; 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.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.202 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.208 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.209 = external hidden unnamed_addr constant [38 x i8], align 1
@.str.210 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.211 = external hidden unnamed_addr constant [44 x i8], align 1
@.str.212 = external hidden unnamed_addr constant [3 x i8], align 1
@__func__.testAxisAngleConversion = external hidden unnamed_addr constant [24 x i8], align 1
@.str.213 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.214 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.215 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.216 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.217 = external hidden unnamed_addr constant [41 x i8], align 1
@.str.218 = external hidden unnamed_addr constant [57 x i8], align 1
@.str.219 = external hidden unnamed_addr constant [57 x i8], align 1
@.str.220 = external hidden unnamed_addr constant [57 x i8], align 1
@.str.221 = external hidden unnamed_addr constant [57 x i8], align 1
@.str.222 = external hidden unnamed_addr constant [57 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 @_ZN3Rcs13CmdLineParserC1EiPPc(ptr noundef nonnull align 1 dereferenceable(1), i32 noundef, ptr noundef) unnamed_addr #2

declare noundef zeroext i1 @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPdS2_z(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef, 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 @Mat3d_setRandomRotation(ptr noundef) #2

declare void @Mat3d_rotateAxisAngle(ptr noundef, ptr noundef, double noundef, ptr noundef) #2

declare void @Mat3d_slerp(ptr noundef, ptr noundef, ptr noundef, double noundef) #2

declare void @Mat3d_subSelf(ptr noundef, ptr noundef) #2

; Function Attrs: mustprogress uwtable
define dso_local zeroext i1 @testAxisAngleConversion(i32 noundef %0, ptr noundef %1) #3 {
  %3 = alloca i1, align 1
  %4 = alloca i32, align 4
  %5 = alloca ptr, align 8
  %6 = alloca i8, align 1
  %7 = alloca i32, align 4
  %8 = alloca double, align 8
  %9 = alloca double, align 8
  %10 = alloca [3 x double], align 16
  %11 = alloca [3 x [3 x double]], align 16
  %12 = alloca [3 x [3 x double]], align 16
  %13 = alloca double, align 8
  %14 = alloca double, align 8
  %15 = alloca %"class.Rcs::CmdLineParser", align 1
  %16 = alloca i32, align 4
  %17 = alloca i32, align 4
  %18 = alloca i32, align 4
  %19 = alloca i32, align 4
  %20 = alloca [3 x [3 x double]], align 16
  %21 = alloca i32, align 4
  %22 = alloca [3 x [3 x double]], align 16
  %23 = alloca [3 x double], align 16
  %24 = alloca [3 x [3 x double]], align 16
  %25 = alloca i32, align 4
  %26 = alloca double, align 8
  %27 = alloca [3 x [3 x double]], align 16
  %28 = alloca [3 x double], align 16
  %29 = alloca [3 x [3 x double]], align 16
  %30 = alloca [3 x [3 x double]], align 16
  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 1, ptr %6) #4
  store i8 1, ptr %6, align 1, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #4
  store i32 100, ptr %7, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr %10) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr %11) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr %12) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #4
  store double 0.000000e+00, ptr %13, align 8, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #4
  store double 0x3EB0C6F7A0B5ED8D, ptr %14, align 8, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 1, ptr %15) #4
  %31 = load i32, ptr %4, align 4, !tbaa !5
  %32 = load ptr, ptr %5, align 8, !tbaa !9
  call void @_ZN3Rcs13CmdLineParserC1EiPPc(ptr noundef nonnull align 1 dereferenceable(1) %15, i32 noundef %31, ptr noundef %32)
  %33 = call noundef zeroext i1 (ptr, ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPiS2_z(ptr noundef nonnull align 1 dereferenceable(1) %15, ptr noundef @.str.208, ptr noundef %7, ptr noundef @.str.209)
  %34 = call noundef zeroext i1 (ptr, ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPdS2_z(ptr noundef nonnull align 1 dereferenceable(1) %15, ptr noundef @.str.210, ptr noundef %14, ptr noundef @.str.211)
  %35 = call noundef zeroext i1 (ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11hasArgumentEPKcS2_z(ptr noundef nonnull align 1 dereferenceable(1) %15, ptr noundef @.str.212, ptr noundef null)
  br i1 %35, label %36, label %37

36:                                               ; preds = %2
  call void @_ZN3Rcs13CmdLineParser5printEv()
  store i1 true, ptr %3, align 1
  store i32 1, ptr %16, align 4
  br label %791

37:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #4
  store i32 0, ptr %17, align 4, !tbaa !5
  br label %38

38:                                               ; preds = %132, %37
  %39 = load i32, ptr %17, align 4, !tbaa !5
  %40 = load i32, ptr %7, align 4, !tbaa !5
  %41 = icmp slt i32 %39, %40
  br i1 %41, label %43, label %42

42:                                               ; preds = %38
  store i32 2, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #4
  br label %135

43:                                               ; preds = %38
  %44 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  call void @Mat3d_setRandomRotation(ptr noundef %44)
  %45 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %46 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  %47 = call double @Mat3d_getAxisAngleSelf(ptr noundef %45, ptr noundef %46)
  store double %47, ptr %9, align 8, !tbaa !13
  %48 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  %49 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %50 = load double, ptr %9, align 8, !tbaa !13
  call void @Mat3d_fromAxisAngle(ptr noundef %48, ptr noundef %49, double noundef %50)
  %51 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  %52 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  call void @Mat3d_subSelf(ptr noundef %51, ptr noundef %52)
  %53 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  %54 = call double @VecNd_getLength(ptr noundef %53, i32 noundef 9)
  store double %54, ptr %8, align 8, !tbaa !13
  %55 = load double, ptr %8, align 8, !tbaa !13
  %56 = load double, ptr %13, align 8, !tbaa !13
  %57 = fcmp ogt double %55, %56
  br i1 %57, label %58, label %60

58:                                               ; preds = %43
  %59 = load double, ptr %8, align 8, !tbaa !13
  store double %59, ptr %13, align 8, !tbaa !13
  br label %60

60:                                               ; preds = %58, %43
  %61 = load double, ptr %8, align 8, !tbaa !13
  %62 = load double, ptr %14, align 8, !tbaa !13
  %63 = fcmp ogt double %61, %62
  br i1 %63, label %64, label %92

64:                                               ; preds = %60
  store i8 0, ptr %6, align 1, !tbaa !11
  %65 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %66 = icmp sle i32 1, %65
  br i1 %66, label %67, label %91

67:                                               ; preds = %64
  br label %68

68:                                               ; preds = %67
  %69 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %70 = icmp ne ptr %69, null
  br i1 %70, label %71, label %74

71:                                               ; preds = %68
  %72 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %73 = load double, ptr %8, align 8, !tbaa !13
  call void (i32, ptr, ptr, i32, ptr, ...) %72(i32 noundef 1, ptr noundef @.str.3, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 1927, ptr noundef @.str.213, double noundef %73)
  br label %74

74:                                               ; preds = %71, %68
  %75 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %76 = icmp sle i32 1, %75
  br i1 %76, label %77, label %85

77:                                               ; preds = %74
  %78 = load ptr, ptr @stderr, align 8, !tbaa !9
  %79 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %78, ptr noundef @.str.5, ptr noundef @.str.3, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 1927) #4
  %80 = load ptr, ptr @stderr, align 8, !tbaa !9
  %81 = load double, ptr %8, align 8, !tbaa !13
  %82 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %80, ptr noundef @.str.213, double noundef %81) #4
  %83 = load ptr, ptr @stderr, align 8, !tbaa !9
  %84 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %83, ptr noundef @.str.6) #4
  br label %85

85:                                               ; preds = %77, %74
  br label %86

86:                                               ; preds = %85
  br label %87

87:                                               ; preds = %86
  %88 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  call void @Mat3d_printCommentDigits(ptr noundef @.str.214, ptr noundef %88, i32 noundef 5)
  %89 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  call void @Mat3d_printCommentDigits(ptr noundef @.str.215, ptr noundef %89, i32 noundef 5)
  %90 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  call void @Mat3d_printCommentDigits(ptr noundef @.str.216, ptr noundef %90, i32 noundef 5)
  br label %91

91:                                               ; preds = %87, %64
  br label %131

92:                                               ; preds = %60
  br label %93

93:                                               ; preds = %92
  %94 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %95 = icmp ne ptr %94, null
  br i1 %95, label %96, label %108

96:                                               ; preds = %93
  %97 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %98 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %99 = load double, ptr %98, align 16, !tbaa !13
  %100 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 1
  %101 = load double, ptr %100, align 8, !tbaa !13
  %102 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 2
  %103 = load double, ptr %102, align 16, !tbaa !13
  %104 = load double, ptr %9, align 8, !tbaa !13
  %105 = fmul double %104, 1.800000e+02
  %106 = fdiv double %105, 0x400921FB54442D18
  %107 = load double, ptr %8, align 8, !tbaa !13
  call void (i32, ptr, ptr, i32, ptr, ...) %97(i32 noundef 2, ptr noundef @.str.3, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 1936, ptr noundef @.str.217, double noundef %99, double noundef %101, double noundef %103, double noundef %106, double noundef %107)
  br label %108

108:                                              ; preds = %96, %93
  %109 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %110 = icmp sle i32 2, %109
  br i1 %110, label %111, label %128

111:                                              ; preds = %108
  %112 = load ptr, ptr @stderr, align 8, !tbaa !9
  %113 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %112, ptr noundef @.str.5, ptr noundef @.str.3, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 1936) #4
  %114 = load ptr, ptr @stderr, align 8, !tbaa !9
  %115 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %116 = load double, ptr %115, align 16, !tbaa !13
  %117 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 1
  %118 = load double, ptr %117, align 8, !tbaa !13
  %119 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 2
  %120 = load double, ptr %119, align 16, !tbaa !13
  %121 = load double, ptr %9, align 8, !tbaa !13
  %122 = fmul double %121, 1.800000e+02
  %123 = fdiv double %122, 0x400921FB54442D18
  %124 = load double, ptr %8, align 8, !tbaa !13
  %125 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %114, ptr noundef @.str.217, double noundef %116, double noundef %118, double noundef %120, double noundef %123, double noundef %124) #4
  %126 = load ptr, ptr @stderr, align 8, !tbaa !9
  %127 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %126, ptr noundef @.str.6) #4
  br label %128

128:                                              ; preds = %111, %108
  br label %129

129:                                              ; preds = %128
  br label %130

130:                                              ; preds = %129
  br label %131

131:                                              ; preds = %130, %91
  br label %132

132:                                              ; preds = %131
  %133 = load i32, ptr %17, align 4, !tbaa !5
  %134 = add nsw i32 %133, 1
  store i32 %134, ptr %17, align 4, !tbaa !5
  br label %38, !llvm.loop !15

135:                                              ; preds = %42
  br label %136

136:                                              ; preds = %135
  %137 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %138 = icmp ne ptr %137, null
  br i1 %138, label %139, label %152

139:                                              ; preds = %136
  %140 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %141 = load double, ptr %13, align 8, !tbaa !13
  %142 = load double, ptr %14, align 8, !tbaa !13
  %143 = fcmp ogt double %141, %142
  br i1 %143, label %144, label %145

144:                                              ; preds = %139
  br label %146

145:                                              ; preds = %139
  br label %146

146:                                              ; preds = %145, %144
  %147 = phi ptr [ @.str.21, %144 ], [ @.str.20, %145 ]
  %148 = getelementptr inbounds [8 x i8], ptr %147, i64 0, i64 0
  %149 = load i32, ptr %7, align 4, !tbaa !5
  %150 = load double, ptr %13, align 8, !tbaa !13
  %151 = load double, ptr %14, align 8, !tbaa !13
  call void (i32, ptr, ptr, i32, ptr, ...) %140(i32 noundef 2, ptr noundef @.str.18, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 1942, ptr noundef @.str.218, ptr noundef %148, i32 noundef %149, double noundef %150, double noundef %151)
  br label %152

152:                                              ; preds = %146, %136
  %153 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %154 = icmp sle i32 2, %153
  br i1 %154, label %155, label %173

155:                                              ; preds = %152
  %156 = load ptr, ptr @stderr, align 8, !tbaa !9
  %157 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %156, ptr noundef @.str.22, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 1942) #4
  %158 = load ptr, ptr @stderr, align 8, !tbaa !9
  %159 = load double, ptr %13, align 8, !tbaa !13
  %160 = load double, ptr %14, align 8, !tbaa !13
  %161 = fcmp ogt double %159, %160
  br i1 %161, label %162, label %163

162:                                              ; preds = %155
  br label %164

163:                                              ; preds = %155
  br label %164

164:                                              ; preds = %163, %162
  %165 = phi ptr [ @.str.21, %162 ], [ @.str.20, %163 ]
  %166 = getelementptr inbounds [8 x i8], ptr %165, i64 0, i64 0
  %167 = load i32, ptr %7, align 4, !tbaa !5
  %168 = load double, ptr %13, align 8, !tbaa !13
  %169 = load double, ptr %14, align 8, !tbaa !13
  %170 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %158, ptr noundef @.str.218, ptr noundef %166, i32 noundef %167, double noundef %168, double noundef %169) #4
  %171 = load ptr, ptr @stderr, align 8, !tbaa !9
  %172 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %171, ptr noundef @.str.6) #4
  br label %173

173:                                              ; preds = %164, %152
  br label %174

174:                                              ; preds = %173
  br label %175

175:                                              ; preds = %174
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #4
  store i32 0, ptr %18, align 4, !tbaa !5
  br label %176

176:                                              ; preds = %271, %175
  %177 = load i32, ptr %18, align 4, !tbaa !5
  %178 = load i32, ptr %7, align 4, !tbaa !5
  %179 = icmp slt i32 %177, %178
  br i1 %179, label %181, label %180

180:                                              ; preds = %176
  store i32 11, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #4
  br label %274

181:                                              ; preds = %176
  %182 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  call void @Mat3d_setRandomRotation(ptr noundef %182)
  %183 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %184 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  %185 = call double @Mat3d_getAxisAngleSelf(ptr noundef %183, ptr noundef %184)
  store double %185, ptr %9, align 8, !tbaa !13
  %186 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  call void @Mat3d_setIdentity(ptr noundef %186)
  %187 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  %188 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %189 = load double, ptr %9, align 8, !tbaa !13
  call void @Mat3d_rotateAxisAngleSelf(ptr noundef %187, ptr noundef %188, double noundef %189)
  %190 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  %191 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  call void @Mat3d_subSelf(ptr noundef %190, ptr noundef %191)
  %192 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  %193 = call double @VecNd_getLength(ptr noundef %192, i32 noundef 9)
  store double %193, ptr %8, align 8, !tbaa !13
  %194 = load double, ptr %8, align 8, !tbaa !13
  %195 = load double, ptr %13, align 8, !tbaa !13
  %196 = fcmp ogt double %194, %195
  br i1 %196, label %197, label %199

197:                                              ; preds = %181
  %198 = load double, ptr %8, align 8, !tbaa !13
  store double %198, ptr %13, align 8, !tbaa !13
  br label %199

199:                                              ; preds = %197, %181
  %200 = load double, ptr %8, align 8, !tbaa !13
  %201 = load double, ptr %14, align 8, !tbaa !13
  %202 = fcmp ogt double %200, %201
  br i1 %202, label %203, label %231

203:                                              ; preds = %199
  store i8 0, ptr %6, align 1, !tbaa !11
  %204 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %205 = icmp sle i32 1, %204
  br i1 %205, label %206, label %230

206:                                              ; preds = %203
  br label %207

207:                                              ; preds = %206
  %208 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %209 = icmp ne ptr %208, null
  br i1 %209, label %210, label %213

210:                                              ; preds = %207
  %211 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %212 = load double, ptr %8, align 8, !tbaa !13
  call void (i32, ptr, ptr, i32, ptr, ...) %211(i32 noundef 1, ptr noundef @.str.3, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 1970, ptr noundef @.str.213, double noundef %212)
  br label %213

213:                                              ; preds = %210, %207
  %214 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %215 = icmp sle i32 1, %214
  br i1 %215, label %216, label %224

216:                                              ; preds = %213
  %217 = load ptr, ptr @stderr, align 8, !tbaa !9
  %218 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %217, ptr noundef @.str.5, ptr noundef @.str.3, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 1970) #4
  %219 = load ptr, ptr @stderr, align 8, !tbaa !9
  %220 = load double, ptr %8, align 8, !tbaa !13
  %221 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %219, ptr noundef @.str.213, double noundef %220) #4
  %222 = load ptr, ptr @stderr, align 8, !tbaa !9
  %223 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %222, ptr noundef @.str.6) #4
  br label %224

224:                                              ; preds = %216, %213
  br label %225

225:                                              ; preds = %224
  br label %226

226:                                              ; preds = %225
  %227 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  call void @Mat3d_printCommentDigits(ptr noundef @.str.214, ptr noundef %227, i32 noundef 5)
  %228 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  call void @Mat3d_printCommentDigits(ptr noundef @.str.215, ptr noundef %228, i32 noundef 5)
  %229 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  call void @Mat3d_printCommentDigits(ptr noundef @.str.216, ptr noundef %229, i32 noundef 5)
  br label %230

230:                                              ; preds = %226, %203
  br label %270

231:                                              ; preds = %199
  br label %232

232:                                              ; preds = %231
  %233 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %234 = icmp ne ptr %233, null
  br i1 %234, label %235, label %247

235:                                              ; preds = %232
  %236 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %237 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %238 = load double, ptr %237, align 16, !tbaa !13
  %239 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 1
  %240 = load double, ptr %239, align 8, !tbaa !13
  %241 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 2
  %242 = load double, ptr %241, align 16, !tbaa !13
  %243 = load double, ptr %9, align 8, !tbaa !13
  %244 = fmul double %243, 1.800000e+02
  %245 = fdiv double %244, 0x400921FB54442D18
  %246 = load double, ptr %8, align 8, !tbaa !13
  call void (i32, ptr, ptr, i32, ptr, ...) %236(i32 noundef 2, ptr noundef @.str.18, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 1979, ptr noundef @.str.217, double noundef %238, double noundef %240, double noundef %242, double noundef %245, double noundef %246)
  br label %247

247:                                              ; preds = %235, %232
  %248 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %249 = icmp sle i32 2, %248
  br i1 %249, label %250, label %267

250:                                              ; preds = %247
  %251 = load ptr, ptr @stderr, align 8, !tbaa !9
  %252 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %251, ptr noundef @.str.22, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 1979) #4
  %253 = load ptr, ptr @stderr, align 8, !tbaa !9
  %254 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %255 = load double, ptr %254, align 16, !tbaa !13
  %256 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 1
  %257 = load double, ptr %256, align 8, !tbaa !13
  %258 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 2
  %259 = load double, ptr %258, align 16, !tbaa !13
  %260 = load double, ptr %9, align 8, !tbaa !13
  %261 = fmul double %260, 1.800000e+02
  %262 = fdiv double %261, 0x400921FB54442D18
  %263 = load double, ptr %8, align 8, !tbaa !13
  %264 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %253, ptr noundef @.str.217, double noundef %255, double noundef %257, double noundef %259, double noundef %262, double noundef %263) #4
  %265 = load ptr, ptr @stderr, align 8, !tbaa !9
  %266 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %265, ptr noundef @.str.6) #4
  br label %267

267:                                              ; preds = %250, %247
  br label %268

268:                                              ; preds = %267
  br label %269

269:                                              ; preds = %268
  br label %270

270:                                              ; preds = %269, %230
  br label %271

271:                                              ; preds = %270
  %272 = load i32, ptr %18, align 4, !tbaa !5
  %273 = add nsw i32 %272, 1
  store i32 %273, ptr %18, align 4, !tbaa !5
  br label %176, !llvm.loop !17

274:                                              ; preds = %180
  br label %275

275:                                              ; preds = %274
  %276 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %277 = icmp ne ptr %276, null
  br i1 %277, label %278, label %291

278:                                              ; preds = %275
  %279 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %280 = load double, ptr %13, align 8, !tbaa !13
  %281 = load double, ptr %14, align 8, !tbaa !13
  %282 = fcmp ogt double %280, %281
  br i1 %282, label %283, label %284

283:                                              ; preds = %278
  br label %285

284:                                              ; preds = %278
  br label %285

285:                                              ; preds = %284, %283
  %286 = phi ptr [ @.str.21, %283 ], [ @.str.20, %284 ]
  %287 = getelementptr inbounds [8 x i8], ptr %286, i64 0, i64 0
  %288 = load i32, ptr %7, align 4, !tbaa !5
  %289 = load double, ptr %13, align 8, !tbaa !13
  %290 = load double, ptr %14, align 8, !tbaa !13
  call void (i32, ptr, ptr, i32, ptr, ...) %279(i32 noundef 2, ptr noundef @.str.18, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 1985, ptr noundef @.str.219, ptr noundef %287, i32 noundef %288, double noundef %289, double noundef %290)
  br label %291

291:                                              ; preds = %285, %275
  %292 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %293 = icmp sle i32 2, %292
  br i1 %293, label %294, label %312

294:                                              ; preds = %291
  %295 = load ptr, ptr @stderr, align 8, !tbaa !9
  %296 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %295, ptr noundef @.str.22, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 1985) #4
  %297 = load ptr, ptr @stderr, align 8, !tbaa !9
  %298 = load double, ptr %13, align 8, !tbaa !13
  %299 = load double, ptr %14, align 8, !tbaa !13
  %300 = fcmp ogt double %298, %299
  br i1 %300, label %301, label %302

301:                                              ; preds = %294
  br label %303

302:                                              ; preds = %294
  br label %303

303:                                              ; preds = %302, %301
  %304 = phi ptr [ @.str.21, %301 ], [ @.str.20, %302 ]
  %305 = getelementptr inbounds [8 x i8], ptr %304, i64 0, i64 0
  %306 = load i32, ptr %7, align 4, !tbaa !5
  %307 = load double, ptr %13, align 8, !tbaa !13
  %308 = load double, ptr %14, align 8, !tbaa !13
  %309 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %297, ptr noundef @.str.219, ptr noundef %305, i32 noundef %306, double noundef %307, double noundef %308) #4
  %310 = load ptr, ptr @stderr, align 8, !tbaa !9
  %311 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %310, ptr noundef @.str.6) #4
  br label %312

312:                                              ; preds = %303, %291
  br label %313

313:                                              ; preds = %312
  br label %314

314:                                              ; preds = %313
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #4
  store i32 0, ptr %19, align 4, !tbaa !5
  br label %315

315:                                              ; preds = %412, %314
  %316 = load i32, ptr %19, align 4, !tbaa !5
  %317 = load i32, ptr %7, align 4, !tbaa !5
  %318 = icmp slt i32 %316, %317
  br i1 %318, label %320, label %319

319:                                              ; preds = %315
  store i32 20, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #4
  br label %415

320:                                              ; preds = %315
  %321 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  call void @Mat3d_setRandomRotation(ptr noundef %321)
  %322 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  call void @Mat3d_setRandomRotation(ptr noundef %322)
  %323 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %324 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  %325 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  %326 = call double @Mat3d_getAxisAngle(ptr noundef %323, ptr noundef %324, ptr noundef %325)
  store double %326, ptr %9, align 8, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 72, ptr %20) #4
  %327 = getelementptr inbounds [3 x [3 x double]], ptr %20, i64 0, i64 0
  %328 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %329 = load double, ptr %9, align 8, !tbaa !13
  %330 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  call void @Mat3d_rotateAxisAngle(ptr noundef %327, ptr noundef %328, double noundef %329, ptr noundef %330)
  %331 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  %332 = getelementptr inbounds [3 x [3 x double]], ptr %20, i64 0, i64 0
  call void @Mat3d_subSelf(ptr noundef %331, ptr noundef %332)
  %333 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  %334 = call double @VecNd_getLength(ptr noundef %333, i32 noundef 9)
  store double %334, ptr %8, align 8, !tbaa !13
  %335 = load double, ptr %8, align 8, !tbaa !13
  %336 = load double, ptr %13, align 8, !tbaa !13
  %337 = fcmp ogt double %335, %336
  br i1 %337, label %338, label %340

338:                                              ; preds = %320
  %339 = load double, ptr %8, align 8, !tbaa !13
  store double %339, ptr %13, align 8, !tbaa !13
  br label %340

340:                                              ; preds = %338, %320
  %341 = load double, ptr %8, align 8, !tbaa !13
  %342 = load double, ptr %14, align 8, !tbaa !13
  %343 = fcmp ogt double %341, %342
  br i1 %343, label %344, label %372

344:                                              ; preds = %340
  store i8 0, ptr %6, align 1, !tbaa !11
  %345 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %346 = icmp sle i32 1, %345
  br i1 %346, label %347, label %371

347:                                              ; preds = %344
  br label %348

348:                                              ; preds = %347
  %349 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %350 = icmp ne ptr %349, null
  br i1 %350, label %351, label %354

351:                                              ; preds = %348
  %352 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %353 = load double, ptr %8, align 8, !tbaa !13
  call void (i32, ptr, ptr, i32, ptr, ...) %352(i32 noundef 1, ptr noundef @.str.3, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2014, ptr noundef @.str.213, double noundef %353)
  br label %354

354:                                              ; preds = %351, %348
  %355 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %356 = icmp sle i32 1, %355
  br i1 %356, label %357, label %365

357:                                              ; preds = %354
  %358 = load ptr, ptr @stderr, align 8, !tbaa !9
  %359 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %358, ptr noundef @.str.5, ptr noundef @.str.3, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2014) #4
  %360 = load ptr, ptr @stderr, align 8, !tbaa !9
  %361 = load double, ptr %8, align 8, !tbaa !13
  %362 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %360, ptr noundef @.str.213, double noundef %361) #4
  %363 = load ptr, ptr @stderr, align 8, !tbaa !9
  %364 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %363, ptr noundef @.str.6) #4
  br label %365

365:                                              ; preds = %357, %354
  br label %366

366:                                              ; preds = %365
  br label %367

367:                                              ; preds = %366
  %368 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  call void @Mat3d_printCommentDigits(ptr noundef @.str.214, ptr noundef %368, i32 noundef 5)
  %369 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  call void @Mat3d_printCommentDigits(ptr noundef @.str.215, ptr noundef %369, i32 noundef 5)
  %370 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  call void @Mat3d_printCommentDigits(ptr noundef @.str.216, ptr noundef %370, i32 noundef 5)
  br label %371

371:                                              ; preds = %367, %344
  br label %411

372:                                              ; preds = %340
  br label %373

373:                                              ; preds = %372
  %374 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %375 = icmp ne ptr %374, null
  br i1 %375, label %376, label %388

376:                                              ; preds = %373
  %377 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %378 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %379 = load double, ptr %378, align 16, !tbaa !13
  %380 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 1
  %381 = load double, ptr %380, align 8, !tbaa !13
  %382 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 2
  %383 = load double, ptr %382, align 16, !tbaa !13
  %384 = load double, ptr %9, align 8, !tbaa !13
  %385 = fmul double %384, 1.800000e+02
  %386 = fdiv double %385, 0x400921FB54442D18
  %387 = load double, ptr %8, align 8, !tbaa !13
  call void (i32, ptr, ptr, i32, ptr, ...) %377(i32 noundef 2, ptr noundef @.str.18, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2023, ptr noundef @.str.217, double noundef %379, double noundef %381, double noundef %383, double noundef %386, double noundef %387)
  br label %388

388:                                              ; preds = %376, %373
  %389 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %390 = icmp sle i32 2, %389
  br i1 %390, label %391, label %408

391:                                              ; preds = %388
  %392 = load ptr, ptr @stderr, align 8, !tbaa !9
  %393 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %392, ptr noundef @.str.22, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2023) #4
  %394 = load ptr, ptr @stderr, align 8, !tbaa !9
  %395 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %396 = load double, ptr %395, align 16, !tbaa !13
  %397 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 1
  %398 = load double, ptr %397, align 8, !tbaa !13
  %399 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 2
  %400 = load double, ptr %399, align 16, !tbaa !13
  %401 = load double, ptr %9, align 8, !tbaa !13
  %402 = fmul double %401, 1.800000e+02
  %403 = fdiv double %402, 0x400921FB54442D18
  %404 = load double, ptr %8, align 8, !tbaa !13
  %405 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %394, ptr noundef @.str.217, double noundef %396, double noundef %398, double noundef %400, double noundef %403, double noundef %404) #4
  %406 = load ptr, ptr @stderr, align 8, !tbaa !9
  %407 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %406, ptr noundef @.str.6) #4
  br label %408

408:                                              ; preds = %391, %388
  br label %409

409:                                              ; preds = %408
  br label %410

410:                                              ; preds = %409
  br label %411

411:                                              ; preds = %410, %371
  call void @llvm.lifetime.end.p0(i64 72, ptr %20) #4
  br label %412

412:                                              ; preds = %411
  %413 = load i32, ptr %19, align 4, !tbaa !5
  %414 = add nsw i32 %413, 1
  store i32 %414, ptr %19, align 4, !tbaa !5
  br label %315, !llvm.loop !18

415:                                              ; preds = %319
  br label %416

416:                                              ; preds = %415
  %417 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %418 = icmp ne ptr %417, null
  br i1 %418, label %419, label %432

419:                                              ; preds = %416
  %420 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %421 = load double, ptr %13, align 8, !tbaa !13
  %422 = load double, ptr %14, align 8, !tbaa !13
  %423 = fcmp ogt double %421, %422
  br i1 %423, label %424, label %425

424:                                              ; preds = %419
  br label %426

425:                                              ; preds = %419
  br label %426

426:                                              ; preds = %425, %424
  %427 = phi ptr [ @.str.21, %424 ], [ @.str.20, %425 ]
  %428 = getelementptr inbounds [8 x i8], ptr %427, i64 0, i64 0
  %429 = load i32, ptr %7, align 4, !tbaa !5
  %430 = load double, ptr %13, align 8, !tbaa !13
  %431 = load double, ptr %14, align 8, !tbaa !13
  call void (i32, ptr, ptr, i32, ptr, ...) %420(i32 noundef 2, ptr noundef @.str.18, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2029, ptr noundef @.str.220, ptr noundef %428, i32 noundef %429, double noundef %430, double noundef %431)
  br label %432

432:                                              ; preds = %426, %416
  %433 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %434 = icmp sle i32 2, %433
  br i1 %434, label %435, label %453

435:                                              ; preds = %432
  %436 = load ptr, ptr @stderr, align 8, !tbaa !9
  %437 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %436, ptr noundef @.str.22, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2029) #4
  %438 = load ptr, ptr @stderr, align 8, !tbaa !9
  %439 = load double, ptr %13, align 8, !tbaa !13
  %440 = load double, ptr %14, align 8, !tbaa !13
  %441 = fcmp ogt double %439, %440
  br i1 %441, label %442, label %443

442:                                              ; preds = %435
  br label %444

443:                                              ; preds = %435
  br label %444

444:                                              ; preds = %443, %442
  %445 = phi ptr [ @.str.21, %442 ], [ @.str.20, %443 ]
  %446 = getelementptr inbounds [8 x i8], ptr %445, i64 0, i64 0
  %447 = load i32, ptr %7, align 4, !tbaa !5
  %448 = load double, ptr %13, align 8, !tbaa !13
  %449 = load double, ptr %14, align 8, !tbaa !13
  %450 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %438, ptr noundef @.str.220, ptr noundef %446, i32 noundef %447, double noundef %448, double noundef %449) #4
  %451 = load ptr, ptr @stderr, align 8, !tbaa !9
  %452 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %451, ptr noundef @.str.6) #4
  br label %453

453:                                              ; preds = %444, %432
  br label %454

454:                                              ; preds = %453
  br label %455

455:                                              ; preds = %454
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #4
  store i32 0, ptr %21, align 4, !tbaa !5
  br label %456

456:                                              ; preds = %561, %455
  %457 = load i32, ptr %21, align 4, !tbaa !5
  %458 = load i32, ptr %7, align 4, !tbaa !5
  %459 = icmp slt i32 %457, %458
  br i1 %459, label %461, label %460

460:                                              ; preds = %456
  store i32 29, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #4
  br label %564

461:                                              ; preds = %456
  %462 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  call void @Mat3d_setRandomRotation(ptr noundef %462)
  %463 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  call void @Mat3d_setRandomRotation(ptr noundef %463)
  %464 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %465 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  %466 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  %467 = call double @Mat3d_getAxisAngle(ptr noundef %464, ptr noundef %465, ptr noundef %466)
  store double %467, ptr %9, align 8, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 72, ptr %22) #4
  %468 = getelementptr inbounds [3 x [3 x double]], ptr %22, i64 0, i64 0
  %469 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %470 = load double, ptr %9, align 8, !tbaa !13
  %471 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  call void @Mat3d_rotateAxisAngle(ptr noundef %468, ptr noundef %469, double noundef %470, ptr noundef %471)
  call void @llvm.lifetime.start.p0(i64 24, ptr %23) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr %24) #4
  %472 = getelementptr inbounds [3 x [3 x double]], ptr %24, i64 0, i64 0
  %473 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  call void @Mat3d_copy(ptr noundef %472, ptr noundef %473)
  %474 = getelementptr inbounds [3 x double], ptr %23, i64 0, i64 0
  %475 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %476 = load double, ptr %9, align 8, !tbaa !13
  call void @Vec3d_constMul(ptr noundef %474, ptr noundef %475, double noundef %476)
  %477 = getelementptr inbounds [3 x [3 x double]], ptr %24, i64 0, i64 0
  %478 = getelementptr inbounds [3 x double], ptr %23, i64 0, i64 0
  call void @Mat3d_rotateOmegaSelf(ptr noundef %477, ptr noundef %478, i1 noundef zeroext true)
  %479 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  %480 = getelementptr inbounds [3 x [3 x double]], ptr %22, i64 0, i64 0
  %481 = getelementptr inbounds [3 x [3 x double]], ptr %24, i64 0, i64 0
  call void @Mat3d_sub(ptr noundef %479, ptr noundef %480, ptr noundef %481)
  %482 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  %483 = call double @VecNd_getLength(ptr noundef %482, i32 noundef 9)
  store double %483, ptr %8, align 8, !tbaa !13
  %484 = load double, ptr %8, align 8, !tbaa !13
  %485 = load double, ptr %13, align 8, !tbaa !13
  %486 = fcmp ogt double %484, %485
  br i1 %486, label %487, label %489

487:                                              ; preds = %461
  %488 = load double, ptr %8, align 8, !tbaa !13
  store double %488, ptr %13, align 8, !tbaa !13
  br label %489

489:                                              ; preds = %487, %461
  %490 = load double, ptr %8, align 8, !tbaa !13
  %491 = load double, ptr %14, align 8, !tbaa !13
  %492 = fcmp ogt double %490, %491
  br i1 %492, label %493, label %521

493:                                              ; preds = %489
  store i8 0, ptr %6, align 1, !tbaa !11
  %494 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %495 = icmp sle i32 1, %494
  br i1 %495, label %496, label %520

496:                                              ; preds = %493
  br label %497

497:                                              ; preds = %496
  %498 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %499 = icmp ne ptr %498, null
  br i1 %499, label %500, label %503

500:                                              ; preds = %497
  %501 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %502 = load double, ptr %8, align 8, !tbaa !13
  call void (i32, ptr, ptr, i32, ptr, ...) %501(i32 noundef 1, ptr noundef @.str.3, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2065, ptr noundef @.str.213, double noundef %502)
  br label %503

503:                                              ; preds = %500, %497
  %504 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %505 = icmp sle i32 1, %504
  br i1 %505, label %506, label %514

506:                                              ; preds = %503
  %507 = load ptr, ptr @stderr, align 8, !tbaa !9
  %508 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %507, ptr noundef @.str.5, ptr noundef @.str.3, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2065) #4
  %509 = load ptr, ptr @stderr, align 8, !tbaa !9
  %510 = load double, ptr %8, align 8, !tbaa !13
  %511 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %509, ptr noundef @.str.213, double noundef %510) #4
  %512 = load ptr, ptr @stderr, align 8, !tbaa !9
  %513 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %512, ptr noundef @.str.6) #4
  br label %514

514:                                              ; preds = %506, %503
  br label %515

515:                                              ; preds = %514
  br label %516

516:                                              ; preds = %515
  %517 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  call void @Mat3d_printCommentDigits(ptr noundef @.str.214, ptr noundef %517, i32 noundef 5)
  %518 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  call void @Mat3d_printCommentDigits(ptr noundef @.str.215, ptr noundef %518, i32 noundef 5)
  %519 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  call void @Mat3d_printCommentDigits(ptr noundef @.str.216, ptr noundef %519, i32 noundef 5)
  br label %520

520:                                              ; preds = %516, %493
  br label %560

521:                                              ; preds = %489
  br label %522

522:                                              ; preds = %521
  %523 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %524 = icmp ne ptr %523, null
  br i1 %524, label %525, label %537

525:                                              ; preds = %522
  %526 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %527 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %528 = load double, ptr %527, align 16, !tbaa !13
  %529 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 1
  %530 = load double, ptr %529, align 8, !tbaa !13
  %531 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 2
  %532 = load double, ptr %531, align 16, !tbaa !13
  %533 = load double, ptr %9, align 8, !tbaa !13
  %534 = fmul double %533, 1.800000e+02
  %535 = fdiv double %534, 0x400921FB54442D18
  %536 = load double, ptr %8, align 8, !tbaa !13
  call void (i32, ptr, ptr, i32, ptr, ...) %526(i32 noundef 2, ptr noundef @.str.18, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2074, ptr noundef @.str.217, double noundef %528, double noundef %530, double noundef %532, double noundef %535, double noundef %536)
  br label %537

537:                                              ; preds = %525, %522
  %538 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %539 = icmp sle i32 2, %538
  br i1 %539, label %540, label %557

540:                                              ; preds = %537
  %541 = load ptr, ptr @stderr, align 8, !tbaa !9
  %542 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %541, ptr noundef @.str.22, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2074) #4
  %543 = load ptr, ptr @stderr, align 8, !tbaa !9
  %544 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %545 = load double, ptr %544, align 16, !tbaa !13
  %546 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 1
  %547 = load double, ptr %546, align 8, !tbaa !13
  %548 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 2
  %549 = load double, ptr %548, align 16, !tbaa !13
  %550 = load double, ptr %9, align 8, !tbaa !13
  %551 = fmul double %550, 1.800000e+02
  %552 = fdiv double %551, 0x400921FB54442D18
  %553 = load double, ptr %8, align 8, !tbaa !13
  %554 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %543, ptr noundef @.str.217, double noundef %545, double noundef %547, double noundef %549, double noundef %552, double noundef %553) #4
  %555 = load ptr, ptr @stderr, align 8, !tbaa !9
  %556 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %555, ptr noundef @.str.6) #4
  br label %557

557:                                              ; preds = %540, %537
  br label %558

558:                                              ; preds = %557
  br label %559

559:                                              ; preds = %558
  br label %560

560:                                              ; preds = %559, %520
  call void @llvm.lifetime.end.p0(i64 72, ptr %24) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr %23) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr %22) #4
  br label %561

561:                                              ; preds = %560
  %562 = load i32, ptr %21, align 4, !tbaa !5
  %563 = add nsw i32 %562, 1
  store i32 %563, ptr %21, align 4, !tbaa !5
  br label %456, !llvm.loop !19

564:                                              ; preds = %460
  br label %565

565:                                              ; preds = %564
  %566 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %567 = icmp ne ptr %566, null
  br i1 %567, label %568, label %581

568:                                              ; preds = %565
  %569 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %570 = load double, ptr %13, align 8, !tbaa !13
  %571 = load double, ptr %14, align 8, !tbaa !13
  %572 = fcmp ogt double %570, %571
  br i1 %572, label %573, label %574

573:                                              ; preds = %568
  br label %575

574:                                              ; preds = %568
  br label %575

575:                                              ; preds = %574, %573
  %576 = phi ptr [ @.str.21, %573 ], [ @.str.20, %574 ]
  %577 = getelementptr inbounds [8 x i8], ptr %576, i64 0, i64 0
  %578 = load i32, ptr %7, align 4, !tbaa !5
  %579 = load double, ptr %13, align 8, !tbaa !13
  %580 = load double, ptr %14, align 8, !tbaa !13
  call void (i32, ptr, ptr, i32, ptr, ...) %569(i32 noundef 2, ptr noundef @.str.18, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2080, ptr noundef @.str.221, ptr noundef %577, i32 noundef %578, double noundef %579, double noundef %580)
  br label %581

581:                                              ; preds = %575, %565
  %582 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %583 = icmp sle i32 2, %582
  br i1 %583, label %584, label %602

584:                                              ; preds = %581
  %585 = load ptr, ptr @stderr, align 8, !tbaa !9
  %586 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %585, ptr noundef @.str.22, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2080) #4
  %587 = load ptr, ptr @stderr, align 8, !tbaa !9
  %588 = load double, ptr %13, align 8, !tbaa !13
  %589 = load double, ptr %14, align 8, !tbaa !13
  %590 = fcmp ogt double %588, %589
  br i1 %590, label %591, label %592

591:                                              ; preds = %584
  br label %593

592:                                              ; preds = %584
  br label %593

593:                                              ; preds = %592, %591
  %594 = phi ptr [ @.str.21, %591 ], [ @.str.20, %592 ]
  %595 = getelementptr inbounds [8 x i8], ptr %594, i64 0, i64 0
  %596 = load i32, ptr %7, align 4, !tbaa !5
  %597 = load double, ptr %13, align 8, !tbaa !13
  %598 = load double, ptr %14, align 8, !tbaa !13
  %599 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %587, ptr noundef @.str.221, ptr noundef %595, i32 noundef %596, double noundef %597, double noundef %598) #4
  %600 = load ptr, ptr @stderr, align 8, !tbaa !9
  %601 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %600, ptr noundef @.str.6) #4
  br label %602

602:                                              ; preds = %593, %581
  br label %603

603:                                              ; preds = %602
  br label %604

604:                                              ; preds = %603
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #4
  store i32 0, ptr %25, align 4, !tbaa !5
  br label %605

605:                                              ; preds = %713, %604
  %606 = load i32, ptr %25, align 4, !tbaa !5
  %607 = load i32, ptr %7, align 4, !tbaa !5
  %608 = icmp slt i32 %606, %607
  br i1 %608, label %610, label %609

609:                                              ; preds = %605
  store i32 38, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #4
  br label %716

610:                                              ; preds = %605
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #4
  store double 2.500000e-01, ptr %26, align 8, !tbaa !13
  %611 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  call void @Mat3d_setRandomRotation(ptr noundef %611)
  %612 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  call void @Mat3d_setRandomRotation(ptr noundef %612)
  %613 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %614 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  %615 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  %616 = call double @Mat3d_getAxisAngle(ptr noundef %613, ptr noundef %614, ptr noundef %615)
  store double %616, ptr %9, align 8, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 72, ptr %27) #4
  %617 = getelementptr inbounds [3 x [3 x double]], ptr %27, i64 0, i64 0
  %618 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %619 = load double, ptr %9, align 8, !tbaa !13
  %620 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  call void @Mat3d_rotateAxisAngle(ptr noundef %617, ptr noundef %618, double noundef %619, ptr noundef %620)
  call void @llvm.lifetime.start.p0(i64 24, ptr %28) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr %29) #4
  %621 = getelementptr inbounds [3 x [3 x double]], ptr %29, i64 0, i64 0
  %622 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  call void @Mat3d_copy(ptr noundef %621, ptr noundef %622)
  %623 = getelementptr inbounds [3 x double], ptr %28, i64 0, i64 0
  %624 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %625 = load double, ptr %9, align 8, !tbaa !13
  %626 = fmul double 2.500000e-01, %625
  call void @Vec3d_constMul(ptr noundef %623, ptr noundef %624, double noundef %626)
  %627 = getelementptr inbounds [3 x [3 x double]], ptr %29, i64 0, i64 0
  %628 = getelementptr inbounds [3 x double], ptr %28, i64 0, i64 0
  call void @Mat3d_rotateOmegaSelf(ptr noundef %627, ptr noundef %628, i1 noundef zeroext true)
  call void @llvm.lifetime.start.p0(i64 72, ptr %30) #4
  %629 = getelementptr inbounds [3 x [3 x double]], ptr %30, i64 0, i64 0
  %630 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  %631 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  call void @Mat3d_slerp(ptr noundef %629, ptr noundef %630, ptr noundef %631, double noundef 2.500000e-01)
  %632 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  %633 = getelementptr inbounds [3 x [3 x double]], ptr %30, i64 0, i64 0
  %634 = getelementptr inbounds [3 x [3 x double]], ptr %29, i64 0, i64 0
  call void @Mat3d_sub(ptr noundef %632, ptr noundef %633, ptr noundef %634)
  %635 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  %636 = call double @VecNd_getLength(ptr noundef %635, i32 noundef 9)
  store double %636, ptr %8, align 8, !tbaa !13
  %637 = load double, ptr %8, align 8, !tbaa !13
  %638 = load double, ptr %13, align 8, !tbaa !13
  %639 = fcmp ogt double %637, %638
  br i1 %639, label %640, label %642

640:                                              ; preds = %610
  %641 = load double, ptr %8, align 8, !tbaa !13
  store double %641, ptr %13, align 8, !tbaa !13
  br label %642

642:                                              ; preds = %640, %610
  %643 = load double, ptr %8, align 8, !tbaa !13
  %644 = load double, ptr %14, align 8, !tbaa !13
  %645 = fcmp ogt double %643, %644
  br i1 %645, label %646, label %673

646:                                              ; preds = %642
  store i8 0, ptr %6, align 1, !tbaa !11
  %647 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %648 = icmp sle i32 1, %647
  br i1 %648, label %649, label %672

649:                                              ; preds = %646
  br label %650

650:                                              ; preds = %649
  %651 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %652 = icmp ne ptr %651, null
  br i1 %652, label %653, label %656

653:                                              ; preds = %650
  %654 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %655 = load double, ptr %8, align 8, !tbaa !13
  call void (i32, ptr, ptr, i32, ptr, ...) %654(i32 noundef 1, ptr noundef @.str.3, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2123, ptr noundef @.str.213, double noundef %655)
  br label %656

656:                                              ; preds = %653, %650
  %657 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %658 = icmp sle i32 1, %657
  br i1 %658, label %659, label %667

659:                                              ; preds = %656
  %660 = load ptr, ptr @stderr, align 8, !tbaa !9
  %661 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %660, ptr noundef @.str.5, ptr noundef @.str.3, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2123) #4
  %662 = load ptr, ptr @stderr, align 8, !tbaa !9
  %663 = load double, ptr %8, align 8, !tbaa !13
  %664 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %662, ptr noundef @.str.213, double noundef %663) #4
  %665 = load ptr, ptr @stderr, align 8, !tbaa !9
  %666 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %665, ptr noundef @.str.6) #4
  br label %667

667:                                              ; preds = %659, %656
  br label %668

668:                                              ; preds = %667
  br label %669

669:                                              ; preds = %668
  %670 = getelementptr inbounds [3 x [3 x double]], ptr %11, i64 0, i64 0
  call void @Mat3d_printCommentDigits(ptr noundef @.str.214, ptr noundef %670, i32 noundef 5)
  %671 = getelementptr inbounds [3 x [3 x double]], ptr %12, i64 0, i64 0
  call void @Mat3d_printCommentDigits(ptr noundef @.str.216, ptr noundef %671, i32 noundef 12)
  br label %672

672:                                              ; preds = %669, %646
  br label %712

673:                                              ; preds = %642
  br label %674

674:                                              ; preds = %673
  %675 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %676 = icmp ne ptr %675, null
  br i1 %676, label %677, label %689

677:                                              ; preds = %674
  %678 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %679 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %680 = load double, ptr %679, align 16, !tbaa !13
  %681 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 1
  %682 = load double, ptr %681, align 8, !tbaa !13
  %683 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 2
  %684 = load double, ptr %683, align 16, !tbaa !13
  %685 = load double, ptr %9, align 8, !tbaa !13
  %686 = fmul double %685, 1.800000e+02
  %687 = fdiv double %686, 0x400921FB54442D18
  %688 = load double, ptr %8, align 8, !tbaa !13
  call void (i32, ptr, ptr, i32, ptr, ...) %678(i32 noundef 2, ptr noundef @.str.18, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2131, ptr noundef @.str.217, double noundef %680, double noundef %682, double noundef %684, double noundef %687, double noundef %688)
  br label %689

689:                                              ; preds = %677, %674
  %690 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %691 = icmp sle i32 2, %690
  br i1 %691, label %692, label %709

692:                                              ; preds = %689
  %693 = load ptr, ptr @stderr, align 8, !tbaa !9
  %694 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %693, ptr noundef @.str.22, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2131) #4
  %695 = load ptr, ptr @stderr, align 8, !tbaa !9
  %696 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 0
  %697 = load double, ptr %696, align 16, !tbaa !13
  %698 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 1
  %699 = load double, ptr %698, align 8, !tbaa !13
  %700 = getelementptr inbounds [3 x double], ptr %10, i64 0, i64 2
  %701 = load double, ptr %700, align 16, !tbaa !13
  %702 = load double, ptr %9, align 8, !tbaa !13
  %703 = fmul double %702, 1.800000e+02
  %704 = fdiv double %703, 0x400921FB54442D18
  %705 = load double, ptr %8, align 8, !tbaa !13
  %706 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %695, ptr noundef @.str.217, double noundef %697, double noundef %699, double noundef %701, double noundef %704, double noundef %705) #4
  %707 = load ptr, ptr @stderr, align 8, !tbaa !9
  %708 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %707, ptr noundef @.str.6) #4
  br label %709

709:                                              ; preds = %692, %689
  br label %710

710:                                              ; preds = %709
  br label %711

711:                                              ; preds = %710
  br label %712

712:                                              ; preds = %711, %672
  call void @llvm.lifetime.end.p0(i64 72, ptr %30) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr %29) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr %28) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr %27) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #4
  br label %713

713:                                              ; preds = %712
  %714 = load i32, ptr %25, align 4, !tbaa !5
  %715 = add nsw i32 %714, 1
  store i32 %715, ptr %25, align 4, !tbaa !5
  br label %605, !llvm.loop !20

716:                                              ; preds = %609
  br label %717

717:                                              ; preds = %716
  %718 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %719 = icmp ne ptr %718, null
  br i1 %719, label %720, label %733

720:                                              ; preds = %717
  %721 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %722 = load double, ptr %13, align 8, !tbaa !13
  %723 = load double, ptr %14, align 8, !tbaa !13
  %724 = fcmp ogt double %722, %723
  br i1 %724, label %725, label %726

725:                                              ; preds = %720
  br label %727

726:                                              ; preds = %720
  br label %727

727:                                              ; preds = %726, %725
  %728 = phi ptr [ @.str.21, %725 ], [ @.str.20, %726 ]
  %729 = getelementptr inbounds [8 x i8], ptr %728, i64 0, i64 0
  %730 = load i32, ptr %7, align 4, !tbaa !5
  %731 = load double, ptr %13, align 8, !tbaa !13
  %732 = load double, ptr %14, align 8, !tbaa !13
  call void (i32, ptr, ptr, i32, ptr, ...) %721(i32 noundef 2, ptr noundef @.str.18, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2137, ptr noundef @.str.222, ptr noundef %729, i32 noundef %730, double noundef %731, double noundef %732)
  br label %733

733:                                              ; preds = %727, %717
  %734 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %735 = icmp sle i32 2, %734
  br i1 %735, label %736, label %754

736:                                              ; preds = %733
  %737 = load ptr, ptr @stderr, align 8, !tbaa !9
  %738 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %737, ptr noundef @.str.22, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2137) #4
  %739 = load ptr, ptr @stderr, align 8, !tbaa !9
  %740 = load double, ptr %13, align 8, !tbaa !13
  %741 = load double, ptr %14, align 8, !tbaa !13
  %742 = fcmp ogt double %740, %741
  br i1 %742, label %743, label %744

743:                                              ; preds = %736
  br label %745

744:                                              ; preds = %736
  br label %745

745:                                              ; preds = %744, %743
  %746 = phi ptr [ @.str.21, %743 ], [ @.str.20, %744 ]
  %747 = getelementptr inbounds [8 x i8], ptr %746, i64 0, i64 0
  %748 = load i32, ptr %7, align 4, !tbaa !5
  %749 = load double, ptr %13, align 8, !tbaa !13
  %750 = load double, ptr %14, align 8, !tbaa !13
  %751 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %739, ptr noundef @.str.222, ptr noundef %747, i32 noundef %748, double noundef %749, double noundef %750) #4
  %752 = load ptr, ptr @stderr, align 8, !tbaa !9
  %753 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %752, ptr noundef @.str.6) #4
  br label %754

754:                                              ; preds = %745, %733
  br label %755

755:                                              ; preds = %754
  br label %756

756:                                              ; preds = %755
  br label %757

757:                                              ; preds = %756
  %758 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %759 = icmp ne ptr %758, null
  br i1 %759, label %760, label %769

760:                                              ; preds = %757
  %761 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %762 = load i8, ptr %6, align 1, !tbaa !11, !range !21, !noundef !22
  %763 = trunc i8 %762 to i1
  br i1 %763, label %764, label %765

764:                                              ; preds = %760
  br label %766

765:                                              ; preds = %760
  br label %766

766:                                              ; preds = %765, %764
  %767 = phi ptr [ @.str.20, %764 ], [ @.str.21, %765 ]
  %768 = getelementptr inbounds [8 x i8], ptr %767, i64 0, i64 0
  call void (i32, ptr, ptr, i32, ptr, ...) %761(i32 noundef 1, ptr noundef @.str.18, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2140, ptr noundef @.str.202, ptr noundef %768)
  br label %769

769:                                              ; preds = %766, %757
  %770 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %771 = icmp sle i32 1, %770
  br i1 %771, label %772, label %786

772:                                              ; preds = %769
  %773 = load ptr, ptr @stderr, align 8, !tbaa !9
  %774 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %773, ptr noundef @.str.22, ptr noundef @__func__.testAxisAngleConversion, i32 noundef 2140) #4
  %775 = load ptr, ptr @stderr, align 8, !tbaa !9
  %776 = load i8, ptr %6, align 1, !tbaa !11, !range !21, !noundef !22
  %777 = trunc i8 %776 to i1
  br i1 %777, label %778, label %779

778:                                              ; preds = %772
  br label %780

779:                                              ; preds = %772
  br label %780

780:                                              ; preds = %779, %778
  %781 = phi ptr [ @.str.20, %778 ], [ @.str.21, %779 ]
  %782 = getelementptr inbounds [8 x i8], ptr %781, i64 0, i64 0
  %783 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %775, ptr noundef @.str.202, ptr noundef %782) #4
  %784 = load ptr, ptr @stderr, align 8, !tbaa !9
  %785 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %784, ptr noundef @.str.6) #4
  br label %786

786:                                              ; preds = %780, %769
  br label %787

787:                                              ; preds = %786
  br label %788

788:                                              ; preds = %787
  %789 = load i8, ptr %6, align 1, !tbaa !11, !range !21, !noundef !22
  %790 = trunc i8 %789 to i1
  store i1 %790, ptr %3, align 1
  store i32 1, ptr %16, align 4
  br label %791

791:                                              ; preds = %788, %36
  call void @llvm.lifetime.end.p0(i64 1, ptr %15) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr %12) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr %11) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr %10) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #4
  call void @llvm.lifetime.end.p0(i64 1, ptr %6) #4
  %792 = load i1, ptr %3, align 1
  ret i1 %792
}

declare void @_ZN3Rcs13CmdLineParser5printEv() #2

declare double @Mat3d_getAxisAngleSelf(ptr noundef, ptr noundef) #2

declare void @Mat3d_fromAxisAngle(ptr noundef, ptr noundef, double noundef) #2

declare void @Mat3d_rotateAxisAngleSelf(ptr noundef, ptr noundef, double noundef) #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

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 = !{!14, !14, i64 0}
!14 = !{!"double", !7, i64 0}
!15 = distinct !{!15, !16}
!16 = !{!"llvm.loop.mustprogress"}
!17 = distinct !{!17, !16}
!18 = distinct !{!18, !16}
!19 = distinct !{!19, !16}
!20 = distinct !{!20, !16}
!21 = !{i8 0, i8 2}
!22 = !{}


; 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.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.202 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.208 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.209 = external hidden unnamed_addr constant [38 x i8], align 1
@.str.210 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.211 = external hidden unnamed_addr constant [44 x i8], align 1
@.str.212 = external hidden unnamed_addr constant [3 x i8], align 1
@__func__.testAxisAngleConversion = external hidden unnamed_addr constant [24 x i8], align 1
@.str.213 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.214 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.215 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.216 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.217 = external hidden unnamed_addr constant [41 x i8], align 1
@.str.218 = external hidden unnamed_addr constant [57 x i8], align 1
@.str.219 = external hidden unnamed_addr constant [57 x i8], align 1
@.str.220 = external hidden unnamed_addr constant [57 x i8], align 1
@.str.221 = external hidden unnamed_addr constant [57 x i8], align 1
@.str.222 = external hidden unnamed_addr constant [57 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 @_ZN3Rcs13CmdLineParserC1EiPPc(ptr noundef nonnull align 1 dereferenceable(1), i32 noundef, ptr noundef) unnamed_addr #2

declare noundef zeroext i1 @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPdS2_z(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef, 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 @Mat3d_setRandomRotation(ptr noundef) local_unnamed_addr #2

declare void @Mat3d_rotateAxisAngle(ptr noundef, ptr noundef, double noundef, ptr noundef) local_unnamed_addr #2

declare void @Mat3d_slerp(ptr noundef, ptr noundef, ptr noundef, double noundef) local_unnamed_addr #2

declare void @Mat3d_subSelf(ptr noundef, ptr noundef) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
define dso_local zeroext i1 @testAxisAngleConversion(i32 noundef %0, ptr noundef %1) local_unnamed_addr #3 {
  %3 = alloca i32, align 4
  %4 = alloca [3 x double], align 16
  %5 = alloca [3 x [3 x double]], align 16
  %6 = alloca [3 x [3 x double]], align 16
  %7 = alloca double, align 8
  %8 = alloca %"class.Rcs::CmdLineParser", align 1
  %9 = alloca [3 x [3 x double]], align 16
  %10 = alloca [3 x [3 x double]], align 16
  %11 = alloca [3 x double], align 16
  %12 = alloca [3 x [3 x double]], align 16
  %13 = alloca [3 x [3 x double]], align 16
  %14 = alloca [3 x double], align 16
  %15 = alloca [3 x [3 x double]], align 16
  %16 = alloca [3 x [3 x double]], align 16
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %3) #4
  store i32 100, ptr %3, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %4) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %5) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %6) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #4
  store double 0x3EB0C6F7A0B5ED8D, ptr %7, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %8) #4
  call void @_ZN3Rcs13CmdLineParserC1EiPPc(ptr noundef nonnull align 1 dereferenceable(1) %8, i32 noundef %0, ptr noundef %1)
  %17 = call noundef zeroext i1 (ptr, ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPiS2_z(ptr noundef nonnull align 1 dereferenceable(1) %8, ptr noundef nonnull @.str.208, ptr noundef nonnull %3, ptr noundef nonnull @.str.209)
  %18 = call noundef zeroext i1 (ptr, ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPdS2_z(ptr noundef nonnull align 1 dereferenceable(1) %8, ptr noundef nonnull @.str.210, ptr noundef nonnull %7, ptr noundef nonnull @.str.211)
  %19 = call noundef zeroext i1 (ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11hasArgumentEPKcS2_z(ptr noundef nonnull align 1 dereferenceable(1) %8, ptr noundef nonnull @.str.212, ptr noundef null)
  br i1 %19, label %24, label %.preheader

.preheader:                                       ; preds = %2
  %20 = load i32, ptr %3, align 4, !tbaa !5
  %21 = icmp sgt i32 %20, 0
  br i1 %21, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %.preheader
  %22 = getelementptr inbounds i8, ptr %4, i64 8
  %23 = getelementptr inbounds i8, ptr %4, i64 16
  br label %26

24:                                               ; preds = %2
  call void @_ZN3Rcs13CmdLineParser5printEv()
  br label %381

._crit_edge:                                      ; preds = %69, %.preheader
  %.0108.lcssa = phi i8 [ 1, %.preheader ], [ %.1109, %69 ]
  %.0107.lcssa = phi double [ 0.000000e+00, %.preheader ], [ %.1, %69 ]
  %.lcssa180 = phi i32 [ %20, %.preheader ], [ %71, %69 ]
  %25 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not = icmp eq ptr %25, null
  br i1 %.not, label %76, label %73

26:                                               ; preds = %.lr.ph, %69
  %.0106183 = phi i32 [ 0, %.lr.ph ], [ %70, %69 ]
  %.0107182 = phi double [ 0.000000e+00, %.lr.ph ], [ %.1, %69 ]
  %.0108181 = phi i8 [ 1, %.lr.ph ], [ %.1109, %69 ]
  call void @Mat3d_setRandomRotation(ptr noundef nonnull %5)
  %27 = call double @Mat3d_getAxisAngleSelf(ptr noundef nonnull %4, ptr noundef nonnull %5)
  call void @Mat3d_fromAxisAngle(ptr noundef nonnull %6, ptr noundef nonnull %4, double noundef %27)
  call void @Mat3d_subSelf(ptr noundef nonnull %6, ptr noundef nonnull %5)
  %28 = call double @VecNd_getLength(ptr noundef nonnull %6, i32 noundef 9)
  %29 = fcmp ogt double %28, %.0107182
  %.1 = select i1 %29, double %28, double %.0107182
  %30 = load double, ptr %7, align 8, !tbaa !9
  %31 = fcmp ogt double %28, %30
  br i1 %31, label %32, label %46

32:                                               ; preds = %26
  %33 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %34 = icmp sgt i32 %33, 0
  br i1 %34, label %35, label %69

35:                                               ; preds = %32
  %36 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not168 = icmp eq ptr %36, null
  br i1 %.not168, label %.thread, label %37

37:                                               ; preds = %35
  call void (i32, ptr, ptr, i32, ptr, ...) %36(i32 noundef 1, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 1927, ptr noundef nonnull @.str.213, double noundef %28)
  %.pr = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %38 = icmp sgt i32 %.pr, 0
  br i1 %38, label %.thread, label %45

.thread:                                          ; preds = %35, %37
  %39 = load ptr, ptr @stderr, align 8, !tbaa !11
  %40 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %39, ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 1927) #5
  %41 = load ptr, ptr @stderr, align 8, !tbaa !11
  %42 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %41, ptr noundef nonnull @.str.213, double noundef %28) #5
  %43 = load ptr, ptr @stderr, align 8, !tbaa !11
  %44 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %43, ptr noundef nonnull @.str.6) #5
  br label %45

45:                                               ; preds = %.thread, %37
  call void @Mat3d_printCommentDigits(ptr noundef nonnull @.str.214, ptr noundef nonnull %5, i32 noundef 5)
  call void @Mat3d_printCommentDigits(ptr noundef nonnull @.str.215, ptr noundef nonnull %6, i32 noundef 5)
  call void @Mat3d_printCommentDigits(ptr noundef nonnull @.str.216, ptr noundef nonnull %6, i32 noundef 5)
  br label %69

46:                                               ; preds = %26
  %47 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not167 = icmp eq ptr %47, null
  br i1 %.not167, label %54, label %48

48:                                               ; preds = %46
  %49 = load double, ptr %4, align 16, !tbaa !9
  %50 = load double, ptr %22, align 8, !tbaa !9
  %51 = load double, ptr %23, align 16, !tbaa !9
  %52 = fmul double %27, 1.800000e+02
  %53 = fdiv double %52, 0x400921FB54442D18
  call void (i32, ptr, ptr, i32, ptr, ...) %47(i32 noundef 2, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 1936, ptr noundef nonnull @.str.217, double noundef %49, double noundef %50, double noundef %51, double noundef %53, double noundef %28)
  br label %54

54:                                               ; preds = %48, %46
  %55 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %56 = icmp sgt i32 %55, 1
  br i1 %56, label %57, label %69

57:                                               ; preds = %54
  %58 = load ptr, ptr @stderr, align 8, !tbaa !11
  %59 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %58, ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 1936) #5
  %60 = load ptr, ptr @stderr, align 8, !tbaa !11
  %61 = load double, ptr %4, align 16, !tbaa !9
  %62 = load double, ptr %22, align 8, !tbaa !9
  %63 = load double, ptr %23, align 16, !tbaa !9
  %64 = fmul double %27, 1.800000e+02
  %65 = fdiv double %64, 0x400921FB54442D18
  %66 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %60, ptr noundef nonnull @.str.217, double noundef %61, double noundef %62, double noundef %63, double noundef %65, double noundef %28) #5
  %67 = load ptr, ptr @stderr, align 8, !tbaa !11
  %68 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %67, ptr noundef nonnull @.str.6) #5
  br label %69

69:                                               ; preds = %45, %32, %57, %54
  %.1109 = phi i8 [ 0, %45 ], [ 0, %32 ], [ %.0108181, %57 ], [ %.0108181, %54 ]
  %70 = add nuw nsw i32 %.0106183, 1
  %71 = load i32, ptr %3, align 4, !tbaa !5
  %72 = icmp slt i32 %70, %71
  br i1 %72, label %26, label %._crit_edge, !llvm.loop !13

73:                                               ; preds = %._crit_edge
  %74 = load double, ptr %7, align 8, !tbaa !9
  %75 = fcmp ogt double %.0107.lcssa, %74
  %.str.21..str.20 = select i1 %75, ptr @.str.21, ptr @.str.20
  call void (i32, ptr, ptr, i32, ptr, ...) %25(i32 noundef 2, ptr noundef nonnull @.str.18, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 1942, ptr noundef nonnull @.str.218, ptr noundef nonnull %.str.21..str.20, i32 noundef %.lcssa180, double noundef %.0107.lcssa, double noundef %74)
  br label %76

76:                                               ; preds = %73, %._crit_edge
  %77 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %78 = icmp sgt i32 %77, 1
  br i1 %78, label %79, label %89

79:                                               ; preds = %76
  %80 = load ptr, ptr @stderr, align 8, !tbaa !11
  %81 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %80, ptr noundef nonnull @.str.22, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 1942) #5
  %82 = load ptr, ptr @stderr, align 8, !tbaa !11
  %83 = load double, ptr %7, align 8, !tbaa !9
  %84 = fcmp ogt double %.0107.lcssa, %83
  %.str.21..str.201 = select i1 %84, ptr @.str.21, ptr @.str.20
  %85 = load i32, ptr %3, align 4, !tbaa !5
  %86 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %82, ptr noundef nonnull @.str.218, ptr noundef nonnull %.str.21..str.201, i32 noundef %85, double noundef %.0107.lcssa, double noundef %83) #5
  %87 = load ptr, ptr @stderr, align 8, !tbaa !11
  %88 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %87, ptr noundef nonnull @.str.6) #5
  br label %89

89:                                               ; preds = %79, %76
  %90 = load i32, ptr %3, align 4, !tbaa !5
  %91 = icmp sgt i32 %90, 0
  br i1 %91, label %.lr.ph190, label %._crit_edge191

.lr.ph190:                                        ; preds = %89
  %92 = getelementptr inbounds i8, ptr %4, i64 8
  %93 = getelementptr inbounds i8, ptr %4, i64 16
  br label %95

._crit_edge191:                                   ; preds = %138, %89
  %.2110.lcssa = phi i8 [ %.0108.lcssa, %89 ], [ %.3111, %138 ]
  %.2.lcssa = phi double [ %.0107.lcssa, %89 ], [ %.3, %138 ]
  %.lcssa179 = phi i32 [ %90, %89 ], [ %140, %138 ]
  %94 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not154 = icmp eq ptr %94, null
  br i1 %.not154, label %145, label %142

95:                                               ; preds = %.lr.ph190, %138
  %.0105188 = phi i32 [ 0, %.lr.ph190 ], [ %139, %138 ]
  %.2187 = phi double [ %.0107.lcssa, %.lr.ph190 ], [ %.3, %138 ]
  %.2110186 = phi i8 [ %.0108.lcssa, %.lr.ph190 ], [ %.3111, %138 ]
  call void @Mat3d_setRandomRotation(ptr noundef nonnull %5)
  %96 = call double @Mat3d_getAxisAngleSelf(ptr noundef nonnull %4, ptr noundef nonnull %5)
  call void @Mat3d_setIdentity(ptr noundef nonnull %6)
  call void @Mat3d_rotateAxisAngleSelf(ptr noundef nonnull %6, ptr noundef nonnull %4, double noundef %96)
  call void @Mat3d_subSelf(ptr noundef nonnull %6, ptr noundef nonnull %5)
  %97 = call double @VecNd_getLength(ptr noundef nonnull %6, i32 noundef 9)
  %98 = fcmp ogt double %97, %.2187
  %.3 = select i1 %98, double %97, double %.2187
  %99 = load double, ptr %7, align 8, !tbaa !9
  %100 = fcmp ogt double %97, %99
  br i1 %100, label %101, label %115

101:                                              ; preds = %95
  %102 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %103 = icmp sgt i32 %102, 0
  br i1 %103, label %104, label %138

104:                                              ; preds = %101
  %105 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not166 = icmp eq ptr %105, null
  br i1 %.not166, label %.thread170, label %106

106:                                              ; preds = %104
  call void (i32, ptr, ptr, i32, ptr, ...) %105(i32 noundef 1, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 1970, ptr noundef nonnull @.str.213, double noundef %97)
  %.pr169 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %107 = icmp sgt i32 %.pr169, 0
  br i1 %107, label %.thread170, label %114

.thread170:                                       ; preds = %104, %106
  %108 = load ptr, ptr @stderr, align 8, !tbaa !11
  %109 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %108, ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 1970) #5
  %110 = load ptr, ptr @stderr, align 8, !tbaa !11
  %111 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %110, ptr noundef nonnull @.str.213, double noundef %97) #5
  %112 = load ptr, ptr @stderr, align 8, !tbaa !11
  %113 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %112, ptr noundef nonnull @.str.6) #5
  br label %114

114:                                              ; preds = %.thread170, %106
  call void @Mat3d_printCommentDigits(ptr noundef nonnull @.str.214, ptr noundef nonnull %5, i32 noundef 5)
  call void @Mat3d_printCommentDigits(ptr noundef nonnull @.str.215, ptr noundef nonnull %6, i32 noundef 5)
  call void @Mat3d_printCommentDigits(ptr noundef nonnull @.str.216, ptr noundef nonnull %6, i32 noundef 5)
  br label %138

115:                                              ; preds = %95
  %116 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not165 = icmp eq ptr %116, null
  br i1 %.not165, label %123, label %117

117:                                              ; preds = %115
  %118 = load double, ptr %4, align 16, !tbaa !9
  %119 = load double, ptr %92, align 8, !tbaa !9
  %120 = load double, ptr %93, align 16, !tbaa !9
  %121 = fmul double %96, 1.800000e+02
  %122 = fdiv double %121, 0x400921FB54442D18
  call void (i32, ptr, ptr, i32, ptr, ...) %116(i32 noundef 2, ptr noundef nonnull @.str.18, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 1979, ptr noundef nonnull @.str.217, double noundef %118, double noundef %119, double noundef %120, double noundef %122, double noundef %97)
  br label %123

123:                                              ; preds = %117, %115
  %124 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %125 = icmp sgt i32 %124, 1
  br i1 %125, label %126, label %138

126:                                              ; preds = %123
  %127 = load ptr, ptr @stderr, align 8, !tbaa !11
  %128 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %127, ptr noundef nonnull @.str.22, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 1979) #5
  %129 = load ptr, ptr @stderr, align 8, !tbaa !11
  %130 = load double, ptr %4, align 16, !tbaa !9
  %131 = load double, ptr %92, align 8, !tbaa !9
  %132 = load double, ptr %93, align 16, !tbaa !9
  %133 = fmul double %96, 1.800000e+02
  %134 = fdiv double %133, 0x400921FB54442D18
  %135 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %129, ptr noundef nonnull @.str.217, double noundef %130, double noundef %131, double noundef %132, double noundef %134, double noundef %97) #5
  %136 = load ptr, ptr @stderr, align 8, !tbaa !11
  %137 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %136, ptr noundef nonnull @.str.6) #5
  br label %138

138:                                              ; preds = %114, %101, %126, %123
  %.3111 = phi i8 [ 0, %114 ], [ 0, %101 ], [ %.2110186, %126 ], [ %.2110186, %123 ]
  %139 = add nuw nsw i32 %.0105188, 1
  %140 = load i32, ptr %3, align 4, !tbaa !5
  %141 = icmp slt i32 %139, %140
  br i1 %141, label %95, label %._crit_edge191, !llvm.loop !15

142:                                              ; preds = %._crit_edge191
  %143 = load double, ptr %7, align 8, !tbaa !9
  %144 = fcmp ogt double %.2.lcssa, %143
  %.str.21..str.202 = select i1 %144, ptr @.str.21, ptr @.str.20
  call void (i32, ptr, ptr, i32, ptr, ...) %94(i32 noundef 2, ptr noundef nonnull @.str.18, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 1985, ptr noundef nonnull @.str.219, ptr noundef nonnull %.str.21..str.202, i32 noundef %.lcssa179, double noundef %.2.lcssa, double noundef %143)
  br label %145

145:                                              ; preds = %142, %._crit_edge191
  %146 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %147 = icmp sgt i32 %146, 1
  br i1 %147, label %148, label %158

148:                                              ; preds = %145
  %149 = load ptr, ptr @stderr, align 8, !tbaa !11
  %150 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %149, ptr noundef nonnull @.str.22, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 1985) #5
  %151 = load ptr, ptr @stderr, align 8, !tbaa !11
  %152 = load double, ptr %7, align 8, !tbaa !9
  %153 = fcmp ogt double %.2.lcssa, %152
  %.str.21..str.203 = select i1 %153, ptr @.str.21, ptr @.str.20
  %154 = load i32, ptr %3, align 4, !tbaa !5
  %155 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %151, ptr noundef nonnull @.str.219, ptr noundef nonnull %.str.21..str.203, i32 noundef %154, double noundef %.2.lcssa, double noundef %152) #5
  %156 = load ptr, ptr @stderr, align 8, !tbaa !11
  %157 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %156, ptr noundef nonnull @.str.6) #5
  br label %158

158:                                              ; preds = %148, %145
  %159 = load i32, ptr %3, align 4, !tbaa !5
  %160 = icmp sgt i32 %159, 0
  br i1 %160, label %.lr.ph199, label %._crit_edge200

.lr.ph199:                                        ; preds = %158
  %161 = getelementptr inbounds i8, ptr %4, i64 8
  %162 = getelementptr inbounds i8, ptr %4, i64 16
  br label %164

._crit_edge200:                                   ; preds = %207, %158
  %.4112.lcssa = phi i8 [ %.2110.lcssa, %158 ], [ %.5113, %207 ]
  %.4.lcssa = phi double [ %.2.lcssa, %158 ], [ %.5, %207 ]
  %.lcssa178 = phi i32 [ %159, %158 ], [ %209, %207 ]
  %163 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not155 = icmp eq ptr %163, null
  br i1 %.not155, label %214, label %211

164:                                              ; preds = %.lr.ph199, %207
  %.0104197 = phi i32 [ 0, %.lr.ph199 ], [ %208, %207 ]
  %.4196 = phi double [ %.2.lcssa, %.lr.ph199 ], [ %.5, %207 ]
  %.4112195 = phi i8 [ %.2110.lcssa, %.lr.ph199 ], [ %.5113, %207 ]
  call void @Mat3d_setRandomRotation(ptr noundef nonnull %5)
  call void @Mat3d_setRandomRotation(ptr noundef nonnull %6)
  %165 = call double @Mat3d_getAxisAngle(ptr noundef nonnull %4, ptr noundef nonnull %6, ptr noundef nonnull %5)
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %9) #4
  call void @Mat3d_rotateAxisAngle(ptr noundef nonnull %9, ptr noundef nonnull %4, double noundef %165, ptr noundef nonnull %5)
  call void @Mat3d_subSelf(ptr noundef nonnull %6, ptr noundef nonnull %9)
  %166 = call double @VecNd_getLength(ptr noundef nonnull %6, i32 noundef 9)
  %167 = fcmp ogt double %166, %.4196
  %.5 = select i1 %167, double %166, double %.4196
  %168 = load double, ptr %7, align 8, !tbaa !9
  %169 = fcmp ogt double %166, %168
  br i1 %169, label %170, label %184

170:                                              ; preds = %164
  %171 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %172 = icmp sgt i32 %171, 0
  br i1 %172, label %173, label %207

173:                                              ; preds = %170
  %174 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not164 = icmp eq ptr %174, null
  br i1 %.not164, label %.thread172, label %175

175:                                              ; preds = %173
  call void (i32, ptr, ptr, i32, ptr, ...) %174(i32 noundef 1, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2014, ptr noundef nonnull @.str.213, double noundef %166)
  %.pr171 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %176 = icmp sgt i32 %.pr171, 0
  br i1 %176, label %.thread172, label %183

.thread172:                                       ; preds = %173, %175
  %177 = load ptr, ptr @stderr, align 8, !tbaa !11
  %178 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %177, ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2014) #5
  %179 = load ptr, ptr @stderr, align 8, !tbaa !11
  %180 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %179, ptr noundef nonnull @.str.213, double noundef %166) #5
  %181 = load ptr, ptr @stderr, align 8, !tbaa !11
  %182 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %181, ptr noundef nonnull @.str.6) #5
  br label %183

183:                                              ; preds = %.thread172, %175
  call void @Mat3d_printCommentDigits(ptr noundef nonnull @.str.214, ptr noundef nonnull %5, i32 noundef 5)
  call void @Mat3d_printCommentDigits(ptr noundef nonnull @.str.215, ptr noundef nonnull %6, i32 noundef 5)
  call void @Mat3d_printCommentDigits(ptr noundef nonnull @.str.216, ptr noundef nonnull %6, i32 noundef 5)
  br label %207

184:                                              ; preds = %164
  %185 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not163 = icmp eq ptr %185, null
  br i1 %.not163, label %192, label %186

186:                                              ; preds = %184
  %187 = load double, ptr %4, align 16, !tbaa !9
  %188 = load double, ptr %161, align 8, !tbaa !9
  %189 = load double, ptr %162, align 16, !tbaa !9
  %190 = fmul double %165, 1.800000e+02
  %191 = fdiv double %190, 0x400921FB54442D18
  call void (i32, ptr, ptr, i32, ptr, ...) %185(i32 noundef 2, ptr noundef nonnull @.str.18, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2023, ptr noundef nonnull @.str.217, double noundef %187, double noundef %188, double noundef %189, double noundef %191, double noundef %166)
  br label %192

192:                                              ; preds = %186, %184
  %193 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %194 = icmp sgt i32 %193, 1
  br i1 %194, label %195, label %207

195:                                              ; preds = %192
  %196 = load ptr, ptr @stderr, align 8, !tbaa !11
  %197 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %196, ptr noundef nonnull @.str.22, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2023) #5
  %198 = load ptr, ptr @stderr, align 8, !tbaa !11
  %199 = load double, ptr %4, align 16, !tbaa !9
  %200 = load double, ptr %161, align 8, !tbaa !9
  %201 = load double, ptr %162, align 16, !tbaa !9
  %202 = fmul double %165, 1.800000e+02
  %203 = fdiv double %202, 0x400921FB54442D18
  %204 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %198, ptr noundef nonnull @.str.217, double noundef %199, double noundef %200, double noundef %201, double noundef %203, double noundef %166) #5
  %205 = load ptr, ptr @stderr, align 8, !tbaa !11
  %206 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %205, ptr noundef nonnull @.str.6) #5
  br label %207

207:                                              ; preds = %192, %195, %170, %183
  %.5113 = phi i8 [ 0, %183 ], [ 0, %170 ], [ %.4112195, %195 ], [ %.4112195, %192 ]
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %9) #4
  %208 = add nuw nsw i32 %.0104197, 1
  %209 = load i32, ptr %3, align 4, !tbaa !5
  %210 = icmp slt i32 %208, %209
  br i1 %210, label %164, label %._crit_edge200, !llvm.loop !16

211:                                              ; preds = %._crit_edge200
  %212 = load double, ptr %7, align 8, !tbaa !9
  %213 = fcmp ogt double %.4.lcssa, %212
  %.str.21..str.204 = select i1 %213, ptr @.str.21, ptr @.str.20
  call void (i32, ptr, ptr, i32, ptr, ...) %163(i32 noundef 2, ptr noundef nonnull @.str.18, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2029, ptr noundef nonnull @.str.220, ptr noundef nonnull %.str.21..str.204, i32 noundef %.lcssa178, double noundef %.4.lcssa, double noundef %212)
  br label %214

214:                                              ; preds = %211, %._crit_edge200
  %215 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %216 = icmp sgt i32 %215, 1
  br i1 %216, label %217, label %227

217:                                              ; preds = %214
  %218 = load ptr, ptr @stderr, align 8, !tbaa !11
  %219 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %218, ptr noundef nonnull @.str.22, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2029) #5
  %220 = load ptr, ptr @stderr, align 8, !tbaa !11
  %221 = load double, ptr %7, align 8, !tbaa !9
  %222 = fcmp ogt double %.4.lcssa, %221
  %.str.21..str.205 = select i1 %222, ptr @.str.21, ptr @.str.20
  %223 = load i32, ptr %3, align 4, !tbaa !5
  %224 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %220, ptr noundef nonnull @.str.220, ptr noundef nonnull %.str.21..str.205, i32 noundef %223, double noundef %.4.lcssa, double noundef %221) #5
  %225 = load ptr, ptr @stderr, align 8, !tbaa !11
  %226 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %225, ptr noundef nonnull @.str.6) #5
  br label %227

227:                                              ; preds = %217, %214
  %228 = load i32, ptr %3, align 4, !tbaa !5
  %229 = icmp sgt i32 %228, 0
  br i1 %229, label %.lr.ph208, label %._crit_edge209

.lr.ph208:                                        ; preds = %227
  %230 = getelementptr inbounds i8, ptr %4, i64 8
  %231 = getelementptr inbounds i8, ptr %4, i64 16
  br label %233

._crit_edge209:                                   ; preds = %276, %227
  %.6114.lcssa = phi i8 [ %.4112.lcssa, %227 ], [ %.7115, %276 ]
  %.6.lcssa = phi double [ %.4.lcssa, %227 ], [ %.7, %276 ]
  %.lcssa177 = phi i32 [ %228, %227 ], [ %278, %276 ]
  %232 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not156 = icmp eq ptr %232, null
  br i1 %.not156, label %283, label %280

233:                                              ; preds = %.lr.ph208, %276
  %.0103206 = phi i32 [ 0, %.lr.ph208 ], [ %277, %276 ]
  %.6205 = phi double [ %.4.lcssa, %.lr.ph208 ], [ %.7, %276 ]
  %.6114204 = phi i8 [ %.4112.lcssa, %.lr.ph208 ], [ %.7115, %276 ]
  call void @Mat3d_setRandomRotation(ptr noundef nonnull %5)
  call void @Mat3d_setRandomRotation(ptr noundef nonnull %6)
  %234 = call double @Mat3d_getAxisAngle(ptr noundef nonnull %4, ptr noundef nonnull %6, ptr noundef nonnull %5)
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %10) #4
  call void @Mat3d_rotateAxisAngle(ptr noundef nonnull %10, ptr noundef nonnull %4, double noundef %234, ptr noundef nonnull %5)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %11) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %12) #4
  call void @Mat3d_copy(ptr noundef nonnull %12, ptr noundef nonnull %5)
  call void @Vec3d_constMul(ptr noundef nonnull %11, ptr noundef nonnull %4, double noundef %234)
  call void @Mat3d_rotateOmegaSelf(ptr noundef nonnull %12, ptr noundef nonnull %11, i1 noundef zeroext true)
  call void @Mat3d_sub(ptr noundef nonnull %6, ptr noundef nonnull %10, ptr noundef nonnull %12)
  %235 = call double @VecNd_getLength(ptr noundef nonnull %6, i32 noundef 9)
  %236 = fcmp ogt double %235, %.6205
  %.7 = select i1 %236, double %235, double %.6205
  %237 = load double, ptr %7, align 8, !tbaa !9
  %238 = fcmp ogt double %235, %237
  br i1 %238, label %239, label %253

239:                                              ; preds = %233
  %240 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %241 = icmp sgt i32 %240, 0
  br i1 %241, label %242, label %276

242:                                              ; preds = %239
  %243 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not162 = icmp eq ptr %243, null
  br i1 %.not162, label %.thread174, label %244

244:                                              ; preds = %242
  call void (i32, ptr, ptr, i32, ptr, ...) %243(i32 noundef 1, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2065, ptr noundef nonnull @.str.213, double noundef %235)
  %.pr173 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %245 = icmp sgt i32 %.pr173, 0
  br i1 %245, label %.thread174, label %252

.thread174:                                       ; preds = %242, %244
  %246 = load ptr, ptr @stderr, align 8, !tbaa !11
  %247 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %246, ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2065) #5
  %248 = load ptr, ptr @stderr, align 8, !tbaa !11
  %249 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %248, ptr noundef nonnull @.str.213, double noundef %235) #5
  %250 = load ptr, ptr @stderr, align 8, !tbaa !11
  %251 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %250, ptr noundef nonnull @.str.6) #5
  br label %252

252:                                              ; preds = %.thread174, %244
  call void @Mat3d_printCommentDigits(ptr noundef nonnull @.str.214, ptr noundef nonnull %5, i32 noundef 5)
  call void @Mat3d_printCommentDigits(ptr noundef nonnull @.str.215, ptr noundef nonnull %6, i32 noundef 5)
  call void @Mat3d_printCommentDigits(ptr noundef nonnull @.str.216, ptr noundef nonnull %6, i32 noundef 5)
  br label %276

253:                                              ; preds = %233
  %254 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not161 = icmp eq ptr %254, null
  br i1 %.not161, label %261, label %255

255:                                              ; preds = %253
  %256 = load double, ptr %4, align 16, !tbaa !9
  %257 = load double, ptr %230, align 8, !tbaa !9
  %258 = load double, ptr %231, align 16, !tbaa !9
  %259 = fmul double %234, 1.800000e+02
  %260 = fdiv double %259, 0x400921FB54442D18
  call void (i32, ptr, ptr, i32, ptr, ...) %254(i32 noundef 2, ptr noundef nonnull @.str.18, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2074, ptr noundef nonnull @.str.217, double noundef %256, double noundef %257, double noundef %258, double noundef %260, double noundef %235)
  br label %261

261:                                              ; preds = %255, %253
  %262 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %263 = icmp sgt i32 %262, 1
  br i1 %263, label %264, label %276

264:                                              ; preds = %261
  %265 = load ptr, ptr @stderr, align 8, !tbaa !11
  %266 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %265, ptr noundef nonnull @.str.22, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2074) #5
  %267 = load ptr, ptr @stderr, align 8, !tbaa !11
  %268 = load double, ptr %4, align 16, !tbaa !9
  %269 = load double, ptr %230, align 8, !tbaa !9
  %270 = load double, ptr %231, align 16, !tbaa !9
  %271 = fmul double %234, 1.800000e+02
  %272 = fdiv double %271, 0x400921FB54442D18
  %273 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %267, ptr noundef nonnull @.str.217, double noundef %268, double noundef %269, double noundef %270, double noundef %272, double noundef %235) #5
  %274 = load ptr, ptr @stderr, align 8, !tbaa !11
  %275 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %274, ptr noundef nonnull @.str.6) #5
  br label %276

276:                                              ; preds = %261, %264, %239, %252
  %.7115 = phi i8 [ 0, %252 ], [ 0, %239 ], [ %.6114204, %264 ], [ %.6114204, %261 ]
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %12) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %10) #4
  %277 = add nuw nsw i32 %.0103206, 1
  %278 = load i32, ptr %3, align 4, !tbaa !5
  %279 = icmp slt i32 %277, %278
  br i1 %279, label %233, label %._crit_edge209, !llvm.loop !17

280:                                              ; preds = %._crit_edge209
  %281 = load double, ptr %7, align 8, !tbaa !9
  %282 = fcmp ogt double %.6.lcssa, %281
  %.str.21..str.206 = select i1 %282, ptr @.str.21, ptr @.str.20
  call void (i32, ptr, ptr, i32, ptr, ...) %232(i32 noundef 2, ptr noundef nonnull @.str.18, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2080, ptr noundef nonnull @.str.221, ptr noundef nonnull %.str.21..str.206, i32 noundef %.lcssa177, double noundef %.6.lcssa, double noundef %281)
  br label %283

283:                                              ; preds = %280, %._crit_edge209
  %284 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %285 = icmp sgt i32 %284, 1
  br i1 %285, label %286, label %296

286:                                              ; preds = %283
  %287 = load ptr, ptr @stderr, align 8, !tbaa !11
  %288 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %287, ptr noundef nonnull @.str.22, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2080) #5
  %289 = load ptr, ptr @stderr, align 8, !tbaa !11
  %290 = load double, ptr %7, align 8, !tbaa !9
  %291 = fcmp ogt double %.6.lcssa, %290
  %.str.21..str.207 = select i1 %291, ptr @.str.21, ptr @.str.20
  %292 = load i32, ptr %3, align 4, !tbaa !5
  %293 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %289, ptr noundef nonnull @.str.221, ptr noundef nonnull %.str.21..str.207, i32 noundef %292, double noundef %.6.lcssa, double noundef %290) #5
  %294 = load ptr, ptr @stderr, align 8, !tbaa !11
  %295 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %294, ptr noundef nonnull @.str.6) #5
  br label %296

296:                                              ; preds = %286, %283
  %297 = load i32, ptr %3, align 4, !tbaa !5
  %298 = icmp sgt i32 %297, 0
  br i1 %298, label %.lr.ph217, label %._crit_edge218

.lr.ph217:                                        ; preds = %296
  %299 = getelementptr inbounds i8, ptr %4, i64 8
  %300 = getelementptr inbounds i8, ptr %4, i64 16
  br label %302

._crit_edge218:                                   ; preds = %346, %296
  %.8116.lcssa = phi i8 [ %.6114.lcssa, %296 ], [ %.9117, %346 ]
  %.8.lcssa = phi double [ %.6.lcssa, %296 ], [ %.9, %346 ]
  %.lcssa = phi i32 [ %297, %296 ], [ %348, %346 ]
  %301 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not157 = icmp eq ptr %301, null
  br i1 %.not157, label %353, label %350

302:                                              ; preds = %.lr.ph217, %346
  %.0102215 = phi i32 [ 0, %.lr.ph217 ], [ %347, %346 ]
  %.8214 = phi double [ %.6.lcssa, %.lr.ph217 ], [ %.9, %346 ]
  %.8116213 = phi i8 [ %.6114.lcssa, %.lr.ph217 ], [ %.9117, %346 ]
  call void @Mat3d_setRandomRotation(ptr noundef nonnull %5)
  call void @Mat3d_setRandomRotation(ptr noundef nonnull %6)
  %303 = call double @Mat3d_getAxisAngle(ptr noundef nonnull %4, ptr noundef nonnull %6, ptr noundef nonnull %5)
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %13) #4
  call void @Mat3d_rotateAxisAngle(ptr noundef nonnull %13, ptr noundef nonnull %4, double noundef %303, ptr noundef nonnull %5)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %14) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %15) #4
  call void @Mat3d_copy(ptr noundef nonnull %15, ptr noundef nonnull %5)
  %304 = fmul double %303, 2.500000e-01
  call void @Vec3d_constMul(ptr noundef nonnull %14, ptr noundef nonnull %4, double noundef %304)
  call void @Mat3d_rotateOmegaSelf(ptr noundef nonnull %15, ptr noundef nonnull %14, i1 noundef zeroext true)
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %16) #4
  call void @Mat3d_slerp(ptr noundef nonnull %16, ptr noundef nonnull %5, ptr noundef nonnull %6, double noundef 2.500000e-01)
  call void @Mat3d_sub(ptr noundef nonnull %6, ptr noundef nonnull %16, ptr noundef nonnull %15)
  %305 = call double @VecNd_getLength(ptr noundef nonnull %6, i32 noundef 9)
  %306 = fcmp ogt double %305, %.8214
  %.9 = select i1 %306, double %305, double %.8214
  %307 = load double, ptr %7, align 8, !tbaa !9
  %308 = fcmp ogt double %305, %307
  br i1 %308, label %309, label %323

309:                                              ; preds = %302
  %310 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %311 = icmp sgt i32 %310, 0
  br i1 %311, label %312, label %346

312:                                              ; preds = %309
  %313 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not160 = icmp eq ptr %313, null
  br i1 %.not160, label %.thread176, label %314

314:                                              ; preds = %312
  call void (i32, ptr, ptr, i32, ptr, ...) %313(i32 noundef 1, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2123, ptr noundef nonnull @.str.213, double noundef %305)
  %.pr175 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %315 = icmp sgt i32 %.pr175, 0
  br i1 %315, label %.thread176, label %322

.thread176:                                       ; preds = %312, %314
  %316 = load ptr, ptr @stderr, align 8, !tbaa !11
  %317 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %316, ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2123) #5
  %318 = load ptr, ptr @stderr, align 8, !tbaa !11
  %319 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %318, ptr noundef nonnull @.str.213, double noundef %305) #5
  %320 = load ptr, ptr @stderr, align 8, !tbaa !11
  %321 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %320, ptr noundef nonnull @.str.6) #5
  br label %322

322:                                              ; preds = %.thread176, %314
  call void @Mat3d_printCommentDigits(ptr noundef nonnull @.str.214, ptr noundef nonnull %5, i32 noundef 5)
  call void @Mat3d_printCommentDigits(ptr noundef nonnull @.str.216, ptr noundef nonnull %6, i32 noundef 12)
  br label %346

323:                                              ; preds = %302
  %324 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not159 = icmp eq ptr %324, null
  br i1 %.not159, label %331, label %325

325:                                              ; preds = %323
  %326 = load double, ptr %4, align 16, !tbaa !9
  %327 = load double, ptr %299, align 8, !tbaa !9
  %328 = load double, ptr %300, align 16, !tbaa !9
  %329 = fmul double %303, 1.800000e+02
  %330 = fdiv double %329, 0x400921FB54442D18
  call void (i32, ptr, ptr, i32, ptr, ...) %324(i32 noundef 2, ptr noundef nonnull @.str.18, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2131, ptr noundef nonnull @.str.217, double noundef %326, double noundef %327, double noundef %328, double noundef %330, double noundef %305)
  br label %331

331:                                              ; preds = %325, %323
  %332 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %333 = icmp sgt i32 %332, 1
  br i1 %333, label %334, label %346

334:                                              ; preds = %331
  %335 = load ptr, ptr @stderr, align 8, !tbaa !11
  %336 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %335, ptr noundef nonnull @.str.22, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2131) #5
  %337 = load ptr, ptr @stderr, align 8, !tbaa !11
  %338 = load double, ptr %4, align 16, !tbaa !9
  %339 = load double, ptr %299, align 8, !tbaa !9
  %340 = load double, ptr %300, align 16, !tbaa !9
  %341 = fmul double %303, 1.800000e+02
  %342 = fdiv double %341, 0x400921FB54442D18
  %343 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %337, ptr noundef nonnull @.str.217, double noundef %338, double noundef %339, double noundef %340, double noundef %342, double noundef %305) #5
  %344 = load ptr, ptr @stderr, align 8, !tbaa !11
  %345 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %344, ptr noundef nonnull @.str.6) #5
  br label %346

346:                                              ; preds = %331, %334, %309, %322
  %.9117 = phi i8 [ 0, %322 ], [ 0, %309 ], [ %.8116213, %334 ], [ %.8116213, %331 ]
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %16) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %15) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %14) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %13) #4
  %347 = add nuw nsw i32 %.0102215, 1
  %348 = load i32, ptr %3, align 4, !tbaa !5
  %349 = icmp slt i32 %347, %348
  br i1 %349, label %302, label %._crit_edge218, !llvm.loop !18

350:                                              ; preds = %._crit_edge218
  %351 = load double, ptr %7, align 8, !tbaa !9
  %352 = fcmp ogt double %.8.lcssa, %351
  %.str.21..str.208 = select i1 %352, ptr @.str.21, ptr @.str.20
  call void (i32, ptr, ptr, i32, ptr, ...) %301(i32 noundef 2, ptr noundef nonnull @.str.18, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2137, ptr noundef nonnull @.str.222, ptr noundef nonnull %.str.21..str.208, i32 noundef %.lcssa, double noundef %.8.lcssa, double noundef %351)
  br label %353

353:                                              ; preds = %350, %._crit_edge218
  %354 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %355 = icmp sgt i32 %354, 1
  br i1 %355, label %356, label %366

356:                                              ; preds = %353
  %357 = load ptr, ptr @stderr, align 8, !tbaa !11
  %358 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %357, ptr noundef nonnull @.str.22, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2137) #5
  %359 = load ptr, ptr @stderr, align 8, !tbaa !11
  %360 = load double, ptr %7, align 8, !tbaa !9
  %361 = fcmp ogt double %.8.lcssa, %360
  %.str.21..str.209 = select i1 %361, ptr @.str.21, ptr @.str.20
  %362 = load i32, ptr %3, align 4, !tbaa !5
  %363 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %359, ptr noundef nonnull @.str.222, ptr noundef nonnull %.str.21..str.209, i32 noundef %362, double noundef %.8.lcssa, double noundef %360) #5
  %364 = load ptr, ptr @stderr, align 8, !tbaa !11
  %365 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %364, ptr noundef nonnull @.str.6) #5
  br label %366

366:                                              ; preds = %353, %356
  %367 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !11
  %.not158 = icmp eq ptr %367, null
  br i1 %.not158, label %370, label %368

368:                                              ; preds = %366
  %369 = trunc nuw i8 %.8116.lcssa to i1
  %.str.20..str.21 = select i1 %369, ptr @.str.20, ptr @.str.21
  call void (i32, ptr, ptr, i32, ptr, ...) %367(i32 noundef 1, ptr noundef nonnull @.str.18, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2140, ptr noundef nonnull @.str.202, ptr noundef nonnull %.str.20..str.21)
  br label %370

370:                                              ; preds = %368, %366
  %371 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %372 = icmp sgt i32 %371, 0
  br i1 %372, label %373, label %._crit_edge227

._crit_edge227:                                   ; preds = %370
  %.pre = trunc nuw i8 %.8116.lcssa to i1
  br label %381

373:                                              ; preds = %370
  %374 = load ptr, ptr @stderr, align 8, !tbaa !11
  %375 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %374, ptr noundef nonnull @.str.22, ptr noundef nonnull @__func__.testAxisAngleConversion, i32 noundef 2140) #5
  %376 = load ptr, ptr @stderr, align 8, !tbaa !11
  %377 = trunc nuw i8 %.8116.lcssa to i1
  %.str.20..str.2110 = select i1 %377, ptr @.str.20, ptr @.str.21
  %378 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %376, ptr noundef nonnull @.str.202, ptr noundef nonnull %.str.20..str.2110) #5
  %379 = load ptr, ptr @stderr, align 8, !tbaa !11
  %380 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %379, ptr noundef nonnull @.str.6) #5
  br label %381

381:                                              ; preds = %373, %._crit_edge227, %24
  %.0 = phi i1 [ true, %24 ], [ %.pre, %._crit_edge227 ], [ %377, %373 ]
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %8) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %6) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %5) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %3) #4
  ret i1 %.0
}

declare void @_ZN3Rcs13CmdLineParser5printEv() local_unnamed_addr #2

declare double @Mat3d_getAxisAngleSelf(ptr noundef, ptr noundef) local_unnamed_addr #2

declare void @Mat3d_fromAxisAngle(ptr noundef, ptr noundef, double noundef) local_unnamed_addr #2

declare void @Mat3d_rotateAxisAngleSelf(ptr noundef, ptr noundef, double noundef) 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

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 = !{!10, !10, i64 0}
!10 = !{!"double", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"any pointer", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}
!15 = distinct !{!15, !14}
!16 = distinct !{!16, !14}
!17 = distinct !{!17, !14}
!18 = distinct !{!18, !14}


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