; LLVM IR from Derek-TH-Wang/quadruped_ctrl :: src/MPC_Ctrl/Gait.ll (ZN17MixedFrequncyGait13getSwingStateEv)

; 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::Matrix.37" = type { %"class.Eigen::PlainObjectBase.38" }
%"class.Eigen::PlainObjectBase.38" = type { %"class.Eigen::DenseStorage.17" }
%"class.Eigen::DenseStorage.17" = type { %"struct.Eigen::internal::plain_array.18" }
%"struct.Eigen::internal::plain_array.18" = type { [4 x float] }
%"class.Eigen::Array.9" = type { %"class.Eigen::PlainObjectBase.10" }
%"class.Eigen::PlainObjectBase.10" = type { %"class.Eigen::DenseStorage.17" }
%"class.Eigen::CwiseBinaryOp.70" = type <{ ptr, %"class.Eigen::CwiseNullaryOp.51", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.51" = type { [4 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { float }
%"struct.Eigen::Array<float, 4, 1>::PrivateType" = type { i8 }
%"class.Eigen::MatrixWrapper" = type { ptr }
%class.MixedFrequncyGait = type { %class.Gait, float, ptr, [8 x i8], %"class.Eigen::Array", %"class.Eigen::Array.9", i32, i32, [8 x i8] }
%class.Gait = type { ptr, %"class.std::__cxx11::basic_string" }
%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.Eigen::Array" = type { %"class.Eigen::PlainObjectBase.3" }
%"class.Eigen::PlainObjectBase.3" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [4 x i32] }

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEE6matrixEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEC2INS_13MatrixWrapperINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17MixedFrequncyGait13getSwingStateEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.37") align 16 %0, ptr noundef nonnull align 16 dereferenceable(104) %1) unnamed_addr #2 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca float, align 4
  %6 = alloca %"class.Eigen::Array.9", align 16
  %7 = alloca %"class.Eigen::CwiseBinaryOp.70", align 8
  %8 = alloca %"struct.Eigen::Array<float, 4, 1>::PrivateType", align 1
  %9 = alloca i32, align 4
  %10 = alloca %"class.Eigen::MatrixWrapper", align 8
  store ptr %0, ptr %3, align 8
  store ptr %1, ptr %4, align 8, !tbaa !5
  %11 = load ptr, ptr %4, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #3
  %12 = getelementptr inbounds %class.MixedFrequncyGait, ptr %11, i32 0, i32 1
  %13 = load float, ptr %12, align 8, !tbaa !9
  %14 = fsub float 1.000000e+00, %13
  store float %14, ptr %5, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 16, ptr %6) #3
  call void @llvm.lifetime.start.p0(i64 24, ptr %7) #3
  %15 = getelementptr inbounds %class.MixedFrequncyGait, ptr %11, i32 0, i32 5
  %16 = getelementptr inbounds %class.MixedFrequncyGait, ptr %11, i32 0, i32 1
  call void @_ZNK5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEmiIfEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIfNS6_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIfS9_NS7_IfS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.70") align 8 %7, ptr noundef nonnull align 1 dereferenceable(1) %15, ptr noundef nonnull align 4 dereferenceable(4) %16)
  call void @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEC2INS_13CwiseBinaryOpINS_8internal20scalar_difference_opIffEEKS1_KNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEES7_EEEEEERKNS_9EigenBaseIT_EENS4_9enable_ifIXsr8internal14is_convertibleINSF_6ScalarEfEE5valueENS1_11PrivateTypeEE4typeE(ptr noundef nonnull align 16 dereferenceable(16) %6, ptr noundef nonnull align 1 dereferenceable(1) %7)
  call void @llvm.lifetime.end.p0(i64 24, ptr %7) #3
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #3
  store i32 0, ptr %9, align 4, !tbaa !26
  br label %17

17:                                               ; preds = %42, %2
  %18 = load i32, ptr %9, align 4, !tbaa !26
  %19 = icmp slt i32 %18, 4
  br i1 %19, label %21, label %20

20:                                               ; preds = %17
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #3
  br label %45

21:                                               ; preds = %17
  %22 = load i32, ptr %9, align 4, !tbaa !26
  %23 = sext i32 %22 to i64
  %24 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %6, i64 noundef %23)
  %25 = load float, ptr %24, align 4, !tbaa !25
  %26 = fcmp olt float %25, 0.000000e+00
  br i1 %26, label %27, label %31

27:                                               ; preds = %21
  %28 = load i32, ptr %9, align 4, !tbaa !26
  %29 = sext i32 %28 to i64
  %30 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %6, i64 noundef %29)
  store float 0.000000e+00, ptr %30, align 4, !tbaa !25
  br label %41

31:                                               ; preds = %21
  %32 = load i32, ptr %9, align 4, !tbaa !26
  %33 = sext i32 %32 to i64
  %34 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %6, i64 noundef %33)
  %35 = load float, ptr %34, align 4, !tbaa !25
  %36 = load float, ptr %5, align 4, !tbaa !25
  %37 = fdiv float %35, %36
  %38 = load i32, ptr %9, align 4, !tbaa !26
  %39 = sext i32 %38 to i64
  %40 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %6, i64 noundef %39)
  store float %37, ptr %40, align 4, !tbaa !25
  br label %41

41:                                               ; preds = %31, %27
  br label %42

42:                                               ; preds = %41
  %43 = load i32, ptr %9, align 4, !tbaa !26
  %44 = add nsw i32 %43, 1
  store i32 %44, ptr %9, align 4, !tbaa !26
  br label %17, !llvm.loop !27

45:                                               ; preds = %20
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #3
  %46 = call ptr @_ZN5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEE6matrixEv(ptr noundef nonnull align 1 dereferenceable(1) %6)
  %47 = getelementptr inbounds %"class.Eigen::MatrixWrapper", ptr %10, i32 0, i32 0
  store ptr %46, ptr %47, align 8
  call void @_ZN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEC2INS_13MatrixWrapperINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %0, ptr noundef nonnull align 1 dereferenceable(1) %10)
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #3
  call void @llvm.lifetime.end.p0(i64 16, ptr %6) #3
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #3
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEmiIfEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIfNS6_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIfS9_NS7_IfS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.70") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEC2INS_13CwiseBinaryOpINS_8internal20scalar_difference_opIffEEKS1_KNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEES7_EEEEEERKNS_9EigenBaseIT_EENS4_9enable_ifIXsr8internal14is_convertibleINSF_6ScalarEfEE5valueENS1_11PrivateTypeEE4typeE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { 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, !15, i64 40}
!10 = !{!"_ZTS17MixedFrequncyGait", !11, i64 0, !15, i64 40, !6, i64 48, !16, i64 64, !20, i64 80, !24, i64 96, !24, i64 100}
!11 = !{!"_ZTS4Gait", !12, i64 8}
!12 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !13, i64 0, !14, i64 8, !7, i64 16}
!13 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !6, i64 0}
!14 = !{!"long", !7, i64 0}
!15 = !{!"float", !7, i64 0}
!16 = !{!"_ZTSN5Eigen5ArrayIiLi4ELi1ELi0ELi4ELi1EEE", !17, i64 0}
!17 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_5ArrayIiLi4ELi1ELi0ELi4ELi1EEEEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen12DenseStorageIiLi4ELi4ELi1ELi0EEE", !19, i64 0}
!19 = !{!"_ZTSN5Eigen8internal11plain_arrayIiLi4ELi0ELi16EEE", !7, i64 0}
!20 = !{!"_ZTSN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen12DenseStorageIfLi4ELi4ELi1ELi0EEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi4ELi0ELi16EEE", !7, i64 0}
!24 = !{!"int", !7, i64 0}
!25 = !{!15, !15, i64 0}
!26 = !{!24, !24, i64 0}
!27 = distinct !{!27, !28}
!28 = !{!"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::Matrix.37" = type { %"class.Eigen::PlainObjectBase.38" }
%"class.Eigen::PlainObjectBase.38" = type { %"class.Eigen::DenseStorage.17" }
%"class.Eigen::DenseStorage.17" = type { %"struct.Eigen::internal::plain_array.18" }
%"struct.Eigen::internal::plain_array.18" = type { [4 x float] }
%"class.Eigen::Array.9" = type { %"class.Eigen::PlainObjectBase.10" }
%"class.Eigen::PlainObjectBase.10" = type { %"class.Eigen::DenseStorage.17" }
%"class.Eigen::CwiseBinaryOp.70" = type <{ ptr, %"class.Eigen::CwiseNullaryOp.51", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.51" = type { [4 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { float }
%"class.Eigen::MatrixWrapper" = type { ptr }

; 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: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEE6matrixEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEC2INS_13MatrixWrapperINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17MixedFrequncyGait13getSwingStateEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.37") align 16 %0, ptr noundef nonnull align 16 dereferenceable(104) %1) unnamed_addr #2 align 2 {
  %3 = alloca %"class.Eigen::Array.9", align 16
  %4 = alloca %"class.Eigen::CwiseBinaryOp.70", align 8
  %5 = alloca %"class.Eigen::MatrixWrapper", align 8
  %6 = getelementptr inbounds i8, ptr %1, i64 40
  %7 = load float, ptr %6, align 8, !tbaa !5
  %8 = fsub float 1.000000e+00, %7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %3) #3
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %4) #3
  %9 = getelementptr inbounds i8, ptr %1, i64 80
  call void @_ZNK5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEmiIfEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIfNS6_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIfS9_NS7_IfS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.70") align 8 %4, ptr noundef nonnull align 1 dereferenceable(1) %9, ptr noundef nonnull align 4 dereferenceable(4) %6)
  call void @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEC2INS_13CwiseBinaryOpINS_8internal20scalar_difference_opIffEEKS1_KNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEES7_EEEEEERKNS_9EigenBaseIT_EENS4_9enable_ifIXsr8internal14is_convertibleINSF_6ScalarEfEE5valueENS1_11PrivateTypeEE4typeE(ptr noundef nonnull align 16 dereferenceable(16) %3, ptr noundef nonnull align 1 dereferenceable(1) %4)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #3
  %10 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 0)
  %11 = load float, ptr %10, align 4, !tbaa !24
  %12 = fcmp olt float %11, 0.000000e+00
  %13 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 0)
  br i1 %12, label %14, label %15

14:                                               ; preds = %2
  store float 0.000000e+00, ptr %13, align 4, !tbaa !24
  br label %19

15:                                               ; preds = %2
  %16 = load float, ptr %13, align 4, !tbaa !24
  %17 = fdiv float %16, %8
  %18 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 0)
  store float %17, ptr %18, align 4, !tbaa !24
  br label %19

19:                                               ; preds = %14, %15
  %20 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 1)
  %21 = load float, ptr %20, align 4, !tbaa !24
  %22 = fcmp olt float %21, 0.000000e+00
  %23 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 1)
  br i1 %22, label %28, label %24

24:                                               ; preds = %19
  %25 = load float, ptr %23, align 4, !tbaa !24
  %26 = fdiv float %25, %8
  %27 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 1)
  store float %26, ptr %27, align 4, !tbaa !24
  br label %29

28:                                               ; preds = %19
  store float 0.000000e+00, ptr %23, align 4, !tbaa !24
  br label %29

29:                                               ; preds = %28, %24
  %30 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 2)
  %31 = load float, ptr %30, align 4, !tbaa !24
  %32 = fcmp olt float %31, 0.000000e+00
  %33 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 2)
  br i1 %32, label %38, label %34

34:                                               ; preds = %29
  %35 = load float, ptr %33, align 4, !tbaa !24
  %36 = fdiv float %35, %8
  %37 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 2)
  store float %36, ptr %37, align 4, !tbaa !24
  br label %39

38:                                               ; preds = %29
  store float 0.000000e+00, ptr %33, align 4, !tbaa !24
  br label %39

39:                                               ; preds = %38, %34
  %40 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 3)
  %41 = load float, ptr %40, align 4, !tbaa !24
  %42 = fcmp olt float %41, 0.000000e+00
  %43 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 3)
  br i1 %42, label %48, label %44

44:                                               ; preds = %39
  %45 = load float, ptr %43, align 4, !tbaa !24
  %46 = fdiv float %45, %8
  %47 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 3)
  store float %46, ptr %47, align 4, !tbaa !24
  br label %49

48:                                               ; preds = %39
  store float 0.000000e+00, ptr %43, align 4, !tbaa !24
  br label %49

49:                                               ; preds = %48, %44
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #3
  %50 = call ptr @_ZN5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEE6matrixEv(ptr noundef nonnull align 1 dereferenceable(1) %3)
  store ptr %50, ptr %5, align 8
  call void @_ZN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEC2INS_13MatrixWrapperINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %0, ptr noundef nonnull align 1 dereferenceable(1) %5)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #3
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %3) #3
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEmiIfEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIfNS6_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIfS9_NS7_IfS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.70") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEC2INS_13CwiseBinaryOpINS_8internal20scalar_difference_opIffEEKS1_KNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEES7_EEEEEERKNS_9EigenBaseIT_EENS4_9enable_ifIXsr8internal14is_convertibleINSF_6ScalarEfEE5valueENS1_11PrivateTypeEE4typeE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { 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, !14, i64 40}
!6 = !{!"_ZTS17MixedFrequncyGait", !7, i64 0, !14, i64 40, !10, i64 48, !15, i64 64, !19, i64 80, !23, i64 96, !23, i64 100}
!7 = !{!"_ZTS4Gait", !8, i64 8}
!8 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !9, i64 0, !13, i64 8, !11, i64 16}
!9 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !10, i64 0}
!10 = !{!"any pointer", !11, i64 0}
!11 = !{!"omnipotent char", !12, i64 0}
!12 = !{!"Simple C++ TBAA"}
!13 = !{!"long", !11, i64 0}
!14 = !{!"float", !11, i64 0}
!15 = !{!"_ZTSN5Eigen5ArrayIiLi4ELi1ELi0ELi4ELi1EEE", !16, i64 0}
!16 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_5ArrayIiLi4ELi1ELi0ELi4ELi1EEEEE", !17, i64 0}
!17 = !{!"_ZTSN5Eigen12DenseStorageIiLi4ELi4ELi1ELi0EEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen8internal11plain_arrayIiLi4ELi0ELi16EEE", !11, i64 0}
!19 = !{!"_ZTSN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEE", !20, i64 0}
!20 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen12DenseStorageIfLi4ELi4ELi1ELi0EEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi4ELi0ELi16EEE", !11, i64 0}
!23 = !{!"int", !11, i64 0}
!24 = !{!14, !14, i64 0}


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