
  %362 = getelementptr inbounds [8 x i8], ptr %361, i64 0, i64 0
  %363 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %355, ptr noundef @.str.202, ptr noundef %362) #4
  %364 = load ptr, ptr @stderr, align 8, !tbaa !9
  %365 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %364, ptr noundef @.str.6) #4
  br label %366

366:                                              ; preds = %360, %349
  br label %367

367:                                              ; preds = %366
  br label %368

368:                                              ; preds = %367
  %369 = load i8, ptr %10, align 1, !tbaa !11, !range !19, !noundef !20
  %370 = trunc i8 %369 to i1
  store i1 %370, ptr %3, align 1
  store i32 1, ptr %9, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr %24) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr %20) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr %19) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr %18) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr %17) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr %14) #4
  call void @llvm.lifetime.end.p0(i64 2400, ptr %13) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr %12) #4
  call void @llvm.lifetime.end.p0(i64 7272, ptr %11) #4
  call void @llvm.lifetime.end.p0(i64 1, ptr %10) #4
  br label %371

371:                                              ; preds = %368, %32
  call void @llvm.lifetime.end.p0(i64 1, ptr %8) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #4
  %372 = load i1, ptr %3, align 1
  ret i1 %372
}

declare i32 @Math_iClip(i32 noundef, i32 noundef, i32 noundef) #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 = { 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 #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 = !{!"int", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"any pointer", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"bool", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}
!15 = distinct !{!15, !14}
!16 = !{!17, !17, i64 0}
!17 = !{!"double", !7, i64 0}
!18 = distinct !{!18, !14}
!19 = !{i8 0, i8 2}
!20 = !{}


; 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.Rcs::CmdLineParser" = type { i8 }

@RCS_GLOBAL_RLOG_CB = external local_unnamed_addr global ptr, align 8
@.str.3 = external hidden unnamed_addr constant [74 x i8], align 1
@RcsLogLevel = external local_unnamed_addr global i32, align 4
@stderr = external local_unnamed_addr global ptr, align 8
@.str.5 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [1 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.100 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.202 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.212 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.223 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.224 = external hidden unnamed_addr constant [21 x i8], align 1
@__func__.testAxisAngleInterpolation = external hidden unnamed_addr constant [27 x i8], align 1
@.str.225 = external hidden unnamed_addr constant [37 x i8], align 1
@.str.226 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.227 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.228 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.229 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.230 = external hidden unnamed_addr constant [58 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: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

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

declare void @Vec3d_setRandom(ptr noundef, double noundef, double noundef) local_unnamed_addr #2

declare void @_ZN3Rcs13CmdLineParserC1EiPPc(ptr noundef nonnull align 1 dereferenceable(1), i32 noundef, ptr noundef) unnamed_addr #2

declare void @Mat3d_fromEulerAngles(ptr noundef, ptr noundef) local_unnamed_addr #2

declare void @Mat3d_sub(ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #2

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

declare void @Mat3d_printCommentDigits(ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #2

declare noundef zeroext i1 @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPiS2_z(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef, ptr noundef, ptr noundef, ...) local_unnamed_addr #2

declare noundef zeroext i1 @_ZNK3Rcs13CmdLineParser11hasArgumentEPKcS2_z(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef, ptr noundef, ...) local_unnamed_addr #2

declare void @Mat3d_setIdentity(ptr noundef) local_unnamed_addr #2

declare void @Mat3d_copy(ptr noundef, ptr noundef) local_unnamed_addr #2

declare void @_ZN3Rcs13CmdLineParser5printEv() local_unnamed_addr #2

declare double @Mat3d_getAxisAngle(ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #2

declare void @Vec3d_constMul(ptr noundef, ptr noundef, double noundef) local_unnamed_addr #2

declare void @Mat3d_rotateOmegaSelf(ptr noundef, ptr noundef, i1 noundef zeroext) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @testAxisAngleInterpolation(i32 noundef %0, ptr noundef %1) local_unnamed_addr #3 {
  %3 = alloca i32, align 4
  %4 = alloca %"class.Rcs::CmdLineParser", align 1
  %5 = alloca [101 x [3 x [3 x double]]], align 16
  %6 = alloca [3 x [3 x double]], align 16
  %7 = alloca [100 x [3 x double]], align 16
  %8 = alloca [3 x double], align 16
  %9 = alloca [3 x double], align 16
  %10 = alloca [3 x double], align 16
  %11 = alloca [3 x double], align 16
  %12 = alloca [3 x double], align 16
  %13 = alloca [3 x [3 x double]], align 16
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %3) #4
  store i32 10, ptr %3, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %4) #4
  call void @_ZN3Rcs13CmdLineParserC1EiPPc(ptr noundef nonnull align 1 dereferenceable(1) %4, i32 noundef %0, ptr noundef %1)
  %14 = call noundef zeroext i1 (ptr, ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPiS2_z(ptr noundef nonnull align 1 dereferenceable(1) %4, ptr noundef nonnull @.str.223, ptr noundef nonnull %3, ptr noundef nonnull @.str.224)
  %15 = load i32, ptr %3, align 4, !tbaa !5
  %16 = call i32 @Math_iClip(i32 noundef %15, i32 noundef 0, i32 noundef 100)
  store i32 %16, ptr %3, align 4, !tbaa !5
  %17 = call noundef zeroext i1 (ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11hasArgumentEPKcS2_z(ptr noundef nonnull align 1 dereferenceable(1) %4, ptr noundef nonnull @.str.212, ptr noundef null)
  br i1 %17, label %18, label %19

18:                                               ; preds = %2
  call void @_ZN3Rcs13CmdLineParser5printEv()
  br label %198

19:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 7272, ptr nonnull %5) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %6) #4
  call void @llvm.lifetime.start.p0(i64 2400, ptr nonnull %7) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %8) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %9) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %10) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %11) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %12) #4
  call void @Vec3d_setRandom(ptr noundef nonnull %8, double noundef 0xC03F6A7A2955385E, double noundef 0x403F6A7A2955385E)
  call void @Mat3d_fromEulerAngles(ptr noundef nonnull %6, ptr noundef nonnull %8)
  %20 = load i32, ptr %3, align 4, !tbaa !5
  %21 = icmp sgt i32 %20, 0
  br i1 %21, label %.lr.ph, label %._crit_edge

._crit_edge:                                      ; preds = %.lr.ph, %19
  call void @Mat3d_setIdentity(ptr noundef nonnull %5)
  %22 = load i32, ptr %3, align 4, !tbaa !5
  %.not56 = icmp slt i32 %22, 1
  br i1 %.not56, label %._crit_edge.._crit_edge60_crit_edge, label %.lr.ph59

._crit_edge.._crit_edge60_crit_edge:              ; preds = %._crit_edge
  %.pre = sext i32 %22 to i64
  br label %._crit_edge60

.lr.ph:                                           ; preds = %19, %.lr.ph
  %indvars.iv = phi i64 [ %indvars.iv.next, %.lr.ph ], [ 0, %19 ]
  %23 = getelementptr inbounds [100 x [3 x double]], ptr %7, i64 0, i64 %indvars.iv
  call void @Vec3d_setRandom(ptr noundef nonnull %23, double noundef 0xBFC657184AE74487, double noundef 0x3FC657184AE74487)
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %24 = load i32, ptr %3, align 4, !tbaa !5
  %25 = sext i32 %24 to i64
  %26 = icmp slt i64 %indvars.iv.next, %25
  br i1 %26, label %.lr.ph, label %._crit_edge, !llvm.loop !9

._crit_edge60:                                    ; preds = %.lr.ph59, %._crit_edge.._crit_edge60_crit_edge
  %.pre-phi = phi i64 [ %.pre, %._crit_edge.._crit_edge60_crit_edge ], [ %38, %.lr.ph59 ]
  %27 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %5, i64 0, i64 %.pre-phi
  %28 = call double @Mat3d_getAxisAngle(ptr noundef nonnull %9, ptr noundef nonnull %6, ptr noundef nonnull %27)
  %29 = load i32, ptr %3, align 4, !tbaa !5
  %30 = sitofp i32 %29 to double
  %31 = fdiv double %28, %30
  call void @Vec3d_constMul(ptr noundef nonnull %10, ptr noundef nonnull %9, double noundef %28)
  call void @Vec3d_constMul(ptr noundef nonnull %11, ptr noundef nonnull %9, double noundef %31)
  %32 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not47 = icmp eq ptr %32, null
  br i1 %.not47, label %47, label %39

.lr.ph59:                                         ; preds = %._crit_edge, %.lr.ph59
  %indvars.iv70 = phi i64 [ %indvars.iv.next71, %.lr.ph59 ], [ 1, %._crit_edge ]
  %33 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %5, i64 0, i64 %indvars.iv70
  %34 = add nsw i64 %indvars.iv70, -1
  %35 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %5, i64 0, i64 %34
  call void @Mat3d_copy(ptr noundef nonnull %33, ptr noundef nonnull %35)
  %36 = getelementptr inbounds [100 x [3 x double]], ptr %7, i64 0, i64 %34
  call void @Mat3d_rotateOmegaSelf(ptr noundef nonnull %33, ptr noundef nonnull %36, i1 noundef zeroext true)
  %indvars.iv.next71 = add nuw nsw i64 %indvars.iv70, 1
  %37 = load i32, ptr %3, align 4, !tbaa !5
  %38 = sext i32 %37 to i64
  %.not.not = icmp slt i64 %indvars.iv70, %38
  br i1 %.not.not, label %.lr.ph59, label %._crit_edge60, !llvm.loop !13

39:                                               ; preds = %._crit_edge60
  %40 = load double, ptr %9, align 16, !tbaa !14
  %41 = getelementptr inbounds i8, ptr %9, i64 8
  %42 = load double, ptr %41, align 8, !tbaa !14
  %43 = getelementptr inbounds i8, ptr %9, i64 16
  %44 = load double, ptr %43, align 16, !tbaa !14
  %45 = fmul double %28, 1.800000e+02
  %46 = fdiv double %45, 0x400921FB54442D18
  call void (i32, ptr, ptr, i32, ptr, ...) %32(i32 noundef 2, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testAxisAngleInterpolation, i32 noundef 2195, ptr noundef nonnull @.str.225, double noundef %40, double noundef %42, double noundef %44, double noundef %46)
  br label %47

47:                                               ; preds = %39, %._crit_edge60
  %48 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %49 = icmp sgt i32 %48, 1
  br i1 %49, label %50, label %64

50:                                               ; preds = %47
  %51 = load ptr, ptr @stderr, align 8, !tbaa !11
  %52 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %51, ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testAxisAngleInterpolation, i32 noundef 2195) #5
  %53 = load ptr, ptr @stderr, align 8, !tbaa !11
  %54 = load double, ptr %9, align 16, !tbaa !14
  %55 = getelementptr inbounds i8, ptr %9, i64 8
  %56 = load double, ptr %55, align 8, !tbaa !14
  %57 = getelementptr inbounds i8, ptr %9, i64 16
  %58 = load double, ptr %57, align 16, !tbaa !14
  %59 = fmul double %28, 1.800000e+02
  %60 = fdiv double %59, 0x400921FB54442D18
  %61 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %53, ptr noundef nonnull @.str.225, double noundef %54, double noundef %56, double noundef %58, double noundef %60) #5
  %62 = load ptr, ptr @stderr, align 8, !tbaa !11
  %63 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %62, ptr noundef nonnull @.str.6) #5
  br label %64

64:                                               ; preds = %47, %50
  %65 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not48 = icmp eq ptr %65, null
  br i1 %.not48, label %72, label %66

66:                                               ; preds = %64
  %67 = load double, ptr %10, align 16, !tbaa !14
  %68 = getelementptr inbounds i8, ptr %10, i64 8
  %69 = load double, ptr %68, align 8, !tbaa !14
  %70 = getelementptr inbounds i8, ptr %10, i64 16
  %71 = load double, ptr %70, align 16, !tbaa !14
  call void (i32, ptr, ptr, i32, ptr, ...) %65(i32 noundef 3, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testAxisAngleInterpolation, i32 noundef 2196, ptr noundef nonnull @.str.226, double noundef %67, double noundef %69, double noundef %71)
  br label %72

72:                                               ; preds = %66, %64
  %73 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %74 = icmp sgt i32 %73, 2
  br i1 %74, label %75, label %87

75:                                               ; preds = %72
  %76 = load ptr, ptr @stderr, align 8, !tbaa !11
  %77 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %76, ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testAxisAngleInterpolation, i32 noundef 2196) #5
  %78 = load ptr, ptr @stderr, align 8, !tbaa !11
  %79 = load double, ptr %10, align 16, !tbaa !14
  %80 = getelementptr inbounds i8, ptr %10, i64 8
  %81 = load double, ptr %80, align 8, !tbaa !14
  %82 = getelementptr inbounds i8, ptr %10, i64 16
  %83 = load double, ptr %82, align 16, !tbaa !14
  %84 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %78, ptr noundef nonnull @.str.226, double noundef %79, double noundef %81, double noundef %83) #5
  %85 = load ptr, ptr @stderr, align 8, !tbaa !11
  %86 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %85, ptr noundef nonnull @.str.6) #5
  br label %87

87:                                               ; preds = %72, %75
  %88 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not49 = icmp eq ptr %88, null
  br i1 %.not49, label %95, label %89

89:                                               ; preds = %87
  %90 = load double, ptr %11, align 16, !tbaa !14
  %91 = getelementptr inbounds i8, ptr %11, i64 8
  %92 = load double, ptr %91, align 8, !tbaa !14
  %93 = getelementptr inbounds i8, ptr %11, i64 16
  %94 = load double, ptr %93, align 16, !tbaa !14
  call void (i32, ptr, ptr, i32, ptr, ...) %88(i32 noundef 3, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testAxisAngleInterpolation, i32 noundef 2197, ptr noundef nonnull @.str.227, double noundef %90, double noundef %92, double noundef %94)
  br label %95

95:                                               ; preds = %89, %87
  %96 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %97 = icmp sgt i32 %96, 2
  br i1 %97, label %98, label %110

98:                                               ; preds = %95
  %99 = load ptr, ptr @stderr, align 8, !tbaa !11
  %100 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %99, ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testAxisAngleInterpolation, i32 noundef 2197) #5
  %101 = load ptr, ptr @stderr, align 8, !tbaa !11
  %102 = load double, ptr %11, align 16, !tbaa !14
  %103 = getelementptr inbounds i8, ptr %11, i64 8
  %104 = load double, ptr %103, align 8, !tbaa !14
  %105 = getelementptr inbounds i8, ptr %11, i64 16
  %106 = load double, ptr %105, align 16, !tbaa !14
  %107 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %101, ptr noundef nonnull @.str.227, double noundef %102, double noundef %104, double noundef %106) #5
  %108 = load ptr, ptr @stderr, align 8, !tbaa !11
  %109 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %108, ptr noundef nonnull @.str.6) #5
  br label %110

110:                                              ; preds = %98, %95
  call void @Mat3d_setIdentity(ptr noundef nonnull %5)
  %111 = load i32, ptr %3, align 4, !tbaa !5
  %.not5061 = icmp slt i32 %111, 1
  br i1 %.not5061, label %.._crit_edge65_crit_edge, label %.lr.ph64

.._crit_edge65_crit_edge:                         ; preds = %110
  %.pre76 = sext i32 %111 to i64
  br label %._crit_edge65

._crit_edge65:                                    ; preds = %.lr.ph64, %.._crit_edge65_crit_edge
  %.pre-phi77 = phi i64 [ %.pre76, %.._crit_edge65_crit_edge ], [ %131, %.lr.ph64 ]
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %13) #4
  %112 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %5, i64 0, i64 %.pre-phi77
  call void @Mat3d_sub(ptr noundef nonnull %13, ptr noundef nonnull %6, ptr noundef nonnull %112)
  %113 = call double @VecNd_getLength(ptr noundef nonnull %13, i32 noundef 9)
  %114 = fcmp ule double %113, 1.000000e-08
  br i1 %114, label %149, label %132

.lr.ph64:                                         ; preds = %110, %.lr.ph64
  %indvars.iv73 = phi i64 [ %indvars.iv.next74, %.lr.ph64 ], [ 1, %110 ]
  %115 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %5, i64 0, i64 %indvars.iv73
  %116 = add nsw i64 %indvars.iv73, -1
  %117 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %5, i64 0, i64 %116
  call void @Mat3d_copy(ptr noundef nonnull %115, ptr noundef nonnull %117)
  %118 = trunc i64 %indvars.iv73 to i32
  %119 = sub i32 1, %118
  %120 = sitofp i32 %119 to double
  %121 = load i32, ptr %3, align 4, !tbaa !5
  %122 = sitofp i32 %121 to double
  %123 = fdiv double %120, %122
  call void @Vec3d_constMul(ptr noundef nonnull %12, ptr noundef nonnull %10, double noundef %123)
  call void @Mat3d_rotateOmegaSelf(ptr noundef nonnull %115, ptr noundef nonnull %12, i1 noundef zeroext true)
  %124 = getelementptr inbounds [100 x [3 x double]], ptr %7, i64 0, i64 %116
  call void @Mat3d_rotateOmegaSelf(ptr noundef nonnull %115, ptr noundef nonnull %124, i1 noundef zeroext true)
  %125 = trunc nuw nsw i64 %indvars.iv73 to i32
  %126 = uitofp nneg i32 %125 to double
  %127 = load i32, ptr %3, align 4, !tbaa !5
  %128 = sitofp i32 %127 to double
  %129 = fdiv double %126, %128
  call void @Vec3d_constMul(ptr noundef nonnull %12, ptr noundef nonnull %10, double noundef %129)
  call void @Mat3d_rotateOmegaSelf(ptr noundef nonnull %115, ptr noundef nonnull %12, i1 noundef zeroext true)
  %indvars.iv.next74 = add nuw nsw i64 %indvars.iv73, 1
  %130 = load i32, ptr %3, align 4, !tbaa !5
  %131 = sext i32 %130 to i64
  %.not50.not = icmp slt i64 %indvars.iv73, %131
  br i1 %.not50.not, label %.lr.ph64, label %._crit_edge65, !llvm.loop !16

132:                                              ; preds = %._crit_edge65
  %133 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %134 = icmp sgt i32 %133, 0
  br i1 %134, label %135, label %184

135:                                              ; preds = %132
  call void @Mat3d_printCommentDigits(ptr noundef nonnull @.str.228, ptr noundef nonnull %6, i32 noundef 4)
  %136 = load i32, ptr %3, align 4, !tbaa !5
  %137 = sext i32 %136 to i64
  %138 = getelementptr inbounds [101 x [3 x [3 x double]]], ptr %5, i64 0, i64 %137
  call void @Mat3d_printCommentDigits(ptr noundef nonnull @.str.229, ptr noundef nonnull %138, i32 noundef 4)
  call void @Mat3d_printCommentDigits(ptr noundef nonnull @.str.17, ptr noundef nonnull %13, i32 noundef 8)
  %139 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not52 = icmp eq ptr %139, null
  br i1 %.not52, label %141, label %140

140:                                              ; preds = %135
  call void (i32, ptr, ptr, i32, ptr, ...) %139(i32 noundef 1, ptr noundef nonnull @.str.18, ptr noundef nonnull @__func__.testAxisAngleInterpolation, i32 noundef 2239, ptr noundef nonnull @.str.100, double noundef %113)
  br label %141

141:                                              ; preds = %140, %135
  %142 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %143 = icmp sgt i32 %142, 0
  br i1 %143, label %144, label %184

144:                                              ; preds = %141
  %145 = load ptr, ptr @stderr, align 8, !tbaa !11
  %146 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %145, ptr noundef nonnull @.str.22, ptr noundef nonnull @__func__.testAxisAngleInterpolation, i32 noundef 2239) #5
  %147 = load ptr, ptr @stderr, align 8, !tbaa !11
  %148 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %147, ptr noundef nonnull @.str.100, double noundef %113) #5
  br label %.sink.split

149:                                              ; preds = %._crit_edge65
  %150 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not51 = icmp eq ptr %150, null
  br i1 %.not51, label %163, label %151

151:                                              ; preds = %149
  %152 = load double, ptr %8, align 16, !tbaa !14
  %153 = fmul double %152, 1.800000e+02
  %154 = fdiv double %153, 0x400921FB54442D18
  %155 = getelementptr inbounds i8, ptr %8, i64 8
  %156 = load double, ptr %155, align 8, !tbaa !14
  %157 = fmul double %156, 1.800000e+02
  %158 = fdiv double %157, 0x400921FB54442D18
  %159 = getelementptr inbounds i8, ptr %8, i64 16
  %160 = load double, ptr %159, align 16, !tbaa !14
  %161 = fmul double %160, 1.800000e+02
  %162 = fdiv double %161, 0x400921FB54442D18
  call void (i32, ptr, ptr, i32, ptr, ...) %150(i32 noundef 2, ptr noundef nonnull @.str.18, ptr noundef nonnull @__func__.testAxisAngleInterpolation, i32 noundef 2246, ptr noundef nonnull @.str.230, double noundef %154, double noundef %158, double noundef %162, double noundef %113)
  br label %163

163:                                              ; preds = %151, %149
  %164 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %165 = icmp sgt i32 %164, 1
  br i1 %165, label %166, label %184

166:                                              ; preds = %163
  %167 = load ptr, ptr @stderr, align 8, !tbaa !11
  %168 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %167, ptr noundef nonnull @.str.22, ptr noundef nonnull @__func__.testAxisAngleInterpolation, i32 noundef 2246) #5
  %169 = load ptr, ptr @stderr, align 8, !tbaa !11
  %170 = load double, ptr %8, align 16, !tbaa !14
  %171 = fmul double %170, 1.800000e+02
  %172 = fdiv double %171, 0x400921FB54442D18
  %173 = getelementptr inbounds i8, ptr %8, i64 8
  %174 = load double, ptr %173, align 8, !tbaa !14
  %175 = fmul double %174, 1.800000e+02
  %176 = fdiv double %175, 0x400921FB54442D18
  %177 = getelementptr inbounds i8, ptr %8, i64 16
  %178 = load double, ptr %177, align 16, !tbaa !14
  %179 = fmul double %178, 1.800000e+02
  %180 = fdiv double %179, 0x400921FB54442D18
  %181 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %169, ptr noundef nonnull @.str.230, double noundef %172, double noundef %176, double noundef %180, double noundef %113) #5
  br label %.sink.split

.sink.split:                                      ; preds = %166, %144
  %182 = load ptr, ptr @stderr, align 8, !tbaa !11
  %183 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %182, ptr noundef nonnull @.str.6) #5
  br label %184

184:                                              ; preds = %.sink.split, %141, %132, %163
  %185 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not53 = icmp eq ptr %185, null
  br i1 %.not53, label %187, label %186

186:                                              ; preds = %184
  %.str.20..str.21 = select i1 %114, ptr @.str.20, ptr @.str.21
  call void (i32, ptr, ptr, i32, ptr, ...) %185(i32 noundef 1, ptr noundef nonnull @.str.18, ptr noundef nonnull @__func__.testAxisAngleInterpolation, i32 noundef 2249, ptr noundef nonnull @.str.202, ptr noundef nonnull %.str.20..str.21)
  br label %187

187:                                              ; preds = %186, %184
  %188 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %189 = icmp sgt i32 %188, 0
  br i1 %189, label %190, label %197

190:                                              ; preds = %187
  %191 = load ptr, ptr @stderr, align 8, !tbaa !11
  %192 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %191, ptr noundef nonnull @.str.22, ptr noundef nonnull @__func__.testAxisAngleInterpolation, i32 noundef 2249) #5
  %193 = load ptr, ptr @stderr, align 8, !tbaa !11
  %.str.20..str.211 = select i1 %114, ptr @.str.20, ptr @.str.21
  %194 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %193, ptr noundef nonnull @.str.202, ptr noundef nonnull %.str.20..str.211) #5
  %195 = load ptr, ptr @stderr, align 8, !tbaa !11
  %196 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %195, ptr noundef nonnull @.str.6) #5
  br label %197

197:                                              ; preds = %190, %187
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %13) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %12) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %9) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #4
  call void @llvm.lifetime.end.p0(i64 2400, ptr nonnull %7) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %6) #4
  call void @llvm.lifetime.end.p0(i64 7272, ptr nonnull %5) #4
  br label %198

198:                                              ; preds = %197, %18
  %.0 = phi i1 [ true, %18 ], [ %114, %197 ]
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %3) #4
  ret i1 %.0
}

declare i32 @Math_iClip(i32 noundef, i32 noundef, i32 noundef) local_unnamed_addr #2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #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 = { 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 #4 = { nounwind }
attributes #5 = { cold 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 = !{!"int", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = distinct !{!9, !10}
!10 = !{!"llvm.loop.mustprogress"}
!11 = !{!12, !12, i64 0}
!12 = !{!"any pointer", !7, i64 0}
!13 = distinct !{!13, !10}
!14 = !{!15, !15, i64 0}
!15 = !{!"double", !7, i64 0}
!16 = distinct !{!16, !10}


; Effective O3 passes: BDCEPass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,InstSimplifyPass,JumpThreadingPass,LCSSAPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,PostOrderFunctionAttrsPass,SROAPass,SimplifyCFGPass