; 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.std::basic_istream" = type { ptr, i64, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%"class.Rcs::CmdLineParser" = type { i8 }
%"class.Rcs::ViaPointSequence" = type { ptr, ptr, ptr, ptr, ptr, ptr, i8, i32, %"class.std::vector", %"class.std::vector.3" }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.3" = type { %"struct.std::_Vector_base.4" }
%"struct.std::_Vector_base.4" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Rcs::ViaPointSequencePlotter" = type { ptr, ptr, i8, [3 x double], [3 x double], double, double }
%struct._MatNd = type { ptr, i32, i32, i32, 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.57 = external hidden unnamed_addr constant [43 x i8], align 1
@.str.119 = external hidden unnamed_addr constant [15 x i8], align 1
@.str.279 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.331 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.338 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.339 = external hidden unnamed_addr constant [27 x i8], align 1
@.str.340 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.341 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.342 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.343 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.366 = external hidden unnamed_addr constant [34 x i8], align 1
@.str.367 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.368 = external hidden unnamed_addr constant [54 x i8], align 1
@.str.369 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.370 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.371 = external hidden unnamed_addr constant [36 x i8], align 1
@__func__.testViaPointSequencePlotter = external hidden unnamed_addr constant [28 x i8], align 1
@.str.372 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.373 = external hidden unnamed_addr constant [19 x i8], align 1
@.str.374 = external hidden unnamed_addr constant [26 x i8], align 1
@.str.375 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.376 = external hidden unnamed_addr constant [15 x i8], align 1
@.str.377 = external hidden unnamed_addr constant [29 x i8], align 1
@.str.378 = external hidden unnamed_addr constant [13 x i8], align 1
@_ZSt3cin = external global %"class.std::basic_istream", align 8
@.str.379 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.380 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.381 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.382 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.383 = external hidden unnamed_addr constant [22 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

declare i32 @__gxx_personality_v0(...)

; 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 @MatNd_printCommentDigits(ptr noundef, ptr noundef, i32 noundef) #2

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

declare void @MatNd_set(ptr noundef, i32 noundef, i32 noundef, double noundef) #2

declare void @print_trace() #2

; Function Attrs: noreturn nounwind
declare void @abort() #3

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

; Function Attrs: inlinehint mustprogress uwtable
declare i32 @getchar() #4

declare i32 @printf(ptr noundef, ...) #2

; Function Attrs: noreturn nounwind
declare void @exit(i32 noundef) #3

declare noundef zeroext i1 @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPjS2_z(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef, ptr noundef, ptr noundef, ...) #2

declare ptr @MatNd_createFromString(ptr noundef) #2

declare void @_ZN3Rcs16ViaPointSequenceC1EPK6_MatNdNS0_12ViaPointTypeE(ptr noundef nonnull align 8 dereferenceable(104), ptr noundef, i32 noundef) unnamed_addr #2

declare noundef zeroext i1 @_ZNK3Rcs16ViaPointSequence5checkEv(ptr noundef nonnull align 8 dereferenceable(104)) #2

; Function Attrs: nounwind
declare void @_ZN3Rcs16ViaPointSequenceD1Ev(ptr noundef nonnull align 8 dereferenceable(104)) unnamed_addr #1

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

declare void @_ZNK3Rcs16ViaPointSequence22computeTrajectoryPointERdS1_S1_d(ptr noundef nonnull align 8 dereferenceable(104), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), double noundef) #2

; Function Attrs: mustprogress uwtable
define dso_local zeroext i1 @testViaPointSequencePlotter(i32 noundef %0, ptr noundef %1) #5 personality ptr @__gxx_personality_v0 {
  %3 = alloca i32, align 4
  %4 = alloca ptr, align 8
  %5 = alloca i8, align 1
  %6 = alloca double, align 8
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca i32, align 4
  %10 = alloca double, align 8
  %11 = alloca double, align 8
  %12 = alloca double, align 8
  %13 = alloca double, align 8
  %14 = alloca %"class.Rcs::CmdLineParser", align 1
  %15 = alloca i8, align 1
  %16 = alloca ptr, align 8
  %17 = alloca %"class.Rcs::ViaPointSequence", align 8
  %18 = alloca ptr, align 8
  %19 = alloca i32, align 4
  %20 = alloca %"class.Rcs::ViaPointSequencePlotter", align 8
  %21 = alloca double, align 8
  %22 = alloca double, align 8
  %23 = alloca double, align 8
  %24 = alloca double, align 8
  %25 = alloca i32, align 4
  store i32 %0, ptr %3, align 4, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 1, ptr %5) #6
  store i8 1, ptr %5, align 1, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #6
  store double 1.000000e-02, ptr %6, align 8, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #6
  store i32 4, ptr %7, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #6
  store i32 1, ptr %8, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #6
  store i32 0, ptr %9, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #6
  store double 1.000000e-02, ptr %10, align 8, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %14) #6
  %26 = load i32, ptr %3, align 4, !tbaa !5
  %27 = load ptr, ptr %4, align 8, !tbaa !9
  call void @_ZN3Rcs13CmdLineParserC1EiPPc(ptr noundef nonnull align 1 dereferenceable(1) %14, i32 noundef %26, ptr noundef %27)
  %28 = call noundef zeroext i1 (ptr, ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPdS2_z(ptr noundef nonnull align 1 dereferenceable(1) %14, ptr noundef @.str.279, ptr noundef %6, ptr noundef @.str.339)
  %29 = call noundef zeroext i1 (ptr, ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPjS2_z(ptr noundef nonnull align 1 dereferenceable(1) %14, ptr noundef @.str.340, ptr noundef %7, ptr noundef @.str.341)
  %30 = call noundef zeroext i1 (ptr, ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPdS2_z(ptr noundef nonnull align 1 dereferenceable(1) %14, ptr noundef @.str.342, ptr noundef %10, ptr noundef @.str.343)
  %31 = call noundef zeroext i1 (ptr, ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPiS2_z(ptr noundef nonnull align 1 dereferenceable(1) %14, ptr noundef @.str.331, ptr noundef %8, ptr noundef @.str.366)
  %32 = call noundef zeroext i1 (ptr, ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPiS2_z(ptr noundef nonnull align 1 dereferenceable(1) %14, ptr noundef @.str.367, ptr noundef %9, ptr noundef @.str.368)
  call void @llvm.lifetime.start.p0(i64 1, ptr %15) #6
  %33 = call noundef zeroext i1 (ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11hasArgumentEPKcS2_z(ptr noundef nonnull align 1 dereferenceable(1) %14, ptr noundef @.str.369, ptr noundef @.str.370)
  %34 = zext i1 %33 to i8
  store i8 %34, ptr %15, align 1, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #6
  %35 = call ptr @MatNd_createFromString(ptr noundef @.str.371)
  store ptr %35, ptr %16, align 8, !tbaa !9
  %36 = load ptr, ptr %16, align 8, !tbaa !9
  %37 = load ptr, ptr %16, align 8, !tbaa !9
  %38 = getelementptr inbounds %struct._MatNd, ptr %37, i32 0, i32 1
  %39 = load i32, ptr %38, align 8, !tbaa !15
  %40 = load ptr, ptr %16, align 8, !tbaa !9
  %41 = getelementptr inbounds %struct._MatNd, ptr %40, i32 0, i32 2
  %42 = load i32, ptr %41, align 4, !tbaa !17
  %43 = add i32 %42, 1
  %44 = call ptr @MatNd_realloc(ptr noundef %36, i32 noundef %39, i32 noundef %43)
  store ptr %44, ptr %16, align 8, !tbaa !9
  %45 = load ptr, ptr %16, align 8, !tbaa !9
  %46 = load ptr, ptr %16, align 8, !tbaa !9
  %47 = getelementptr inbounds %struct._MatNd, ptr %46, i32 0, i32 1
  %48 = load i32, ptr %47, align 8, !tbaa !15
  %49 = load ptr, ptr %16, align 8, !tbaa !9
  %50 = getelementptr inbounds %struct._MatNd, ptr %49, i32 0, i32 2
  %51 = load i32, ptr %50, align 4, !tbaa !17
  %52 = sub i32 %51, 1
  call void @MatNd_reshape(ptr noundef %45, i32 noundef %48, i32 noundef %52)
  call void @llvm.lifetime.start.p0(i64 104, ptr %17) #6
  %53 = load ptr, ptr %16, align 8, !tbaa !9
  call void @_ZN3Rcs16ViaPointSequenceC1EPK6_MatNdNS0_12ViaPointTypeE(ptr noundef nonnull align 8 dereferenceable(104) %17, ptr noundef %53, i32 noundef 0)
  br label %54

54:                                               ; preds = %2
  %55 = invoke noundef zeroext i1 @_ZNK3Rcs16ViaPointSequence5checkEv(ptr noundef nonnull align 8 dereferenceable(104) %17)
          to label %56 unwind label %61

56:                                               ; preds = %54
  br i1 %55, label %65, label %57

57:                                               ; preds = %56
  %58 = load ptr, ptr @stderr, align 8, !tbaa !9
  %59 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %58, ptr noundef @.str.57, ptr noundef @.str.3, ptr noundef @__func__.testViaPointSequencePlotter, i32 noundef 3675, ptr noundef @.str.338) #6
  invoke void @print_trace()
          to label %60 unwind label %61

60:                                               ; preds = %57
  call void @abort() #7
  unreachable

61:                                               ; preds = %57, %54
  %62 = landingpad { ptr, i32 }
          cleanup
  %63 = extractvalue { ptr, i32 } %62, 0
  store ptr %63, ptr %18, align 8
  %64 = extractvalue { ptr, i32 } %62, 1
  store i32 %64, ptr %19, align 4
  br label %359

65:                                               ; preds = %56
  br label %66

66:                                               ; preds = %65
  br label %67

67:                                               ; preds = %66
  call void @llvm.lifetime.start.p0(i64 88, ptr %20) #6
  invoke void @_ZN3Rcs23ViaPointSequencePlotterC1Ev(ptr noundef nonnull align 8 dereferenceable(88) %20)
          to label %68 unwind label %104

68:                                               ; preds = %67
  invoke void @_ZN3Rcs23ViaPointSequencePlotter15enableFixedAxesERKNS_16ViaPointSequenceEbd(ptr noundef nonnull align 8 dereferenceable(88) %20, ptr noundef nonnull align 8 dereferenceable(104) %17, i1 noundef zeroext true, double noundef 2.500000e-01)
          to label %69 unwind label %108

69:                                               ; preds = %68
  br label %70

70:                                               ; preds = %356, %69
  br label %71

71:                                               ; preds = %70
  %72 = invoke noundef double @_ZNK3Rcs16ViaPointSequence2t0Ev(ptr noundef nonnull align 8 dereferenceable(104) %17)
          to label %73 unwind label %108

73:                                               ; preds = %71
  %74 = load double, ptr %6, align 8, !tbaa !13
  %75 = load i32, ptr %8, align 4, !tbaa !5
  invoke void @_ZN3Rcs23ViaPointSequencePlotter5plot2ERKNS_16ViaPointSequenceEdddi(ptr noundef nonnull align 8 dereferenceable(88) %20, ptr noundef nonnull align 8 dereferenceable(104) %17, double noundef %72, double noundef 1.500000e+00, double noundef %74, i32 noundef %75)
          to label %76 unwind label %108

76:                                               ; preds = %73
  %77 = load i32, ptr %9, align 4, !tbaa !5
  %78 = icmp eq i32 %77, 0
  br i1 %78, label %79, label %112

79:                                               ; preds = %76
  %80 = invoke noundef double @_ZNK3Rcs16ViaPointSequence2t0Ev(ptr noundef nonnull align 8 dereferenceable(104) %17)
          to label %81 unwind label %108

81:                                               ; preds = %79
  %82 = load double, ptr %10, align 8, !tbaa !13
  %83 = fadd double %80, %82
  invoke void @_ZNK3Rcs16ViaPointSequence22computeTrajectoryPointERdS1_S1_d(ptr noundef nonnull align 8 dereferenceable(104) %17, ptr noundef nonnull align 8 dereferenceable(8) %11, ptr noundef nonnull align 8 dereferenceable(8) %12, ptr noundef nonnull align 8 dereferenceable(8) %13, double noundef %83)
          to label %84 unwind label %108

84:                                               ; preds = %81
  %85 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %86 = load ptr, ptr %85, align 8, !tbaa !18
  %87 = invoke noundef double @_ZNK3Rcs16ViaPointSequence2t0Ev(ptr noundef nonnull align 8 dereferenceable(104) %17)
          to label %88 unwind label %108

88:                                               ; preds = %84
  %89 = load double, ptr %10, align 8, !tbaa !13
  %90 = fadd double %87, %89
  invoke void @MatNd_set(ptr noundef %86, i32 noundef 0, i32 noundef 0, double noundef %90)
          to label %91 unwind label %108

91:                                               ; preds = %88
  %92 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %93 = load ptr, ptr %92, align 8, !tbaa !18
  %94 = load double, ptr %11, align 8, !tbaa !13
  invoke void @MatNd_set(ptr noundef %93, i32 noundef 0, i32 noundef 1, double noundef %94)
          to label %95 unwind label %108

95:                                               ; preds = %91
  %96 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %97 = load ptr, ptr %96, align 8, !tbaa !18
  %98 = load double, ptr %12, align 8, !tbaa !13
  invoke void @MatNd_set(ptr noundef %97, i32 noundef 0, i32 noundef 2, double noundef %98)
          to label %99 unwind label %108

99:                                               ; preds = %95
  %100 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %101 = load ptr, ptr %100, align 8, !tbaa !18
  %102 = load double, ptr %13, align 8, !tbaa !13
  invoke void @MatNd_set(ptr noundef %101, i32 noundef 0, i32 noundef 3, double noundef %102)
          to label %103 unwind label %108

103:                                              ; preds = %99
  br label %279

104:                                              ; preds = %67
  %105 = landingpad { ptr, i32 }
          cleanup
  %106 = extractvalue { ptr, i32 } %105, 0
  store ptr %106, ptr %18, align 8
  %107 = extractvalue { ptr, i32 } %105, 1
  store i32 %107, ptr %19, align 4
  br label %358

108:                                              ; preds = %355, %308, %305, %296, %286, %279, %266, %248, %241, %235, %231, %225, %203, %194, %186, %181, %179, %174, %170, %166, %162, %159, %157, %149, %147, %143, %139, %135, %131, %127, %124, %120, %117, %115, %99, %95, %91, %88, %84, %81, %79, %73, %71, %68
  %109 = landingpad { ptr, i32 }
          cleanup
  %110 = extractvalue { ptr, i32 } %109, 0
  store ptr %110, ptr %18, align 8
  %111 = extractvalue { ptr, i32 } %109, 1
  store i32 %111, ptr %19, align 4
  br label %357

112:                                              ; preds = %76
  %113 = load i32, ptr %9, align 4, !tbaa !5
  %114 = icmp eq i32 %113, 1
  br i1 %114, label %115, label %154

115:                                              ; preds = %112
  %116 = invoke noundef double @_ZNK3Rcs16ViaPointSequence2t0Ev(ptr noundef nonnull align 8 dereferenceable(104) %17)
          to label %117 unwind label %108

117:                                              ; preds = %115
  %118 = load double, ptr %10, align 8, !tbaa !13
  %119 = fadd double %116, %118
  invoke void @_ZNK3Rcs16ViaPointSequence22computeTrajectoryPointERdS1_S1_d(ptr noundef nonnull align 8 dereferenceable(104) %17, ptr noundef nonnull align 8 dereferenceable(8) %11, ptr noundef nonnull align 8 dereferenceable(8) %12, ptr noundef nonnull align 8 dereferenceable(8) %13, double noundef %119)
          to label %120 unwind label %108

120:                                              ; preds = %117
  %121 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %122 = load ptr, ptr %121, align 8, !tbaa !18
  %123 = invoke noundef double @_ZNK3Rcs16ViaPointSequence2t0Ev(ptr noundef nonnull align 8 dereferenceable(104) %17)
          to label %124 unwind label %108

124:                                              ; preds = %120
  %125 = load double, ptr %10, align 8, !tbaa !13
  %126 = fadd double %123, %125
  invoke void @MatNd_set(ptr noundef %122, i32 noundef 0, i32 noundef 0, double noundef %126)
          to label %127 unwind label %108

127:                                              ; preds = %124
  %128 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %129 = load ptr, ptr %128, align 8, !tbaa !18
  %130 = load double, ptr %11, align 8, !tbaa !13
  invoke void @MatNd_set(ptr noundef %129, i32 noundef 0, i32 noundef 1, double noundef %130)
          to label %131 unwind label %108

131:                                              ; preds = %127
  %132 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %133 = load ptr, ptr %132, align 8, !tbaa !18
  %134 = load double, ptr %12, align 8, !tbaa !13
  invoke void @MatNd_set(ptr noundef %133, i32 noundef 0, i32 noundef 2, double noundef %134)
          to label %135 unwind label %108

135:                                              ; preds = %131
  %136 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %137 = load ptr, ptr %136, align 8, !tbaa !18
  %138 = load double, ptr %13, align 8, !tbaa !13
  invoke void @MatNd_set(ptr noundef %137, i32 noundef 0, i32 noundef 3, double noundef %138)
          to label %139 unwind label %108

139:                                              ; preds = %135
  %140 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %141 = load ptr, ptr %140, align 8, !tbaa !18
  %142 = load double, ptr %10, align 8, !tbaa !13
  invoke void @MatNd_addToEle(ptr noundef %141, i32 noundef 1, i32 noundef 0, double noundef %142)
          to label %143 unwind label %108

143:                                              ; preds = %139
  %144 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %145 = load ptr, ptr %144, align 8, !tbaa !18
  %146 = invoke double @MatNd_get(ptr noundef %145, i32 noundef 1, i32 noundef 0)
          to label %147 unwind label %108

147:                                              ; preds = %143
  %148 = invoke noundef double @_ZNK3Rcs16ViaPointSequence20computeTrajectoryPosEd(ptr noundef nonnull align 8 dereferenceable(104) %17, double noundef %146)
          to label %149 unwind label %108

149:                                              ; preds = %147
  store double %148, ptr %11, align 8, !tbaa !13
  %150 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %151 = load ptr, ptr %150, align 8, !tbaa !18
  %152 = load double, ptr %11, align 8, !tbaa !13
  invoke void @MatNd_set(ptr noundef %151, i32 noundef 1, i32 noundef 1, double noundef %152)
          to label %153 unwind label %108

153:                                              ; preds = %149
  br label %278

154:                                              ; preds = %112
  %155 = load i32, ptr %9, align 4, !tbaa !5
  %156 = icmp eq i32 %155, 2
  br i1 %156, label %157, label %265

157:                                              ; preds = %154
  %158 = invoke noundef double @_ZNK3Rcs16ViaPointSequence2t0Ev(ptr noundef nonnull align 8 dereferenceable(104) %17)
          to label %159 unwind label %108

159:                                              ; preds = %157
  %160 = load double, ptr %10, align 8, !tbaa !13
  %161 = fadd double %158, %160
  invoke void @_ZNK3Rcs16ViaPointSequence22computeTrajectoryPointERdS1_S1_d(ptr noundef nonnull align 8 dereferenceable(104) %17, ptr noundef nonnull align 8 dereferenceable(8) %11, ptr noundef nonnull align 8 dereferenceable(8) %12, ptr noundef nonnull align 8 dereferenceable(8) %13, double noundef %161)
          to label %162 unwind label %108

162:                                              ; preds = %159
  %163 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %164 = load ptr, ptr %163, align 8, !tbaa !18
  %165 = load double, ptr %11, align 8, !tbaa !13
  invoke void @MatNd_set(ptr noundef %164, i32 noundef 0, i32 noundef 1, double noundef %165)
          to label %166 unwind label %108

166:                                              ; preds = %162
  %167 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %168 = load ptr, ptr %167, align 8, !tbaa !18
  %169 = load double, ptr %12, align 8, !tbaa !13
  invoke void @MatNd_set(ptr noundef %168, i32 noundef 0, i32 noundef 2, double noundef %169)
          to label %170 unwind label %108

170:                                              ; preds = %166
  %171 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %172 = load ptr, ptr %171, align 8, !tbaa !18
  %173 = load double, ptr %13, align 8, !tbaa !13
  invoke void @MatNd_set(ptr noundef %172, i32 noundef 0, i32 noundef 3, double noundef %173)
          to label %174 unwind label %108

174:                                              ; preds = %170
  %175 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %176 = load ptr, ptr %175, align 8, !tbaa !18
  %177 = load double, ptr %10, align 8, !tbaa !13
  %178 = fneg double %177
  invoke void @MatNd_addToEle(ptr noundef %176, i32 noundef 1, i32 noundef 0, double noundef %178)
          to label %179 unwind label %108

179:                                              ; preds = %174
  %180 = invoke noundef double @_ZNK3Rcs16ViaPointSequence2t1Ev(ptr noundef nonnull align 8 dereferenceable(104) %17)
          to label %181 unwind label %108

181:                                              ; preds = %179
  %182 = load ptr, ptr %16, align 8, !tbaa !9
  %183 = invoke double @MatNd_get(ptr noundef %182, i32 noundef 2, i32 noundef 0)
          to label %184 unwind label %108

184:                                              ; preds = %181
  %185 = fcmp olt double %180, %183
  br i1 %185, label %186, label %219

186:                                              ; preds = %184
  %187 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %188 = load ptr, ptr %187, align 8, !tbaa !18
  %189 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %190 = load ptr, ptr %189, align 8, !tbaa !18
  %191 = getelementptr inbounds %struct._MatNd, ptr %190, i32 0, i32 2
  %192 = load i32, ptr %191, align 4, !tbaa !17
  %193 = invoke ptr @MatNd_realloc(ptr noundef %188, i32 noundef 4, i32 noundef %192)
          to label %194 unwind label %108

194:                                              ; preds = %186
  %195 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  store ptr %193, ptr %195, align 8, !tbaa !18
  %196 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %197 = load ptr, ptr %196, align 8, !tbaa !18
  %198 = load ptr, ptr %16, align 8, !tbaa !9
  invoke void @MatNd_copyRow(ptr noundef %197, i32 noundef 3, ptr noundef %198, i32 noundef 2)
          to label %199 unwind label %108

199:                                              ; preds = %194
  br label %200

200:                                              ; preds = %199
  %201 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %202 = icmp ne ptr %201, null
  br i1 %202, label %203, label %206

203:                                              ; preds = %200
  %204 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  invoke void (i32, ptr, ptr, i32, ptr, ...) %204(i32 noundef 0, ptr noundef @.str.3, ptr noundef @__func__.testViaPointSequencePlotter, i32 noundef 3724, ptr noundef @.str.372)
          to label %205 unwind label %108

205:                                              ; preds = %203
  br label %206

206:                                              ; preds = %205, %200
  %207 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %208 = icmp sle i32 0, %207
  br i1 %208, label %209, label %216

209:                                              ; preds = %206
  %210 = load ptr, ptr @stderr, align 8, !tbaa !9
  %211 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %210, ptr noundef @.str.5, ptr noundef @.str.3, ptr noundef @__func__.testViaPointSequencePlotter, i32 noundef 3724) #6
  %212 = load ptr, ptr @stderr, align 8, !tbaa !9
  %213 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %212, ptr noundef @.str.372) #6
  %214 = load ptr, ptr @stderr, align 8, !tbaa !9
  %215 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %214, ptr noundef @.str.6) #6
  br label %216

216:                                              ; preds = %209, %206
  br label %217

217:                                              ; preds = %216
  br label %218

218:                                              ; preds = %217
  br label %219

219:                                              ; preds = %218, %184
  %220 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %221 = load ptr, ptr %220, align 8, !tbaa !18
  %222 = getelementptr inbounds %struct._MatNd, ptr %221, i32 0, i32 1
  %223 = load i32, ptr %222, align 8, !tbaa !15
  %224 = icmp ugt i32 %223, 2
  br i1 %224, label %225, label %231

225:                                              ; preds = %219
  %226 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %227 = load ptr, ptr %226, align 8, !tbaa !18
  %228 = load double, ptr %10, align 8, !tbaa !13
  %229 = fneg double %228
  invoke void @MatNd_addToEle(ptr noundef %227, i32 noundef 2, i32 noundef 0, double noundef %229)
          to label %230 unwind label %108

230:                                              ; preds = %225
  br label %231

231:                                              ; preds = %230, %219
  %232 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %233 = load ptr, ptr %232, align 8, !tbaa !18
  %234 = invoke double @MatNd_get(ptr noundef %233, i32 noundef 1, i32 noundef 0)
          to label %235 unwind label %108

235:                                              ; preds = %231
  %236 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %237 = load ptr, ptr %236, align 8, !tbaa !18
  %238 = invoke double @MatNd_get(ptr noundef %237, i32 noundef 0, i32 noundef 0)
          to label %239 unwind label %108

239:                                              ; preds = %235
  %240 = fcmp ole double %234, %238
  br i1 %240, label %241, label %264

241:                                              ; preds = %239
  %242 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %243 = load ptr, ptr %242, align 8, !tbaa !18
  invoke void @MatNd_deleteRow(ptr noundef %243, i32 noundef 1)
          to label %244 unwind label %108

244:                                              ; preds = %241
  br label %245

245:                                              ; preds = %244
  %246 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  %247 = icmp ne ptr %246, null
  br i1 %247, label %248, label %251

248:                                              ; preds = %245
  %249 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !9
  invoke void (i32, ptr, ptr, i32, ptr, ...) %249(i32 noundef 0, ptr noundef @.str.3, ptr noundef @__func__.testViaPointSequencePlotter, i32 noundef 3736, ptr noundef @.str.373)
          to label %250 unwind label %108

250:                                              ; preds = %248
  br label %251

251:                                              ; preds = %250, %245
  %252 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %253 = icmp sle i32 0, %252
  br i1 %253, label %254, label %261

254:                                              ; preds = %251
  %255 = load ptr, ptr @stderr, align 8, !tbaa !9
  %256 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %255, ptr noundef @.str.5, ptr noundef @.str.3, ptr noundef @__func__.testViaPointSequencePlotter, i32 noundef 3736) #6
  %257 = load ptr, ptr @stderr, align 8, !tbaa !9
  %258 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %257, ptr noundef @.str.373) #6
  %259 = load ptr, ptr @stderr, align 8, !tbaa !9
  %260 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %259, ptr noundef @.str.6) #6
  br label %261

261:                                              ; preds = %254, %251
  br label %262

262:                                              ; preds = %261
  br label %263

263:                                              ; preds = %262
  br label %264

264:                                              ; preds = %263, %239
  br label %277

265:                                              ; preds = %154
  br label %266

266:                                              ; preds = %265
  %267 = load ptr, ptr @stderr, align 8, !tbaa !9
  %268 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %267, ptr noundef @.str.374, ptr noundef @.str.3, ptr noundef @__func__.testViaPointSequencePlotter, i32 noundef 3742) #6
  %269 = load ptr, ptr @stderr, align 8, !tbaa !9
  %270 = load i32, ptr %9, align 4, !tbaa !5
  %271 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %269, ptr noundef @.str.375, i32 noundef %270) #6
  %272 = load ptr, ptr @stderr, align 8, !tbaa !9
  %273 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %272, ptr noundef @.str.6) #6
  invoke void @print_trace()
          to label %274 unwind label %108

274:                                              ; preds = %266
  call void @exit(i32 noundef 1) #7
  unreachable

275:                                              ; No predecessors!
  br label %276

276:                                              ; preds = %275
  br label %277

277:                                              ; preds = %276, %264
  br label %278

278:                                              ; preds = %277, %153
  br label %279

279:                                              ; preds = %278, %103
  %280 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %281 = load ptr, ptr %280, align 8, !tbaa !18
  %282 = invoke noundef zeroext i1 @_ZN3Rcs16ViaPointSequence4initEPK6_MatNd(ptr noundef nonnull align 8 dereferenceable(104) %17, ptr noundef %281)
          to label %283 unwind label %108

283:                                              ; preds = %279
  %284 = load i32, ptr @RcsLogLevel, align 4, !tbaa !5
  %285 = icmp sle i32 1, %284
  br i1 %285, label %286, label %290

286:                                              ; preds = %283
  %287 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %288 = load ptr, ptr %287, align 8, !tbaa !18
  invoke void @MatNd_printCommentDigits(ptr noundef @.str.376, ptr noundef %288, i32 noundef 3)
          to label %289 unwind label %108

289:                                              ; preds = %286
  br label %290

290:                                              ; preds = %289, %283
  %291 = load i8, ptr %15, align 1, !tbaa !11, !range !29, !noundef !30
  %292 = trunc i8 %291 to i1
  %293 = zext i1 %292 to i32
  %294 = icmp eq i32 %293, 0
  br i1 %294, label %295, label %305

295:                                              ; preds = %290
  br label %296

296:                                              ; preds = %295
  %297 = load ptr, ptr @stderr, align 8, !tbaa !9
  %298 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %297, ptr noundef @.str.119, ptr noundef @.str.3, ptr noundef @__func__.testViaPointSequencePlotter, i32 noundef 3755) #6
  %299 = load ptr, ptr @stderr, align 8, !tbaa !9
  %300 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %299, ptr noundef @.str.377) #6
  %301 = invoke i32 @getchar()
          to label %302 unwind label %108

302:                                              ; preds = %296
  br label %303

303:                                              ; preds = %302
  br label %304

304:                                              ; preds = %303
  br label %305

305:                                              ; preds = %304, %290
  %306 = invoke zeroext i1 @Rcs_kbhit()
          to label %307 unwind label %108

307:                                              ; preds = %305
  br i1 %306, label %308, label %355

308:                                              ; preds = %307
  %309 = invoke i32 @getchar()
          to label %310 unwind label %108

310:                                              ; preds = %308
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #6
  %311 = invoke i32 (ptr, ...) @printf(ptr noundef @.str.378)
          to label %312 unwind label %351

312:                                              ; preds = %310
  %313 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZNSirsERd(ptr noundef nonnull align 8 dereferenceable(16) @_ZSt3cin, ptr noundef nonnull align 8 dereferenceable(8) %21)
          to label %314 unwind label %351

314:                                              ; preds = %312
  %315 = invoke i32 (ptr, ...) @printf(ptr noundef @.str.379)
          to label %316 unwind label %351

316:                                              ; preds = %314
  %317 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZNSirsERd(ptr noundef nonnull align 8 dereferenceable(16) @_ZSt3cin, ptr noundef nonnull align 8 dereferenceable(8) %22)
          to label %318 unwind label %351

318:                                              ; preds = %316
  %319 = invoke i32 (ptr, ...) @printf(ptr noundef @.str.380)
          to label %320 unwind label %351

320:                                              ; preds = %318
  %321 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZNSirsERd(ptr noundef nonnull align 8 dereferenceable(16) @_ZSt3cin, ptr noundef nonnull align 8 dereferenceable(8) %23)
          to label %322 unwind label %351

322:                                              ; preds = %320
  %323 = invoke i32 (ptr, ...) @printf(ptr noundef @.str.381)
          to label %324 unwind label %351

324:                                              ; preds = %322
  %325 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZNSirsERd(ptr noundef nonnull align 8 dereferenceable(16) @_ZSt3cin, ptr noundef nonnull align 8 dereferenceable(8) %24)
          to label %326 unwind label %351

326:                                              ; preds = %324
  %327 = invoke i32 (ptr, ...) @printf(ptr noundef @.str.382)
          to label %328 unwind label %351

328:                                              ; preds = %326
  %329 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZNSirsERi(ptr noundef nonnull align 8 dereferenceable(16) @_ZSt3cin, ptr noundef nonnull align 4 dereferenceable(4) %25)
          to label %330 unwind label %351

330:                                              ; preds = %328
  %331 = load double, ptr %21, align 8, !tbaa !13
  %332 = load double, ptr %22, align 8, !tbaa !13
  %333 = load double, ptr %23, align 8, !tbaa !13
  %334 = load double, ptr %24, align 8, !tbaa !13
  %335 = load i32, ptr %25, align 4, !tbaa !5
  %336 = invoke noundef zeroext i1 @_ZN3Rcs16ViaPointSequence11addViaPointEddddi(ptr noundef nonnull align 8 dereferenceable(104) %17, double noundef %331, double noundef %332, double noundef %333, double noundef %334, i32 noundef %335)
          to label %337 unwind label %351

337:                                              ; preds = %330
  %338 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %17, i32 0, i32 1
  %339 = load ptr, ptr %338, align 8, !tbaa !18
  %340 = invoke noundef zeroext i1 @_ZN3Rcs16ViaPointSequence4initEPK6_MatNd(ptr noundef nonnull align 8 dereferenceable(104) %17, ptr noundef %339)
          to label %341 unwind label %351

341:                                              ; preds = %337
  br label %342

342:                                              ; preds = %341
  %343 = load ptr, ptr @stderr, align 8, !tbaa !9
  %344 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %343, ptr noundef @.str.119, ptr noundef @.str.3, ptr noundef @__func__.testViaPointSequencePlotter, i32 noundef 3775) #6
  %345 = load ptr, ptr @stderr, align 8, !tbaa !9
  %346 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %345, ptr noundef @.str.383) #6
  %347 = invoke i32 @getchar()
          to label %348 unwind label %351

348:                                              ; preds = %342
  br label %349

349:                                              ; preds = %348
  br label %350

350:                                              ; preds = %349
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #6
  br label %355

351:                                              ; preds = %342, %337, %330, %328, %326, %324, %322, %320, %318, %316, %314, %312, %310
  %352 = landingpad { ptr, i32 }
          cleanup
  %353 = extractvalue { ptr, i32 } %352, 0
  store ptr %353, ptr %18, align 8
  %354 = extractvalue { ptr, i32 } %352, 1
  store i32 %354, ptr %19, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #6
  br label %357

355:                                              ; preds = %350, %307
  invoke void @Timer_waitDT(double noundef 1.000000e-02)
          to label %356 unwind label %108

356:                                              ; preds = %355
  br label %70, !llvm.loop !31

357:                                              ; preds = %351, %108
  call void @_ZN3Rcs23ViaPointSequencePlotterD1Ev(ptr noundef nonnull align 8 dereferenceable(88) %20) #6
  br label %358

358:                                              ; preds = %357, %104
  call void @llvm.lifetime.end.p0(i64 88, ptr %20) #6
  br label %359

359:                                              ; preds = %358, %61
  call void @_ZN3Rcs16ViaPointSequenceD1Ev(ptr noundef nonnull align 8 dereferenceable(104) %17) #6
  call void @llvm.lifetime.end.p0(i64 104, ptr %17) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %15) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %5) #6
  br label %360

360:                                              ; preds = %359
  %361 = load ptr, ptr %18, align 8
  %362 = load i32, ptr %19, align 4
  %363 = insertvalue { ptr, i32 } poison, ptr %361, 0
  %364 = insertvalue { ptr, i32 } %363, i32 %362, 1
  resume { ptr, i32 } %364
}

declare ptr @MatNd_realloc(ptr noundef, i32 noundef, i32 noundef) #2

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

declare void @_ZN3Rcs23ViaPointSequencePlotterC1Ev(ptr noundef nonnull align 8 dereferenceable(88)) unnamed_addr #2

declare void @_ZN3Rcs23ViaPointSequencePlotter15enableFixedAxesERKNS_16ViaPointSequenceEbd(ptr noundef nonnull align 8 dereferenceable(88), ptr noundef nonnull align 8 dereferenceable(104), i1 noundef zeroext, double noundef) unnamed_addr #2

declare void @_ZN3Rcs23ViaPointSequencePlotter5plot2ERKNS_16ViaPointSequenceEdddi(ptr noundef nonnull align 8 dereferenceable(88), ptr noundef nonnull align 8 dereferenceable(104), double noundef, double noundef, double noundef, i32 noundef) unnamed_addr #2

declare noundef double @_ZNK3Rcs16ViaPointSequence2t0Ev(ptr noundef nonnull align 8 dereferenceable(104)) #2

declare void @MatNd_addToEle(ptr noundef, i32 noundef, i32 noundef, double noundef) #2

declare noundef double @_ZNK3Rcs16ViaPointSequence20computeTrajectoryPosEd(ptr noundef nonnull align 8 dereferenceable(104), double noundef) #2

declare noundef double @_ZNK3Rcs16ViaPointSequence2t1Ev(ptr noundef nonnull align 8 dereferenceable(104)) #2

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

declare noundef zeroext i1 @_ZN3Rcs16ViaPointSequence4initEPK6_MatNd(ptr noundef nonnull align 8 dereferenceable(104), ptr noundef) unnamed_addr #2

declare zeroext i1 @Rcs_kbhit() #2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(16) ptr @_ZNSirsERd(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(8)) #5 align 2

declare noundef nonnull align 8 dereferenceable(16) ptr @_ZNSirsERi(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) #2

declare noundef zeroext i1 @_ZN3Rcs16ViaPointSequence11addViaPointEddddi(ptr noundef nonnull align 8 dereferenceable(104), double noundef, double noundef, double noundef, double noundef, i32 noundef) unnamed_addr #2

declare void @Timer_waitDT(double noundef) #2

; Function Attrs: nounwind
declare void @_ZN3Rcs23ViaPointSequencePlotterD1Ev(ptr noundef nonnull align 8 dereferenceable(88)) unnamed_addr #1

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 = { noreturn 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 #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 #6 = { nounwind }
attributes #7 = { noreturn 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 = !{!16, !6, i64 8}
!16 = !{!"_ZTS6_MatNd", !10, i64 0, !6, i64 8, !6, i64 12, !6, i64 16, !12, i64 20}
!17 = !{!16, !6, i64 12}
!18 = !{!19, !10, i64 8}
!19 = !{!"_ZTSN3Rcs16ViaPointSequenceE", !10, i64 8, !10, i64 16, !10, i64 24, !10, i64 32, !10, i64 40, !12, i64 48, !20, i64 52, !21, i64 56, !25, i64 80}
!20 = !{!"_ZTSN3Rcs16ViaPointSequence12ViaPointTypeE", !7, i64 0}
!21 = !{!"_ZTSSt6vectorIiSaIiEE", !22, i64 0}
!22 = !{!"_ZTSSt12_Vector_baseIiSaIiEE", !23, i64 0}
!23 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE12_Vector_implE", !24, i64 0}
!24 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE17_Vector_impl_dataE", !10, i64 0, !10, i64 8, !10, i64 16}
!25 = !{!"_ZTSSt6vectorIdSaIdEE", !26, i64 0}
!26 = !{!"_ZTSSt12_Vector_baseIdSaIdEE", !27, i64 0}
!27 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE12_Vector_implE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE17_Vector_impl_dataE", !10, i64 0, !10, i64 8, !10, i64 16}
!29 = !{i8 0, i8 2}
!30 = !{}
!31 = distinct !{!31, !32}
!32 = !{!"llvm.loop.mustprogress"}


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

%"class.std::basic_istream" = type { ptr, i64, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%"class.Rcs::CmdLineParser" = type { i8 }
%"class.Rcs::ViaPointSequence" = type { ptr, ptr, ptr, ptr, ptr, ptr, i8, i32, %"class.std::vector", %"class.std::vector.3" }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.3" = type { %"struct.std::_Vector_base.4" }
%"struct.std::_Vector_base.4" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Rcs::ViaPointSequencePlotter" = type { ptr, ptr, i8, [3 x double], [3 x double], double, double }

@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.57 = external hidden unnamed_addr constant [43 x i8], align 1
@.str.119 = external hidden unnamed_addr constant [15 x i8], align 1
@.str.279 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.331 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.338 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.339 = external hidden unnamed_addr constant [27 x i8], align 1
@.str.340 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.341 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.342 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.343 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.366 = external hidden unnamed_addr constant [34 x i8], align 1
@.str.367 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.368 = external hidden unnamed_addr constant [54 x i8], align 1
@.str.369 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.370 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.371 = external hidden unnamed_addr constant [36 x i8], align 1
@__func__.testViaPointSequencePlotter = external hidden unnamed_addr constant [28 x i8], align 1
@.str.372 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.373 = external hidden unnamed_addr constant [19 x i8], align 1
@.str.374 = external hidden unnamed_addr constant [26 x i8], align 1
@.str.375 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.376 = external hidden unnamed_addr constant [15 x i8], align 1
@.str.377 = external hidden unnamed_addr constant [29 x i8], align 1
@.str.378 = external hidden unnamed_addr constant [13 x i8], align 1
@_ZSt3cin = external global %"class.std::basic_istream", align 8
@.str.379 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.380 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.381 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.382 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.383 = external hidden unnamed_addr constant [22 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

declare i32 @__gxx_personality_v0(...)

; 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 @MatNd_printCommentDigits(ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #2

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

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

declare void @print_trace() local_unnamed_addr #2

; Function Attrs: noreturn nounwind
declare void @abort() local_unnamed_addr #3

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

; Function Attrs: inlinehint mustprogress nofree nounwind uwtable
declare noundef i32 @getchar() local_unnamed_addr #4

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

; Function Attrs: noreturn nounwind
declare void @exit(i32 noundef) local_unnamed_addr #3

declare noundef zeroext i1 @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPjS2_z(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef, ptr noundef, ptr noundef, ...) local_unnamed_addr #2

declare ptr @MatNd_createFromString(ptr noundef) local_unnamed_addr #2

declare void @_ZN3Rcs16ViaPointSequenceC1EPK6_MatNdNS0_12ViaPointTypeE(ptr noundef nonnull align 8 dereferenceable(104), ptr noundef, i32 noundef) unnamed_addr #2

declare noundef zeroext i1 @_ZNK3Rcs16ViaPointSequence5checkEv(ptr noundef nonnull align 8 dereferenceable(104)) local_unnamed_addr #2

; Function Attrs: nounwind
declare void @_ZN3Rcs16ViaPointSequenceD1Ev(ptr noundef nonnull align 8 dereferenceable(104)) unnamed_addr #5

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

declare void @_ZNK3Rcs16ViaPointSequence22computeTrajectoryPointERdS1_S1_d(ptr noundef nonnull align 8 dereferenceable(104), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), double noundef) local_unnamed_addr #2

; Function Attrs: mustprogress noreturn uwtable
define dso_local noundef zeroext i1 @testViaPointSequencePlotter(i32 noundef %0, ptr noundef %1) local_unnamed_addr #6 personality ptr @__gxx_personality_v0 {
  %3 = alloca double, align 8
  %4 = alloca i32, align 4
  %5 = alloca i32, align 4
  %6 = alloca i32, align 4
  %7 = alloca double, align 8
  %8 = alloca double, align 8
  %9 = alloca double, align 8
  %10 = alloca double, align 8
  %11 = alloca %"class.Rcs::CmdLineParser", align 1
  %12 = alloca %"class.Rcs::ViaPointSequence", align 8
  %13 = alloca %"class.Rcs::ViaPointSequencePlotter", align 8
  %14 = alloca double, align 8
  %15 = alloca double, align 8
  %16 = alloca double, align 8
  %17 = alloca double, align 8
  %18 = alloca i32, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #8
  store double 1.000000e-02, ptr %3, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %4) #8
  store i32 4, ptr %4, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %5) #8
  store i32 1, ptr %5, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %6) #8
  store i32 0, ptr %6, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #8
  store double 1.000000e-02, ptr %7, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #8
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %11) #8
  call void @_ZN3Rcs13CmdLineParserC1EiPPc(ptr noundef nonnull align 1 dereferenceable(1) %11, i32 noundef %0, ptr noundef %1)
  %19 = call noundef zeroext i1 (ptr, ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPdS2_z(ptr noundef nonnull align 1 dereferenceable(1) %11, ptr noundef nonnull @.str.279, ptr noundef nonnull %3, ptr noundef nonnull @.str.339)
  %20 = call noundef zeroext i1 (ptr, ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPjS2_z(ptr noundef nonnull align 1 dereferenceable(1) %11, ptr noundef nonnull @.str.340, ptr noundef nonnull %4, ptr noundef nonnull @.str.341)
  %21 = call noundef zeroext i1 (ptr, ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPdS2_z(ptr noundef nonnull align 1 dereferenceable(1) %11, ptr noundef nonnull @.str.342, ptr noundef nonnull %7, ptr noundef nonnull @.str.343)
  %22 = call noundef zeroext i1 (ptr, ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPiS2_z(ptr noundef nonnull align 1 dereferenceable(1) %11, ptr noundef nonnull @.str.331, ptr noundef nonnull %5, ptr noundef nonnull @.str.366)
  %23 = call noundef zeroext i1 (ptr, ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11getArgumentEPKcPiS2_z(ptr noundef nonnull align 1 dereferenceable(1) %11, ptr noundef nonnull @.str.367, ptr noundef nonnull %6, ptr noundef nonnull @.str.368)
  %24 = call noundef zeroext i1 (ptr, ptr, ptr, ...) @_ZNK3Rcs13CmdLineParser11hasArgumentEPKcS2_z(ptr noundef nonnull align 1 dereferenceable(1) %11, ptr noundef nonnull @.str.369, ptr noundef nonnull @.str.370)
  %25 = call ptr @MatNd_createFromString(ptr noundef nonnull @.str.371)
  %26 = getelementptr inbounds i8, ptr %25, i64 8
  %27 = load i32, ptr %26, align 8, !tbaa !11
  %28 = getelementptr inbounds i8, ptr %25, i64 12
  %29 = load i32, ptr %28, align 4, !tbaa !15
  %30 = add i32 %29, 1
  %31 = call ptr @MatNd_realloc(ptr noundef %25, i32 noundef %27, i32 noundef %30)
  %32 = getelementptr inbounds i8, ptr %31, i64 8
  %33 = load i32, ptr %32, align 8, !tbaa !11
  %34 = getelementptr inbounds i8, ptr %31, i64 12
  %35 = load i32, ptr %34, align 4, !tbaa !15
  %36 = add i32 %35, -1
  call void @MatNd_reshape(ptr noundef %31, i32 noundef %33, i32 noundef %36)
  call void @llvm.lifetime.start.p0(i64 104, ptr nonnull %12) #8
  call void @_ZN3Rcs16ViaPointSequenceC1EPK6_MatNdNS0_12ViaPointTypeE(ptr noundef nonnull align 8 dereferenceable(104) %12, ptr noundef %31, i32 noundef 0)
  %37 = invoke noundef zeroext i1 @_ZNK3Rcs16ViaPointSequence5checkEv(ptr noundef nonnull align 8 dereferenceable(104) %12)
          to label %38 unwind label %43

38:                                               ; preds = %2
  br i1 %37, label %45, label %39

39:                                               ; preds = %38
  %40 = load ptr, ptr @stderr, align 8, !tbaa !16
  %41 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %40, ptr noundef nonnull @.str.57, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testViaPointSequencePlotter, i32 noundef 3675, ptr noundef nonnull @.str.338) #9
  invoke void @print_trace()
          to label %42 unwind label %43

42:                                               ; preds = %39
  call void @abort() #10
  unreachable

43:                                               ; preds = %39, %2
  %44 = landingpad { ptr, i32 }
          cleanup
  br label %248

45:                                               ; preds = %38
  call void @llvm.lifetime.start.p0(i64 88, ptr nonnull %13) #8
  invoke void @_ZN3Rcs23ViaPointSequencePlotterC1Ev(ptr noundef nonnull align 8 dereferenceable(88) %13)
          to label %46 unwind label %78

46:                                               ; preds = %45
  invoke void @_ZN3Rcs23ViaPointSequencePlotter15enableFixedAxesERKNS_16ViaPointSequenceEbd(ptr noundef nonnull align 8 dereferenceable(88) %13, ptr noundef nonnull align 8 dereferenceable(104) %12, i1 noundef zeroext true, double noundef 2.500000e-01)
          to label %.preheader unwind label %.loopexit.split-lp

.preheader:                                       ; preds = %46
  %47 = getelementptr inbounds i8, ptr %12, i64 8
  br label %48

48:                                               ; preds = %.preheader, %245
  %49 = invoke noundef double @_ZNK3Rcs16ViaPointSequence2t0Ev(ptr noundef nonnull align 8 dereferenceable(104) %12)
          to label %50 unwind label %.loopexit

50:                                               ; preds = %48
  %51 = load double, ptr %3, align 8, !tbaa !5
  %52 = load i32, ptr %5, align 4, !tbaa !9
  invoke void @_ZN3Rcs23ViaPointSequencePlotter5plot2ERKNS_16ViaPointSequenceEdddi(ptr noundef nonnull align 8 dereferenceable(88) %13, ptr noundef nonnull align 8 dereferenceable(104) %12, double noundef %49, double noundef 1.500000e+00, double noundef %51, i32 noundef %52)
          to label %53 unwind label %.loopexit

53:                                               ; preds = %50
  %54 = load i32, ptr %6, align 4, !tbaa !9
  switch i32 %54, label %184 [
    i32 0, label %55
    i32 1, label %80
    i32 2, label %110
  ]

55:                                               ; preds = %53
  %56 = invoke noundef double @_ZNK3Rcs16ViaPointSequence2t0Ev(ptr noundef nonnull align 8 dereferenceable(104) %12)
          to label %57 unwind label %.loopexit

57:                                               ; preds = %55
  %58 = load double, ptr %7, align 8, !tbaa !5
  %59 = fadd double %56, %58
  invoke void @_ZNK3Rcs16ViaPointSequence22computeTrajectoryPointERdS1_S1_d(ptr noundef nonnull align 8 dereferenceable(104) %12, ptr noundef nonnull align 8 dereferenceable(8) %8, ptr noundef nonnull align 8 dereferenceable(8) %9, ptr noundef nonnull align 8 dereferenceable(8) %10, double noundef %59)
          to label %60 unwind label %.loopexit

60:                                               ; preds = %57
  %61 = load ptr, ptr %47, align 8, !tbaa !17
  %62 = invoke noundef double @_ZNK3Rcs16ViaPointSequence2t0Ev(ptr noundef nonnull align 8 dereferenceable(104) %12)
          to label %63 unwind label %.loopexit

63:                                               ; preds = %60
  %64 = load double, ptr %7, align 8, !tbaa !5
  %65 = fadd double %62, %64
  invoke void @MatNd_set(ptr noundef %61, i32 noundef 0, i32 noundef 0, double noundef %65)
          to label %66 unwind label %.loopexit

66:                                               ; preds = %63
  %67 = load ptr, ptr %47, align 8, !tbaa !17
  %68 = load double, ptr %8, align 8, !tbaa !5
  invoke void @MatNd_set(ptr noundef %67, i32 noundef 0, i32 noundef 1, double noundef %68)
          to label %69 unwind label %.loopexit

69:                                               ; preds = %66
  %70 = load ptr, ptr %47, align 8, !tbaa !17
  %71 = load double, ptr %9, align 8, !tbaa !5
  invoke void @MatNd_set(ptr noundef %70, i32 noundef 0, i32 noundef 2, double noundef %71)
          to label %72 unwind label %.loopexit

72:                                               ; preds = %69
  %73 = load ptr, ptr %47, align 8, !tbaa !17
  %74 = load double, ptr %10, align 8, !tbaa !5
  br label %.invoke

.invoke:                                          ; preds = %108, %72
  %75 = phi ptr [ %73, %72 ], [ %109, %108 ]
  %76 = phi i32 [ 3, %72 ], [ 1, %108 ]
  %77 = phi double [ %74, %72 ], [ %107, %108 ]
  invoke void @MatNd_set(ptr noundef %75, i32 noundef %54, i32 noundef %76, double noundef %77)
          to label %193 unwind label %.loopexit

78:                                               ; preds = %45
  %79 = landingpad { ptr, i32 }
          cleanup
  br label %247

.loopexit:                                        ; preds = %.invoke, %48, %50, %55, %57, %60, %63, %66, %69, %80, %82, %85, %88, %91, %94, %97, %100, %103, %106, %110, %112, %115, %118, %121, %124, %128, %130, %134, %139, %142, %158, %161, %164, %169, %173, %193, %199, %208, %245
  %lpad.loopexit = landingpad { ptr, i32 }
          cleanup
  br label %246

.loopexit.split-lp:                               ; preds = %46, %184
  %lpad.loopexit.split-lp = landingpad { ptr, i32 }
          cleanup
  br label %246

80:                                               ; preds = %53
  %81 = invoke noundef double @_ZNK3Rcs16ViaPointSequence2t0Ev(ptr noundef nonnull align 8 dereferenceable(104) %12)
          to label %82 unwind label %.loopexit

82:                                               ; preds = %80
  %83 = load double, ptr %7, align 8, !tbaa !5
  %84 = fadd double %81, %83
  invoke void @_ZNK3Rcs16ViaPointSequence22computeTrajectoryPointERdS1_S1_d(ptr noundef nonnull align 8 dereferenceable(104) %12, ptr noundef nonnull align 8 dereferenceable(8) %8, ptr noundef nonnull align 8 dereferenceable(8) %9, ptr noundef nonnull align 8 dereferenceable(8) %10, double noundef %84)
          to label %85 unwind label %.loopexit

85:                                               ; preds = %82
  %86 = load ptr, ptr %47, align 8, !tbaa !17
  %87 = invoke noundef double @_ZNK3Rcs16ViaPointSequence2t0Ev(ptr noundef nonnull align 8 dereferenceable(104) %12)
          to label %88 unwind label %.loopexit

88:                                               ; preds = %85
  %89 = load double, ptr %7, align 8, !tbaa !5
  %90 = fadd double %87, %89
  invoke void @MatNd_set(ptr noundef %86, i32 noundef 0, i32 noundef 0, double noundef %90)
          to label %91 unwind label %.loopexit

91:                                               ; preds = %88
  %92 = load ptr, ptr %47, align 8, !tbaa !17
  %93 = load double, ptr %8, align 8, !tbaa !5
  invoke void @MatNd_set(ptr noundef %92, i32 noundef 0, i32 noundef 1, double noundef %93)
          to label %94 unwind label %.loopexit

94:                                               ; preds = %91
  %95 = load ptr, ptr %47, align 8, !tbaa !17
  %96 = load double, ptr %9, align 8, !tbaa !5
  invoke void @MatNd_set(ptr noundef %95, i32 noundef 0, i32 noundef 2, double noundef %96)
          to label %97 unwind label %.loopexit

97:                                               ; preds = %94
  %98 = load ptr, ptr %47, align 8, !tbaa !17
  %99 = load double, ptr %10, align 8, !tbaa !5
  invoke void @MatNd_set(ptr noundef %98, i32 noundef 0, i32 noundef 3, double noundef %99)
          to label %100 unwind label %.loopexit

100:                                              ; preds = %97
  %101 = load ptr, ptr %47, align 8, !tbaa !17
  %102 = load double, ptr %7, align 8, !tbaa !5
  invoke void @MatNd_addToEle(ptr noundef %101, i32 noundef 1, i32 noundef 0, double noundef %102)
          to label %103 unwind label %.loopexit

103:                                              ; preds = %100
  %104 = load ptr, ptr %47, align 8, !tbaa !17
  %105 = invoke double @MatNd_get(ptr noundef %104, i32 noundef 1, i32 noundef 0)
          to label %106 unwind label %.loopexit

106:                                              ; preds = %103
  %107 = invoke noundef double @_ZNK3Rcs16ViaPointSequence20computeTrajectoryPosEd(ptr noundef nonnull align 8 dereferenceable(104) %12, double noundef %105)
          to label %108 unwind label %.loopexit

108:                                              ; preds = %106
  store double %107, ptr %8, align 8, !tbaa !5
  %109 = load ptr, ptr %47, align 8, !tbaa !17
  br label %.invoke

110:                                              ; preds = %53
  %111 = invoke noundef double @_ZNK3Rcs16ViaPointSequence2t0Ev(ptr noundef nonnull align 8 dereferenceable(104) %12)
          to label %112 unwind label %.loopexit

112:                                              ; preds = %110
  %113 = load double, ptr %7, align 8, !tbaa !5
  %114 = fadd double %111, %113
  invoke void @_ZNK3Rcs16ViaPointSequence22computeTrajectoryPointERdS1_S1_d(ptr noundef nonnull align 8 dereferenceable(104) %12, ptr noundef nonnull align 8 dereferenceable(8) %8, ptr noundef nonnull align 8 dereferenceable(8) %9, ptr noundef nonnull align 8 dereferenceable(8) %10, double noundef %114)
          to label %115 unwind label %.loopexit

115:                                              ; preds = %112
  %116 = load ptr, ptr %47, align 8, !tbaa !17
  %117 = load double, ptr %8, align 8, !tbaa !5
  invoke void @MatNd_set(ptr noundef %116, i32 noundef 0, i32 noundef 1, double noundef %117)
          to label %118 unwind label %.loopexit

118:                                              ; preds = %115
  %119 = load ptr, ptr %47, align 8, !tbaa !17
  %120 = load double, ptr %9, align 8, !tbaa !5
  invoke void @MatNd_set(ptr noundef %119, i32 noundef 0, i32 noundef 2, double noundef %120)
          to label %121 unwind label %.loopexit

121:                                              ; preds = %118
  %122 = load ptr, ptr %47, align 8, !tbaa !17
  %123 = load double, ptr %10, align 8, !tbaa !5
  invoke void @MatNd_set(ptr noundef %122, i32 noundef 0, i32 noundef 3, double noundef %123)
          to label %124 unwind label %.loopexit

124:                                              ; preds = %121
  %125 = load ptr, ptr %47, align 8, !tbaa !17
  %126 = load double, ptr %7, align 8, !tbaa !5
  %127 = fneg double %126
  invoke void @MatNd_addToEle(ptr noundef %125, i32 noundef 1, i32 noundef 0, double noundef %127)
          to label %128 unwind label %.loopexit

128:                                              ; preds = %124
  %129 = invoke noundef double @_ZNK3Rcs16ViaPointSequence2t1Ev(ptr noundef nonnull align 8 dereferenceable(104) %12)
          to label %130 unwind label %.loopexit

130:                                              ; preds = %128
  %131 = invoke double @MatNd_get(ptr noundef %31, i32 noundef 2, i32 noundef 0)
          to label %132 unwind label %.loopexit

132:                                              ; preds = %130
  %133 = fcmp olt double %129, %131
  br i1 %133, label %134, label %153

134:                                              ; preds = %132
  %135 = load ptr, ptr %47, align 8, !tbaa !17
  %136 = getelementptr inbounds i8, ptr %135, i64 12
  %137 = load i32, ptr %136, align 4, !tbaa !15
  %138 = invoke ptr @MatNd_realloc(ptr noundef nonnull %135, i32 noundef 4, i32 noundef %137)
          to label %139 unwind label %.loopexit

139:                                              ; preds = %134
  store ptr %138, ptr %47, align 8, !tbaa !17
  invoke void @MatNd_copyRow(ptr noundef %138, i32 noundef 3, ptr noundef %31, i32 noundef 2)
          to label %140 unwind label %.loopexit

140:                                              ; preds = %139
  %141 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !16
  %.not = icmp eq ptr %141, null
  br i1 %.not, label %143, label %142

142:                                              ; preds = %140
  invoke void (i32, ptr, ptr, i32, ptr, ...) %141(i32 noundef 0, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testViaPointSequencePlotter, i32 noundef 3724, ptr noundef nonnull @.str.372)
          to label %143 unwind label %.loopexit

143:                                              ; preds = %142, %140
  %144 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %145 = icmp sgt i32 %144, -1
  br i1 %145, label %146, label %153

146:                                              ; preds = %143
  %147 = load ptr, ptr @stderr, align 8, !tbaa !16
  %148 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %147, ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testViaPointSequencePlotter, i32 noundef 3724) #9
  %149 = load ptr, ptr @stderr, align 8, !tbaa !16
  %150 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %149, ptr noundef nonnull @.str.372) #9
  %151 = load ptr, ptr @stderr, align 8, !tbaa !16
  %152 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %151, ptr noundef nonnull @.str.6) #9
  br label %153

153:                                              ; preds = %143, %146, %132
  %154 = load ptr, ptr %47, align 8, !tbaa !17
  %155 = getelementptr inbounds i8, ptr %154, i64 8
  %156 = load i32, ptr %155, align 8, !tbaa !11
  %157 = icmp ugt i32 %156, 2
  br i1 %157, label %158, label %161

158:                                              ; preds = %153
  %159 = load double, ptr %7, align 8, !tbaa !5
  %160 = fneg double %159
  invoke void @MatNd_addToEle(ptr noundef nonnull %154, i32 noundef 2, i32 noundef 0, double noundef %160)
          to label %._crit_edge unwind label %.loopexit

._crit_edge:                                      ; preds = %158
  %.pre = load ptr, ptr %47, align 8, !tbaa !17
  br label %161

161:                                              ; preds = %._crit_edge, %153
  %162 = phi ptr [ %.pre, %._crit_edge ], [ %154, %153 ]
  %163 = invoke double @MatNd_get(ptr noundef %162, i32 noundef 1, i32 noundef 0)
          to label %164 unwind label %.loopexit

164:                                              ; preds = %161
  %165 = load ptr, ptr %47, align 8, !tbaa !17
  %166 = invoke double @MatNd_get(ptr noundef %165, i32 noundef 0, i32 noundef 0)
          to label %167 unwind label %.loopexit

167:                                              ; preds = %164
  %168 = fcmp ugt double %163, %166
  br i1 %168, label %193, label %169

169:                                              ; preds = %167
  %170 = load ptr, ptr %47, align 8, !tbaa !17
  invoke void @MatNd_deleteRow(ptr noundef %170, i32 noundef 1)
          to label %171 unwind label %.loopexit

171:                                              ; preds = %169
  %172 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !16
  %.not19 = icmp eq ptr %172, null
  br i1 %.not19, label %174, label %173

173:                                              ; preds = %171
  invoke void (i32, ptr, ptr, i32, ptr, ...) %172(i32 noundef 0, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testViaPointSequencePlotter, i32 noundef 3736, ptr noundef nonnull @.str.373)
          to label %174 unwind label %.loopexit

174:                                              ; preds = %173, %171
  %175 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %176 = icmp sgt i32 %175, -1
  br i1 %176, label %177, label %193

177:                                              ; preds = %174
  %178 = load ptr, ptr @stderr, align 8, !tbaa !16
  %179 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %178, ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testViaPointSequencePlotter, i32 noundef 3736) #9
  %180 = load ptr, ptr @stderr, align 8, !tbaa !16
  %181 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %180, ptr noundef nonnull @.str.373) #9
  %182 = load ptr, ptr @stderr, align 8, !tbaa !16
  %183 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %182, ptr noundef nonnull @.str.6) #9
  br label %193

184:                                              ; preds = %53
  %185 = load ptr, ptr @stderr, align 8, !tbaa !16
  %186 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %185, ptr noundef nonnull @.str.374, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testViaPointSequencePlotter, i32 noundef 3742) #9
  %187 = load ptr, ptr @stderr, align 8, !tbaa !16
  %188 = load i32, ptr %6, align 4, !tbaa !9
  %189 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %187, ptr noundef nonnull @.str.375, i32 noundef %188) #9
  %190 = load ptr, ptr @stderr, align 8, !tbaa !16
  %191 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %190, ptr noundef nonnull @.str.6) #9
  invoke void @print_trace()
          to label %192 unwind label %.loopexit.split-lp

192:                                              ; preds = %184
  call void @exit(i32 noundef 1) #10
  unreachable

193:                                              ; preds = %.invoke, %167, %177, %174
  %194 = load ptr, ptr %47, align 8, !tbaa !17
  %195 = invoke noundef zeroext i1 @_ZN3Rcs16ViaPointSequence4initEPK6_MatNd(ptr noundef nonnull align 8 dereferenceable(104) %12, ptr noundef %194)
          to label %196 unwind label %.loopexit

196:                                              ; preds = %193
  %197 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %198 = icmp sgt i32 %197, 0
  br i1 %198, label %199, label %201

199:                                              ; preds = %196
  %200 = load ptr, ptr %47, align 8, !tbaa !17
  invoke void @MatNd_printCommentDigits(ptr noundef nonnull @.str.376, ptr noundef %200, i32 noundef 3)
          to label %201 unwind label %.loopexit

201:                                              ; preds = %199, %196
  br i1 %24, label %208, label %202

202:                                              ; preds = %201
  %203 = load ptr, ptr @stderr, align 8, !tbaa !16
  %204 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %203, ptr noundef nonnull @.str.119, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testViaPointSequencePlotter, i32 noundef 3755) #9
  %205 = load ptr, ptr @stderr, align 8, !tbaa !16
  %206 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %205, ptr noundef nonnull @.str.377) #9
  %207 = call i32 @getchar()
  br label %208

208:                                              ; preds = %202, %201
  %209 = invoke zeroext i1 @Rcs_kbhit()
          to label %210 unwind label %.loopexit

210:                                              ; preds = %208
  br i1 %209, label %211, label %245

211:                                              ; preds = %210
  %212 = call i32 @getchar()
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %18) #8
  %213 = call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.378)
  %214 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZNSirsERd(ptr noundef nonnull align 8 dereferenceable(16) @_ZSt3cin, ptr noundef nonnull align 8 dereferenceable(8) %14)
          to label %215 unwind label %243

215:                                              ; preds = %211
  %216 = call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.379)
  %217 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZNSirsERd(ptr noundef nonnull align 8 dereferenceable(16) @_ZSt3cin, ptr noundef nonnull align 8 dereferenceable(8) %15)
          to label %218 unwind label %243

218:                                              ; preds = %215
  %219 = call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.380)
  %220 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZNSirsERd(ptr noundef nonnull align 8 dereferenceable(16) @_ZSt3cin, ptr noundef nonnull align 8 dereferenceable(8) %16)
          to label %221 unwind label %243

221:                                              ; preds = %218
  %222 = call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.381)
  %223 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZNSirsERd(ptr noundef nonnull align 8 dereferenceable(16) @_ZSt3cin, ptr noundef nonnull align 8 dereferenceable(8) %17)
          to label %224 unwind label %243

224:                                              ; preds = %221
  %225 = call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.382)
  %226 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZNSirsERi(ptr noundef nonnull align 8 dereferenceable(16) @_ZSt3cin, ptr noundef nonnull align 4 dereferenceable(4) %18)
          to label %227 unwind label %243

227:                                              ; preds = %224
  %228 = load double, ptr %14, align 8, !tbaa !5
  %229 = load double, ptr %15, align 8, !tbaa !5
  %230 = load double, ptr %16, align 8, !tbaa !5
  %231 = load double, ptr %17, align 8, !tbaa !5
  %232 = load i32, ptr %18, align 4, !tbaa !9
  %233 = invoke noundef zeroext i1 @_ZN3Rcs16ViaPointSequence11addViaPointEddddi(ptr noundef nonnull align 8 dereferenceable(104) %12, double noundef %228, double noundef %229, double noundef %230, double noundef %231, i32 noundef %232)
          to label %234 unwind label %243

234:                                              ; preds = %227
  %235 = load ptr, ptr %47, align 8, !tbaa !17
  %236 = invoke noundef zeroext i1 @_ZN3Rcs16ViaPointSequence4initEPK6_MatNd(ptr noundef nonnull align 8 dereferenceable(104) %12, ptr noundef %235)
          to label %237 unwind label %243

237:                                              ; preds = %234
  %238 = load ptr, ptr @stderr, align 8, !tbaa !16
  %239 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %238, ptr noundef nonnull @.str.119, ptr noundef nonnull @.str.3, ptr noundef nonnull @__func__.testViaPointSequencePlotter, i32 noundef 3775) #9
  %240 = load ptr, ptr @stderr, align 8, !tbaa !16
  %241 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %240, ptr noundef nonnull @.str.383) #9
  %242 = call i32 @getchar()
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %18) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #8
  br label %245

243:                                              ; preds = %234, %227, %224, %221, %218, %215, %211
  %244 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %18) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #8
  br label %246

245:                                              ; preds = %237, %210
  invoke void @Timer_waitDT(double noundef 1.000000e-02)
          to label %48 unwind label %.loopexit, !llvm.loop !28

246:                                              ; preds = %.loopexit, %.loopexit.split-lp, %243
  %.pn = phi { ptr, i32 } [ %244, %243 ], [ %lpad.loopexit, %.loopexit ], [ %lpad.loopexit.split-lp, %.loopexit.split-lp ]
  call void @_ZN3Rcs23ViaPointSequencePlotterD1Ev(ptr noundef nonnull align 8 dereferenceable(88) %13) #8
  br label %247

247:                                              ; preds = %246, %78
  %.pn.pn = phi { ptr, i32 } [ %.pn, %246 ], [ %79, %78 ]
  call void @llvm.lifetime.end.p0(i64 88, ptr nonnull %13) #8
  br label %248

248:                                              ; preds = %247, %43
  %.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn, %247 ], [ %44, %43 ]
  call void @_ZN3Rcs16ViaPointSequenceD1Ev(ptr noundef nonnull align 8 dereferenceable(104) %12) #8
  call void @llvm.lifetime.end.p0(i64 104, ptr nonnull %12) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %11) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %6) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %5) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %4) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #8
  resume { ptr, i32 } %.pn.pn.pn
}

declare ptr @MatNd_realloc(ptr noundef, i32 noundef, i32 noundef) local_unnamed_addr #2

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

declare void @_ZN3Rcs23ViaPointSequencePlotterC1Ev(ptr noundef nonnull align 8 dereferenceable(88)) unnamed_addr #2

declare void @_ZN3Rcs23ViaPointSequencePlotter15enableFixedAxesERKNS_16ViaPointSequenceEbd(ptr noundef nonnull align 8 dereferenceable(88), ptr noundef nonnull align 8 dereferenceable(104), i1 noundef zeroext, double noundef) unnamed_addr #2

declare void @_ZN3Rcs23ViaPointSequencePlotter5plot2ERKNS_16ViaPointSequenceEdddi(ptr noundef nonnull align 8 dereferenceable(88), ptr noundef nonnull align 8 dereferenceable(104), double noundef, double noundef, double noundef, i32 noundef) unnamed_addr #2

declare noundef double @_ZNK3Rcs16ViaPointSequence2t0Ev(ptr noundef nonnull align 8 dereferenceable(104)) local_unnamed_addr #2

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

declare noundef double @_ZNK3Rcs16ViaPointSequence20computeTrajectoryPosEd(ptr noundef nonnull align 8 dereferenceable(104), double noundef) local_unnamed_addr #2

declare noundef double @_ZNK3Rcs16ViaPointSequence2t1Ev(ptr noundef nonnull align 8 dereferenceable(104)) local_unnamed_addr #2

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

declare noundef zeroext i1 @_ZN3Rcs16ViaPointSequence4initEPK6_MatNd(ptr noundef nonnull align 8 dereferenceable(104), ptr noundef) unnamed_addr #2

declare zeroext i1 @Rcs_kbhit() local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(16) ptr @_ZNSirsERd(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #7 align 2

declare noundef nonnull align 8 dereferenceable(16) ptr @_ZNSirsERi(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #2

declare noundef zeroext i1 @_ZN3Rcs16ViaPointSequence11addViaPointEddddi(ptr noundef nonnull align 8 dereferenceable(104), double noundef, double noundef, double noundef, double noundef, i32 noundef) unnamed_addr #2

declare void @Timer_waitDT(double noundef) local_unnamed_addr #2

; Function Attrs: nounwind
declare void @_ZN3Rcs23ViaPointSequencePlotterD1Ev(ptr noundef nonnull align 8 dereferenceable(88)) unnamed_addr #5

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 = { noreturn 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 #4 = { inlinehint mustprogress nofree nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 #6 = { mustprogress noreturn 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 #7 = { 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 #8 = { nounwind }
attributes #9 = { cold nounwind }
attributes #10 = { noreturn nounwind }

!llvm.module.flags = !{!0, !1, !2, !3}
!llvm.ident = !{!4}

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !10, i64 8}
!12 = !{!"_ZTS6_MatNd", !13, i64 0, !10, i64 8, !10, i64 12, !10, i64 16, !14, i64 20}
!13 = !{!"any pointer", !7, i64 0}
!14 = !{!"bool", !7, i64 0}
!15 = !{!12, !10, i64 12}
!16 = !{!13, !13, i64 0}
!17 = !{!18, !13, i64 8}
!18 = !{!"_ZTSN3Rcs16ViaPointSequenceE", !13, i64 8, !13, i64 16, !13, i64 24, !13, i64 32, !13, i64 40, !14, i64 48, !19, i64 52, !20, i64 56, !24, i64 80}
!19 = !{!"_ZTSN3Rcs16ViaPointSequence12ViaPointTypeE", !7, i64 0}
!20 = !{!"_ZTSSt6vectorIiSaIiEE", !21, i64 0}
!21 = !{!"_ZTSSt12_Vector_baseIiSaIiEE", !22, i64 0}
!22 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE12_Vector_implE", !23, i64 0}
!23 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE17_Vector_impl_dataE", !13, i64 0, !13, i64 8, !13, i64 16}
!24 = !{!"_ZTSSt6vectorIdSaIdEE", !25, i64 0}
!25 = !{!"_ZTSSt12_Vector_baseIdSaIdEE", !26, i64 0}
!26 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE12_Vector_implE", !27, i64 0}
!27 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE17_Vector_impl_dataE", !13, i64 0, !13, i64 8, !13, i64 16}
!28 = distinct !{!28, !29}
!29 = !{!"llvm.loop.mustprogress"}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,LICMPass,LoopSimplifyPass,PostOrderFunctionAttrsPass,SROAPass,SimplifyCFGPass